Skip to content

Commit 81a171e

Browse files
juelgjuelg
committed
license(assets): add original assets license from menagerie
1 parent b9fefdc commit 81a171e

2 files changed

Lines changed: 324 additions & 0 deletions

File tree

‎README.md‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -194,3 +194,6 @@ If you find RCS useful for your academic work please consider citing it:
194194

195195
For more scientific information and supplementary videos, visit the **[paper website](https://robotcontrolstack.github.io/)**.
196196

197+
## License
198+
199+
The RCS source code is licensed under AGPL-3.0. A small subset of redistributed third-party robot and sensor assets under `assets/` keeps its original upstream license; the applicable notices are collected in [THIRD_PARTY_ASSET_LICENSES.md](THIRD_PARTY_ASSET_LICENSES.md).

‎THIRD_PARTY_ASSET_LICENSES.md‎

Lines changed: 321 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,321 @@
1+
# Third-Party Asset Licenses
2+
3+
The source code in this repository remains licensed under the AGPL-3.0 license in [LICENSE](LICENSE), unless stated otherwise.
4+
5+
Some files in `assets/` are third-party robot or sensor assets that are redistributed under their original upstream licenses. This file records the notices that apply to the third-party asset subset currently shipped in this repository.
6+
7+
## Asset-to-license mapping
8+
9+
The following directories contain third-party assets:
10+
11+
- `assets/robots/fr3/`
12+
Origin: MuJoCo Menagerie `franka_fr3/`
13+
License: Apache License 2.0
14+
- `assets/robots/panda/`
15+
Origin: MuJoCo Menagerie `franka_emika_panda/`
16+
License: Apache License 2.0
17+
- `assets/grippers/franka_hand/`
18+
Origin: Franka hand assets distributed alongside the Franka Panda / FR3 Menagerie models
19+
License: Apache License 2.0
20+
- `assets/robots/ur5e/`
21+
Origin: MuJoCo Menagerie `universal_robots_ur5e/`
22+
License: BSD-style license reproduced below
23+
- `assets/grippers/robotiq_2f85/`
24+
Origin: MuJoCo Menagerie `robotiq_2f85/`
25+
License: BSD-style license reproduced below
26+
- `assets/cameras/d405/`
27+
Origin: Intel RealSense D405 camera assets distributed via MuJoCo Menagerie RealSense assets
28+
License: Apache License 2.0 notice reproduced below for the upstream Intel RealSense asset family
29+
30+
All other repository contents, including original RCS source code and RCS-authored assets, remain under AGPL-3.0 unless another file explicitly states otherwise.
31+
32+
## Apache License 2.0
33+
34+
This license text applies to the Apache-2.0-licensed asset directories listed above.
35+
36+
```text
37+
Apache License
38+
Version 2.0, January 2004
39+
http://www.apache.org/licenses/
40+
41+
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
42+
43+
1. Definitions.
44+
45+
"License" shall mean the terms and conditions for use, reproduction,
46+
and distribution as defined by Sections 1 through 9 of this document.
47+
48+
"Licensor" shall mean the copyright owner or entity authorized by
49+
the copyright owner that is granting the License.
50+
51+
"Legal Entity" shall mean the union of the acting entity and all
52+
other entities that control, are controlled by, or are under common
53+
control with that entity. For the purposes of this definition,
54+
"control" means (i) the power, direct or indirect, to cause the
55+
direction or management of such entity, whether by contract or
56+
otherwise, or (ii) ownership of fifty percent (50%) or more of the
57+
outstanding shares, or (iii) beneficial ownership of such entity.
58+
59+
"You" (or "Your") shall mean an individual or Legal Entity
60+
exercising permissions granted by this License.
61+
62+
"Source" form shall mean the preferred form for making modifications,
63+
including but not limited to software source code, documentation
64+
source, and configuration files.
65+
66+
"Object" form shall mean any form resulting from mechanical
67+
transformation or translation of a Source form, including but
68+
not limited to compiled object code, generated documentation,
69+
and conversions to other media types.
70+
71+
"Work" shall mean the work of authorship, whether in Source or
72+
Object form, made available under the License, as indicated by a
73+
copyright notice that is included in or attached to the work
74+
(an example is provided in the Appendix below).
75+
76+
"Derivative Works" shall mean any work, whether in Source or Object
77+
form, that is based on (or derived from) the Work and for which the
78+
editorial revisions, annotations, elaborations, or other modifications
79+
represent, as a whole, an original work of authorship. For the purposes
80+
of this License, Derivative Works shall not include works that remain
81+
separable from, or merely link (or bind by name) to the interfaces of,
82+
the Work and Derivative Works thereof.
83+
84+
"Contribution" shall mean any work of authorship, including
85+
the original version of the Work and any modifications or additions
86+
to that Work or Derivative Works thereof, that is intentionally
87+
submitted to Licensor for inclusion in the Work by the copyright owner
88+
or by an individual or Legal Entity authorized to submit on behalf of
89+
the copyright owner. For the purposes of this definition, "submitted"
90+
means any form of electronic, verbal, or written communication sent
91+
to the Licensor or its representatives, including but not limited to
92+
communication on electronic mailing lists, source code control systems,
93+
and issue tracking systems that are managed by, or on behalf of, the
94+
Licensor for the purpose of discussing and improving the Work, but
95+
excluding communication that is conspicuously marked or otherwise
96+
designated in writing by the copyright owner as "Not a Contribution."
97+
98+
"Contributor" shall mean Licensor and any individual or Legal Entity
99+
on behalf of whom a Contribution has been received by Licensor and
100+
subsequently incorporated within the Work.
101+
102+
2. Grant of Copyright License. Subject to the terms and conditions of
103+
this License, each Contributor hereby grants to You a perpetual,
104+
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
105+
copyright license to reproduce, prepare Derivative Works of,
106+
publicly display, publicly perform, sublicense, and distribute the
107+
Work and such Derivative Works in Source or Object form.
108+
109+
3. Grant of Patent License. Subject to the terms and conditions of
110+
this License, each Contributor hereby grants to You a perpetual,
111+
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
112+
(except as stated in this section) patent license to make, have made,
113+
use, offer to sell, sell, import, and otherwise transfer the Work,
114+
where such license applies only to those patent claims licensable
115+
by such Contributor that are necessarily infringed by their
116+
Contribution(s) alone or by combination of their Contribution(s)
117+
with the Work to which such Contribution(s) was submitted. If You
118+
institute patent litigation against any entity (including a
119+
cross-claim or counterclaim in a lawsuit) alleging that the Work
120+
or a Contribution incorporated within the Work constitutes direct
121+
or contributory patent infringement, then any patent licenses
122+
granted to You under this License for that Work shall terminate
123+
as of the date such litigation is filed.
124+
125+
4. Redistribution. You may reproduce and distribute copies of the
126+
Work or Derivative Works thereof in any medium, with or without
127+
modifications, and in Source or Object form, provided that You
128+
meet the following conditions:
129+
130+
(a) You must give any other recipients of the Work or
131+
Derivative Works a copy of this License; and
132+
133+
(b) You must cause any modified files to carry prominent notices
134+
stating that You changed the files; and
135+
136+
(c) You must retain, in the Source form of any Derivative Works
137+
that You distribute, all copyright, patent, trademark, and
138+
attribution notices from the Source form of the Work,
139+
excluding those notices that do not pertain to any part of
140+
the Derivative Works; and
141+
142+
(d) If the Work includes a "NOTICE" text file as part of its
143+
distribution, then any Derivative Works that You distribute must
144+
include a readable copy of the attribution notices contained
145+
within such NOTICE file, excluding those notices that do not
146+
pertain to any part of the Derivative Works, in at least one
147+
of the following places: within a NOTICE text file distributed
148+
as part of the Derivative Works; within the Source form or
149+
documentation, if provided along with the Derivative Works; or,
150+
within a display generated by the Derivative Works, if and
151+
wherever such third-party notices normally appear. The contents
152+
of the NOTICE file are for informational purposes only and
153+
do not modify the License. You may add Your own attribution
154+
notices within Derivative Works that You distribute, alongside
155+
or as an addendum to the NOTICE text from the Work, provided
156+
that such additional attribution notices cannot be construed
157+
as modifying the License.
158+
159+
You may add Your own copyright statement to Your modifications and
160+
may provide additional or different license terms and conditions
161+
for use, reproduction, or distribution of Your modifications, or
162+
for any such Derivative Works as a whole, provided Your use,
163+
reproduction, and distribution of the Work otherwise complies with
164+
the conditions stated in this License.
165+
166+
5. Submission of Contributions. Unless You explicitly state otherwise,
167+
any Contribution intentionally submitted for inclusion in the Work
168+
by You to the Licensor shall be under the terms and conditions of
169+
this License, without any additional terms or conditions.
170+
Notwithstanding the above, nothing herein shall supersede or modify
171+
the terms of any separate license agreement you may have executed
172+
with Licensor regarding such Contributions.
173+
174+
6. Trademarks. This License does not grant permission to use the trade
175+
names, trademarks, service marks, or product names of the Licensor,
176+
except as required for reasonable and customary use in describing the
177+
origin of the Work and reproducing the content of the NOTICE file.
178+
179+
7. Disclaimer of Warranty. Unless required by applicable law or
180+
agreed to in writing, Licensor provides the Work (and each
181+
Contributor provides its Contributions) on an "AS IS" BASIS,
182+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
183+
implied, including, without limitation, any warranties or conditions
184+
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
185+
PARTICULAR PURPOSE. You are solely responsible for determining the
186+
appropriateness of using or redistributing the Work and assume any
187+
risks associated with Your exercise of permissions under this License.
188+
189+
8. Limitation of Liability. In no event and under no legal theory,
190+
whether in tort (including negligence), contract, or otherwise,
191+
unless required by applicable law (such as deliberate and grossly
192+
negligent acts) or agreed to in writing, shall any Contributor be
193+
liable to You for damages, including any direct, indirect, special,
194+
incidental, or consequential damages of any character arising as a
195+
result of this License or out of the use or inability to use the
196+
Work (including but not limited to damages for loss of goodwill,
197+
work stoppage, computer failure or malfunction, or any and all
198+
other commercial damages or losses), even if such Contributor
199+
has been advised of the possibility of such damages.
200+
201+
9. Accepting Warranty or Additional Liability. While redistributing
202+
the Work or Derivative Works thereof, You may choose to offer,
203+
and charge a fee for, acceptance of support, warranty, indemnity,
204+
or other liability obligations and/or rights consistent with this
205+
License. However, in accepting such obligations, You may act only
206+
on Your own behalf and on Your sole responsibility, not on behalf
207+
of any other Contributor, and only if You agree to indemnify,
208+
defend, and hold each Contributor harmless for any liability
209+
incurred by, or claims asserted against, such Contributor by reason
210+
of your accepting any such warranty or additional liability.
211+
```
212+
213+
## Franka FR3 additional BSD notice
214+
215+
```text
216+
Software License Agreement (BSD License)
217+
218+
Redistribution and use in source and binary forms, with or without
219+
modification, are permitted provided that the following conditions
220+
are met:
221+
222+
* Redistributions of source code must retain the above copyright
223+
notice, this list of conditions and the following disclaimer.
224+
* Redistributions in binary form must reproduce the above
225+
copyright notice, this list of conditions and the following
226+
disclaimer in the documentation and/or other materials provided
227+
with the distribution.
228+
* Neither the name of Willow Garage, Inc. nor the names of its
229+
contributors may be used to endorse or promote products derived
230+
from this software without specific prior written permission.
231+
232+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
233+
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
234+
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
235+
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
236+
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
237+
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
238+
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
239+
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
240+
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
241+
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
242+
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
243+
POSSIBILITY OF SUCH DAMAGE.
244+
```
245+
246+
## Intel RealSense notice
247+
248+
```text
249+
Copyright 2023 Intel Corporation. All Rights Reserved.
250+
251+
Licensed under the Apache License, Version 2.0 (the "License");
252+
you may not use this file except in compliance with the License.
253+
You may obtain a copy of the License at
254+
255+
http://www.apache.org/licenses/LICENSE-2.0
256+
257+
Unless required by applicable law or agreed to in writing, software
258+
distributed under the License is distributed on an "AS IS" BASIS,
259+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
260+
See the License for the specific language governing permissions and
261+
limitations under the License.
262+
```
263+
264+
## Universal Robots UR5e
265+
266+
```text
267+
Copyright 2018 ROS Industrial Consortium
268+
269+
Redistribution and use in source and binary forms, with or without modification,
270+
are permitted provided that the following conditions are met:
271+
272+
1. Redistributions of source code must retain the above copyright notice, this
273+
list of conditions and the following disclaimer.
274+
275+
2. Redistributions in binary form must reproduce the above copyright notice,
276+
this list of conditions and the following disclaimer in the documentation and/or
277+
other materials provided with the distribution.
278+
279+
3. Neither the name of the copyright holder nor the names of its contributors
280+
may be used to endorse or promote products derived from this software without
281+
specific prior written permission.
282+
283+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
284+
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
285+
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
286+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
287+
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
288+
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
289+
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
290+
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
291+
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
292+
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
293+
```
294+
295+
## Robotiq 2F85
296+
297+
```text
298+
Copyright (c) 2013, ROS-Industrial
299+
All rights reserved.
300+
301+
Redistribution and use in source and binary forms, with or without modification,
302+
are permitted provided that the following conditions are met:
303+
304+
Redistributions of source code must retain the above copyright notice, this
305+
list of conditions and the following disclaimer.
306+
307+
Redistributions in binary form must reproduce the above copyright notice, this
308+
list of conditions and the following disclaimer in the documentation and/or
309+
other materials provided with the distribution.
310+
311+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
312+
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
313+
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
314+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
315+
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
316+
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
317+
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
318+
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
319+
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
320+
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
321+
```

0 commit comments

Comments
 (0)