quackd
Copyright 2026 Rok Benko and the quackd contributors

Licensed under the Apache License, Version 2.0.

quackd is an independent community project. It is not affiliated with or
endorsed by Pollen Robotics or Hugging Face. "Microduck" is used nominatively
to describe compatibility.

This project builds on, interoperates with, and is grateful to:

  * Microduck (pollen-robotics/microduck) — the robot's onboard daemon stack
    (robotd, mediad, padd, tofd, configd, updaterd, btd) and its JSON-RPC
    contract (duck-ipc-proto). Apache-2.0.
    https://github.com/pollen-robotics/microduck

  * microduck_rl (pollen-robotics/microduck_rl) — the training stack that
    produces the ONNX policies the robot runs. Code Apache-2.0.
    Its 3D model files are CC BY-NC-SA and are NOT included in this project.
    https://github.com/pollen-robotics/microduck_rl

  * Model Context Protocol Python SDK (modelcontextprotocol/python-sdk). MIT.
    https://github.com/modelcontextprotocol/python-sdk

  * DrEureka (Ma et al.) — the "LLM-written rewards" idea behind the
    learned-verbs roadmap. https://eureka-research.github.io/dr-eureka/

  * reachy_mini (pollen-robotics/reachy_mini) — the SDK the reachy_mini
    adapter targets. Apache-2.0. Optional extra quackd[reachy]; nothing
    vendored, method names cited as facts.
    https://github.com/pollen-robotics/reachy_mini

  * LeRobot (huggingface/lerobot) — the robot and policy interfaces the
    lerobot adapter targets. Apache-2.0. Optional extra quackd[lerobot].
    https://github.com/huggingface/lerobot

  * roslibpy (gramaziokohler/roslibpy, MIT) and rosbridge_suite
    (RobotWebTools/rosbridge_suite, BSD-3-Clause) — the client library and
    the protocol the rosbridge adapter speaks. Optional extra
    quackd[rosbridge]. Message definitions come from ros2/common_interfaces
    (Apache-2.0).
    https://github.com/gramaziokohler/roslibpy

  * python-zeroconf (LGPL-2.1) and paho-mqtt (EPL-2.0 / EDL-1.0) — LAN
    discovery and the MQTT flock bus. Optional extra quackd[lan], imported
    lazily and never on the default path.
    https://github.com/python-zeroconf/python-zeroconf

No Pollen Robotics logos, meshes, videos, or other brand assets are
distributed with quackd.