The evaluation-only recording interface and frozen case are adapted from
liudi159/supermimic-backflip-5090, commit
5b313d75e804cdd2ff1ce9bdcfa899a98eca856b (MIT, copyright 2026 liudi159).
The complete upstream code license is retained in UPSTREAM_LICENSE.

The upstream case uses zita-ch/supermimic_vibed (MIT) and a motion from
kevinzakka/mjbatch (Apache-2.0, commit
77966f85bcd8f7ef4351cb4a1a6f42e133d19725). The evidence archive retains the
evaluator's cropped/static-padded reference samples embedded in rollout.npz,
alongside the actual measured trajectory. MJBATCH_LICENSE and
SUPERMIMIC_LICENSE preserve those upstream notices. Neither the original
flip.npz dataset file nor policy weights are redistributed.

The generated native_model.mjb contains converted robot geometry derived from
unitreerobotics/unitree_ros, commit
15ebe53f4cd77e7d745ae83b9d7ff90e685e8998 (BSD-3-Clause). Its 38 source meshes
match the pinned official Git blobs. UNITREE_LICENSE retains the copyright
notice and license. The frozen upstream URDF is a derivative, not the official
file: six joint effort/velocity limits, two palm fixed-joint attributes and
the mid360 transform differ; named materials are inlined. Full identities and
the structural comparison accompany the evidence. These simulation settings
are not verified hardware limits. Conversion and display do not relicense
the source assets. See the pinned source's docs/METHOD_AND_PROVENANCE.md.
