 All of these tools were free to download and could be used for commercial or non-commercial use (Except for the OPEN-R SDK, which is specifically for non-commercial use).The OPEN-R SDK is a C++ based programming SDK, based on open-source tools (like gcc and newlib), that allows you to make software that executes on your AIBO.This SDK is considered low-level and allows you to control everything from the gain values of AIBO's actuators to retrieving AIBO's camera data and doing computer vision computations.