COPYING

Licensing and third-party materials
=======================================

phoebe_ws is a multi-license repository.

PickNik-authored material
-------------------------

Unless a file or directory is identified below or carries its own license
notice, material authored by PickNik Inc. is licensed under the BSD 3-Clause
License in LICENSE.

Third-party material in this repository
---------------------------------------

The following material remains under its upstream license and is not relicensed
by the repository-level BSD 3-Clause License:

* `src/phoebe_hw/models/decoder.onnx`
* `src/phoebe_hw/models/sam2_hiera_large_encoder.onnx`
* `src/phoebe_sim/models/decoder.onnx`
* `src/phoebe_sim/models/sam2_hiera_large_encoder.onnx`

  These are ONNX exports of Meta's SAM 2 model. They are licensed under
  Apache-2.0. See `LICENSES/Apache-2.0.txt` and NOTICE.

* `src/phoebe_sim/description/assets/trainer_hatch/**`, except
  `collision/cylinder_mockup_full_length.stl`

  These assets are derived from the NASA JSC Surface Robotics Mockups
  Description project and are licensed under Apache-2.0. See
  `LICENSES/Apache-2.0.txt` and NOTICE.

* `src/phoebe_sim/description/assets/base_*.obj`
* `src/phoebe_sim/description/assets/forearm_*.obj`
* `src/phoebe_sim/description/assets/shoulder_*.obj`
* `src/phoebe_sim/description/assets/upperarm_*.obj`
* `src/phoebe_sim/description/assets/wrist*.obj`

  These Universal Robots model assets are derived from the MuJoCo Menagerie
  UR5e model and are licensed under BSD-3-Clause. See
  `LICENSES/Universal-Robots-BSD-3-Clause.txt`.

* `src/phoebe_bridgeback_description/xacro/ur5e.macro.xacro`
* `src/phoebe_bridgeback_description/xacro/clearpath_r100.macro.xacro`

  These robot-description macros are derived from Clearpath Robotics robot
  description packages and are licensed under BSD-3-Clause. See
  `LICENSES/Clearpath-BSD-3-Clause.txt`.

* `src/phoebe_sim/description/assets/robotiq_2f85/**`

  These Robotiq model assets are derived from the MuJoCo Menagerie Robotiq
  2F-85 model and are licensed under BSD-2-Clause. See
  `LICENSES/Robotiq-BSD-2-Clause.txt`.

* `src/phoebe_bridgeback_description/xacro/robotiq_2f85.macro.xacro`

  This macro is derived from PickNik Robotics' `ros2_robotiq_gripper` package
  and is licensed under BSD-3-Clause. See
  `LICENSES/PickNik-Robotiq-BSD-3-Clause.txt`.

* `src/phoebe_bridgeback_description/xacro/ewellix_tlt500.macro.xacro`
* `src/phoebe_sim/description/assets/ewellix_lift_base_500mm.stl`
* `src/phoebe_sim/description/assets/ewellix_lift_top_500mm.stl`

  These Ewellix lift assets are derived from Clearpath Robotics' Ewellix
  description and are licensed under BSD-3-Clause. See
  `LICENSES/Ewellix-BSD-3-Clause.txt`.

* `src/phoebe_sim/description/assets/ridgeback/**`
* `src/phoebe_sim/description/assets/body.stl`
* `src/phoebe_sim/description/assets/top.stl`
* `src/phoebe_sim/description/assets/omni_wheel_*.stl`

  These Ridgeback assets are licensed under BSD-3-Clause by Clearpath
  Robotics Inc. See the adjacent `LICENSE.txt` in that directory.

Git submodules
--------------

Directories recorded as Git submodules in `.gitmodules` are separate works.
Each submodule is governed by the license in its own repository; the
repository-level LICENSE does not relicense submodule contents.

Excluded model weights
----------------------

The former `clip.onnx`, `clipseg.onnx`, and `l2g.onnx` copies are intentionally
not part of this branch. The CLIPSeg upstream license explicitly excludes its
model weights, while the upstream L2G repository provides no license grant for
redistribution. Those files therefore cannot safely be covered by PickNik's BSD
license. The current configuration uses separately packaged SAM 2 and SAM 3
implementations instead.

Trademark notice
----------------

Names and trademarks of NASA, Meta, Universal Robots, Robotiq, Clearpath
Robotics, Ewellix, and other third parties remain the property of their
respective owners. No trademark rights are granted by this repository.