OmniSim
Copyright 2026 OmniLink

Licensed under the Apache License, Version 2.0 (the "License"); you may not
use this software except in compliance with the License. You may obtain a
copy of the License at:

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
License for the specific language governing permissions and limitations
under the License.

================================================================================
If you redistribute OmniSim, this is what you must carry
================================================================================

Apache-2.0 Section 4 puts four obligations on anyone who redistributes this
work, in source or binary form, modified or not. In this project they come to:

  1. Ship this NOTICE file, or reproduce its contents in the documentation or
     display that your distribution provides. Section 4(d). You may add your own
     attribution alongside it; you may not remove ours.
  2. Ship a copy of the Apache-2.0 licence itself (the LICENSE file). 4(a).
  3. Keep the copyright, patent, trademark and attribution notices that are
     already in the source files you carry. 4(c). In this tree that matters
     more than usual: the per-file headers ARE the Section 4(b) record of what
     was modified — see the Derivation section below.
  4. State prominently that you changed the files, if you changed them. 4(b).

Two things that Apache-2.0 does NOT give you, and that this file therefore
states plainly rather than leaving you to infer:

  * The BRAND is not licensed. The OmniSim and OmniLink names, the dot-sphere
    orb and the artwork under resources/branding/ are reserved — as copyright
    by resources/branding/LICENSE and Carve-Out item 5, and as trademarks by
    TRADEMARKS.md. A fork that redistributes modified code must rename and
    rebrand. Everything else about forking is welcome and always will be.
  * Some components are not ours to sublicense. The Carve-Out section near the
    end of this file lists every component whose terms are narrower than
    Apache-2.0. Read it before you ship. THIRD_PARTY_NOTICES.md carries the
    reasoning and the evidence; this file carries the obligations.

================================================================================
Derivation
================================================================================

OmniSim is a derivative work of Webots, the open-source robot simulator
developed by Cyberbotics Ltd. (https://github.com/cyberbotics/webots),
released under the Apache License, Version 2.0.

    Copyright 1996-2024 Cyberbotics Ltd.

Substantial portions of the source tree under src/, projects/, resources/,
docs/, include/, lib/, and Contents/ originate from Webots. Files that
retain their original Cyberbotics copyright headers remain copyright of
Cyberbotics Ltd.; modifications to those files and all newly added files
in this distribution are copyright of OmniLink and contributors, and are
likewise licensed under the Apache License, Version 2.0.

NOTICE OF MODIFICATION (Apache License 2.0, Section 4(b))
---------------------------------------------------------
Files in this distribution that originate from Webots HAVE BEEN MODIFIED by
OmniLink. Modified files carry a modification notice in their header, of the
form:

    Modifications copyright 2026 OmniLink, licensed under the
    Apache License, Version 2.0.

Those per-file headers ARE the notice Section 4(b) requires, and they are the
record that travels with the artifact you received: every modified file states,
in the file itself, that it carries prominent notice of modification. Do not
look for a commit-by-commit changelog in a release: public releases are
published as a single squashed snapshot per version, so the release history is
per-version (see CHANGELOG.md), not per-change.

OmniSim is not a redistribution of Webots: it is a substantially modified
derivative work with different physics defaults, a different renderer path, a
different controller runtime, and large bodies of newly authored code that have
no upstream counterpart.

OmniSim is not affiliated with, endorsed by, or sponsored by Cyberbotics Ltd.
"Webots" and "Cyberbotics" are trademarks of Cyberbotics Ltd. The Apache
License, Version 2.0 grants no rights in those marks (Section 6), and OmniLink
claims none; they are used here only to state, factually, what OmniSim is
derived from.

================================================================================
Bundled and Vendored Third-Party Components
================================================================================

This distribution includes or links against the following third-party
software. Each component remains subject to its own license; see the
referenced upstream sources for full license texts.

The complete third-party inventory — robot models, vendored code, simulation
assets, fonts, icons, reference data, and the carve-out for material not
covered by the Apache-2.0 grant — is in THIRD_PARTY_NOTICES.md.

- GLAD (OpenGL loader), generated v0.1.28 (2019-01-24)
    https://github.com/Dav1dde/glad
    The generator is MIT, Copyright (c) 2013-2018 David Herberth (that is the
    copyright line in glad's LICENSE at tag v0.1.28, the version that produced
    src/glad/glad.c and include/glad/glad.h). glad's author elects Public
    Domain, WTFPL or CC0 for the code the generator EMITS, while the Khronos
    OpenGL XML registry it derives from is Apache-2.0, Copyright (c) 2013-2018
    The Khronos Group Inc.; whether that reaches through into generated output
    is not authoritatively settled and neither party will assert it. OmniSim
    takes the conservative reading and honours both notices. Generated with
    --omit-khrplatform, so no Khronos khrplatform.h is shipped and its separate
    notice does not arise. Full record, with the verbatim MIT text and the
    evidence: src/glad/LICENSE (and include/glad/LICENSE, which points at it).

- GLM (OpenGL Mathematics)
    https://github.com/g-truc/glm
    The Happy Bunny License or MIT License. License text: src/glm/copying.txt
    (a git submodule — run `git submodule update --init` to fetch it).

- stb single-file public-domain libraries
    https://github.com/nothings/stb
    Public domain (or MIT, at user's option). License text: src/stb/LICENSE
    (a git submodule).

- SipHash (from google/highwayhash)
    https://github.com/google/highwayhash
    Apache License, Version 2.0.
    Copyright 2015-2017 Google Inc. All Rights Reserved.
    The portable SipHash implementation by Jan Wassenberg and Jyrki
    Alakuijala, vendored at src/omnisim/external/siphash/ and compiled into
    the engine binary (the triangle-mesh and renderer caches key off it).
    License text: src/omnisim/external/siphash/LICENSE. Provenance is recorded
    in the component's own src/omnisim/external/siphash/Readme.md ("github
    master as of 2017.04.24").

- Open Asset Import Library (Assimp)
    https://github.com/assimp/assimp
    BSD 3-Clause License.

- Object Oriented Input System (OIS)
    https://github.com/wgois/OIS
    zlib/libpng License.

- Pico (text-to-speech) — NO LONGER PRESENT
    SVOX Pico
    Apache License, Version 2.0.

- OpenVR
    https://github.com/ValveSoftware/openvr
    BSD 3-Clause License. Fetched into dependencies/ at build time; see the
    upstream LICENSE.

- WREN (Webots RENderer) — the engine source is gone; assets and one
  prebuilt web build remain
    Copyright 1996-2024 Cyberbotics Ltd. Apache License, Version 2.0.
    resources/wren/ (licence text at resources/wren/LICENSE). WREN was
    Cyberbotics' own OpenGL renderer, inherited with the Webots derivation
    above. Its source was DELETED on 2026-08-23 when wgpu-native became
    OmniSim's only renderer. Two things still ship: ten Cyberbotics-authored
    gizmo meshes and overlay textures, still read by the current wgpu GUI; and
    resources/web/wwi/wrenjs.{js,wasm,data}, a prebuilt WebAssembly build of
    WREN fetched from Cyberbotics' own R2025a distribution, which the --stream
    browser viewer still renders through. The .data file additionally carries
    84 of Cyberbotics' WREN GLSL shaders, which no longer exist as source in
    this tree. Both keep their Apache-2.0 attribution for as long as they ship;
    the full record is resources/web/wwi/LICENSE-wrenjs.txt. This is NOT the
    wren-lang scripting language, which has never been present in this tree.

- Qt 6
    https://www.qt.io/
    GNU Lesser General Public License, version 3 (LGPL-3.0). OmniSim links
    Qt 6 dynamically; official binary distributions bundle the unmodified
    Qt 6 shared libraries. Qt 6 remains copyright of The Qt Company Ltd. and
    contributors. Users may relink OmniSim against a modified Qt 6 by
    replacing those shared libraries, as LGPL-3.0 requires.

- FreeType
    https://freetype.org/
    The FreeType License (BSD-style) or GPLv2 (dual-licensed); used here
    under the FreeType License.

- OpenAL Soft
    https://openal-soft.org/
    GNU Lesser General Public License, version 2.1 (LGPL-2.1). Linked
    dynamically; the unmodified shared library is bundled and replaceable.

- wgpu-native (gfx-rs)
    https://github.com/gfx-rs/wgpu-native
    MIT License or Apache License 2.0 (dual-licensed). Shipped in official
    binaries as wgpu_native.dll / omnisim_wgpu; compiled to an inert stub in
    a plain source build.

Vendored JavaScript / WebAssembly dependencies of the web viewer
(resources/web/wwi/dependencies/). Each file's own header is the source of the
attribution below. Three of them — ansi_up, Quaternion.js and assimpjs — also
ship a separate licence text alongside the code, in
resources/web/wwi/dependencies/ (LICENSE-ansi_up.txt, LICENSE-quaternion.txt,
LICENSE-assimpjs.txt); the rest carry their notice inline in the file itself.
A fourth, wrenjs.{js,wasm,data}, ships one in the parent directory
(resources/web/wwi/LICENSE-wrenjs.txt) because those files live there rather
than under dependencies/.

- ansi_up.js
    https://github.com/drudru/ansi_up
    MIT License, as declared in the file's header ("author : Dru Nelson /
    license : MIT"). The header carries no copyright line; see upstream.

- glm-js.min.js
    http://humbletim.github.io/glm-js
    MIT License. Copyright (c) 2015-2016 humbletim. Full MIT text is embedded
    in the file's own header comment.

- quaternion.min.js
    Quaternion.js v1.2.1. MIT License.
    Copyright (c) 2021, Robert Eisele (robert@xarg.org).

- libtess.min.js
    Copyright 2000, Silicon Graphics, Inc. All Rights Reserved.
    Copyright 2015, Google Inc. All Rights Reserved.
    Permissive MIT-style license with an SGI FreeB attribution requirement:
    the copyright notice "including the dates of first publication and either
    this permission notice or a reference to http://oss.sgi.com/projects/FreeB/
    shall be included in all copies or substantial portions of the Software."
    Derived from the OpenGL Sample Implementation, Version 1.2.1 (released
    26 January 2000), Copyright (c) 1991-2000 Silicon Graphics, Inc. The
    verbatim license text is embedded in the file's own header comment.

- assimpjs.js and assimpjs.wasm
    MIT License, Copyright (c) 2021 Viktor Kovacs, plus the two components
    linked into them (below). Licence text: resources/web/wwi/dependencies/
    LICENSE-assimpjs.txt.
    ⚠ These files are cyberbotics/assimpjs, a FORK of kovacsv/assimpjs — not
    upstream assimpjs. Established by sha256: both match cyberbotics/assimpjs
    at main, path dist/, exactly, and no kovacsv/assimpjs release matches
    either size (all ten ship a 3.9-4.2 MB .wasm against our 2.44 MB, because
    the fork disables most importers). The fork's LICENSE.md is upstream's
    unchanged, so Viktor Kovacs is the sole named holder; Cyberbotics added no
    copyright line of their own.
    assimpjs.wasm additionally contains a compiled Open Asset Import Library
    (Assimp) v5.2.3 — established by submodule SHA, not inferred — which is
    BSD 3-Clause, Copyright (c) 2006-2022 assimp team (see the Assimp entry
    above). Both files also contain Emscripten's own runtime library, which is
    dual-licensed MIT and University of Illinois/NCSA Open Source License,
    Copyright (c) 2010-2014 Emscripten authors. Neither file carries any
    embedded licence header or copyright notice, so all three notices are
    supplied by the sidecar named above.

- wrenjs.js, wrenjs.wasm, wrenjs.data (resources/web/wwi/, not dependencies/)
    A prebuilt WebAssembly build of Cyberbotics' WREN renderer, fetched from
    https://cyberbotics.com/wwi/R2025a/ and vendored so the --stream viewer
    does not load it from cyberbotics.com at runtime. Three separately-licensed
    layers, none of which was previously named in this file: WREN itself
    (Apache-2.0, Copyright 1996-2024 Cyberbotics Ltd.; evidenced by 325 _wr_*
    exports); 84 WREN GLSL shaders bundled inside wrenjs.data (same licence);
    and Emscripten's own runtime library (MIT / University of Illinois-NCSA
    dual, Copyright (c) 2010-2014 Emscripten authors). Licence text:
    resources/web/wwi/LICENSE-wrenjs.txt.

Newton physics runtime (bundled by default in release builds; `make release`
sets BUNDLE_NEWTON=1, which vendors the following into the binary tree —
exact versions pinned in scripts/packaging/newton_runtime_pins.py):

- Newton (Linux Foundation / NVIDIA / Google DeepMind / Disney Research)
    https://github.com/newton-physics/newton
    Apache License, Version 2.0.

- NVIDIA Warp (warp-lang)
    https://github.com/NVIDIA/warp
    Apache License, Version 2.0.

- MuJoCo Warp (mujoco-warp) and MuJoCo (Google DeepMind)
    https://github.com/google-deepmind/mujoco_warp
    Apache License, Version 2.0.

- OpenUSD / usd-core (Pixar)
    https://github.com/PixarAnimationStudios/OpenUSD
    Apache License, Version 2.0 (modified; see the upstream LICENSE.txt).

- CPython (embedded interpreter for the Newton runtime)
    https://www.python.org/
    Python Software Foundation License, Version 2.

The Windows distribution additionally bundles a subset of the MSYS2 /
MinGW-w64 runtime under msys64/. Those binaries remain subject to their
respective upstream licenses (MIT, BSD, LGPL, GPL with runtime-library
exceptions, etc.); see the upstream MSYS2 packages for individual terms.

Historical
----------
The Open Dynamics Engine (ODE), together with the libccd and OPCODE components
that were bundled inside it, WAS REMOVED from this distribution on 2026-08-08:
src/ode/ and include/ode/ were deleted, and Newton is now the only physics
backend. Nothing here links or ships ODE, libccd or OPCODE, and the paths that
carried their license texts no longer exist. Releases up to and including that
date did ship ODE under its BSD option; a redistributor holding one of those
releases should rely on the NOTICE file that accompanied it, not on this one.

================================================================================
Third-Party Robot Models
================================================================================

OmniSim redistributes robot descriptions (URDF/MJCF) and 3D meshes originating
from third parties. Each remains subject to its upstream license and to the
rights of the manufacturer whose product it depicts. Redistribution here does
not imply any endorsement by, or affiliation with, those manufacturers, and the
Apache License 2.0 granted over OmniSim's own source code does NOT purport to
grant any rights in third-party robot geometry.

- Clearpath Robotics — Husky, Jackal
    From husky_description / jackal_description.
    Copyright (c) 2015, 2021 Clearpath Robotics, Inc. BSD 3-Clause License.
    License texts: projects/robots/clearpath/*/LICENSE.upstream.

- Husarion — ROSbot, ROSbot XL
    From https://github.com/husarion/rosbot_ros (rosbot_description).
    Apache License, Version 2.0.
    License text: projects/robots/husarion/rosbot_description/LICENSE.upstream.

- ROBOTIS — TurtleBot3 (Burger, Waffle, Waffle Pi)
    From https://github.com/ROBOTIS-GIT/turtlebot3 (turtlebot3_description).
    Apache License, Version 2.0.
    License text: projects/robots/robotis/turtlebot3_description/LICENSE.upstream.

- Unitree Robotics — G1, H1, Go2, B2
    From https://github.com/unitreerobotics/unitree_ros
    (g1_description / h1_description / go2_description / b2_description).
    BSD 3-Clause License.
    Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD.
    ("Unitree Robotics"). All rights reserved.
    License text: projects/robots/unitree/LICENSE.upstream.

- Deep Robotics — Lite3, X30, M20, M20S, M20 + Piper, DR02 Standard, DR02 Pro
    From https://github.com/DeepRoboticsLab/deep_robotics_model
    (the urdf/ tree of each robot; commit 549eb9ac, 2026-09-08).
    BSD 3-Clause License.
    Copyright (c) 2024, DeepRoboticsLab.
    License text: projects/robots/deep_robotics/LICENSE.upstream.
    Every change to the upstream files is recorded in
    projects/robots/deep_robotics/PROVENANCE.md.

- OmniQuad (kinematic skeleton) — from Clearpath Robotics' spot_description
    From https://github.com/clearpathrobotics/spot_ros (spot_description).
    BSD 3-Clause License.
    Copyright (c) 2021, Clearpath Robotics Inc.
                  2022, Oxford Robotics Institute. All rights reserved.
    License text: projects/robots/omnisim/omniquad/LICENSE.upstream.

    ⚠️ WHAT THIS COVERS, AND WHAT WAS REMOVED (2026-08-22).
    This package no longer ships ANY third-party geometry. All 13 visual
    meshes, the 9 mesh colliders and the texture were DELETED and replaced
    with primitive solids authored in this repository and emitted by
    scripts/dev/gen_omnisim_robot_visuals.py. The package contains zero
    binary asset files.

    Why they had to go: an earlier revision of this notice asserted the
    geometry was "Blender-modelled ... NOT an export from a mechanical CAD
    package". THAT WAS WRONG, and the files refuted it — every one of the 13
    named its geometry object
        02-042137-001-A00 TOP LEVEL DEFEATURED - NOT FOR PRODUCTION.<nnn>
    a manufacturer part number with a CAD release annotation, carrying
    Blender's DUPLICATE suffix (.008, .020, ...). One imported CAD assembly
    split into 13 files, not 13 modelled parts; Blender was the exporter, not
    the author of the shape, and "Blender User" is Blender's default author
    string, which names nobody. A licensor can only license what it owns, so
    the BSD-3 grant could not convey rights in a shape Clearpath did not
    author.

    The BSD-3 notice above is RETAINED because the grant validly covers what
    Clearpath and the Oxford Robotics Institute DID author and this package
    still uses: the kinematic skeleton — link topology, joint origins, axes
    and limits — carried over unchanged so that existing worlds and trained
    policies remain valid. Clause 1 requires that notice to travel with it.

    Substituting the colliders was verified, not assumed: with the policy,
    world and engine held constant and only the URDF swapped, the
    velocity-conditioned walk is BITWISE identical over ~11,000 steps
    (max |delta pos| = 0.00000000 m, 24.601 m travelled in both arms).
    Evidence: docs/developer/spot-provenance-research.md.

    "Spot" and "Boston Dynamics" are trademarks of Boston Dynamics, Inc. This
    package no longer models that machine and does not use those marks.

- Universal Robots — UR3e, UR5e, UR10e
    From https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
    (ur_description, version 4.3.1). BSD 3-Clause License, as declared by
    upstream's own package.xml (<license file="LICENSE">BSD-3-Clause</license>).
    ⚠️ NO COPYRIGHT HOLDER OR YEAR IS ASSERTED, and none is known: upstream's
    LICENSE file carries the BSD-3 terms with NO "Copyright (c) ..." line above
    them, so BSD-3 clause 1 has no notice to retain. Nothing in this tree
    establishes one — package.xml names Universal Robots A/S only as a
    MAINTAINER, alongside sixteen author entries from several organisations;
    the xacro-generated URDFs carry no header; and the meshes record only
    Blender's default "Blender User" author string. The gap, and every scrap of
    evidence weighed, is written into the top of the license file itself.
    NOTE: upstream places only the UR8LONG / UR15 / UR18 / UR20 / UR30 meshes
    under Universal Robots A/S' "Terms and Conditions for Use of Graphical
    Documentation". OmniSim ships NONE of those families — only ur3e, ur5e and
    ur10e, which are covered by the BSD-3 license.
    License text: projects/robots/universal_robots/ur_description/LICENSE.upstream.

- Franka Emika / Franka Robotics — Panda (and Panda Hand)
    From https://github.com/frankaemika/franka_ros (franka_description).
    Apache License, Version 2.0.
    Copyright 2023 Franka Robotics GmbH.
    The license covers the package including its meshes; upstream declares no
    mesh-specific or product-scoped carve-out.
    License text: projects/robots/franka_emika/LICENSE.upstream (the package is
    currently held from the public snapshot pending inertials, so the model and
    these files are absent from public distributions).
    Upstream attribution notice (reproduced as required by Apache-2.0 Section
    4(d)): projects/robots/franka_emika/NOTICE.upstream.

- DJI — Mavic 2 Pro
    Kinematic URDF authored for OmniSim from primitive geometry; no DJI CAD or
    mesh data is redistributed. "DJI" and "Mavic" are trademarks of SZ DJI
    Technology Co., Ltd., used here only to identify the modelled aircraft.

All robot and product names, and the trade dress of the robots depicted, are
the trademarks of their respective owners. The manufacturer names above are
used descriptively, to identify the machine each model depicts; they do not
indicate any endorsement, sponsorship or approval by those manufacturers.

================================================================================
Third-Party Simulation Assets (PROTO models, textures, fonts, icons)
================================================================================

Assets inherited from Webots are NOT uniformly Apache-2.0. Each PROTO file
declares its own license on its `# license:` header line.

Counts below were MEASURED on 2026-08-22 by reading the first `# license:`
line of every tracked *.proto file (`git ls-files '*.proto'`); re-derive them
the same way rather than trusting this paragraph. Recounted 2026-08-24: the
tree holds 452 tracked PROTOs in all — 259 under projects/, 1 under resources/,
and 192 test fixtures under tests/.

Of the 259 PROTOs under projects/ — the shipped asset library:

- 106 PROTOs: "Copyright 2026 OmniLink. Apache 2.0." These are the object
    models OmniSim authored to replace the upstream asset library.
- 77 PROTOs: "Apache License 2.0".
- 66 PROTOs: "Creative Commons Attribution 4.0 International License." —
    under projects/objects/buildings/ (25), street_furniture/ (21), garden/
    (12), trees/ (6) and traffic/ (2). NOTE: none of these files carries an
    explicit copyright line of its own; they are attributed to Cyberbotics
    Ltd. on the strength of the Webots derivation recorded above, not on the
    strength of a per-file notice.
- 8 PROTOs: "Apache-2.0" — the construction-site and stage demo models under
    projects/samples/demos/protos/, authored for OmniSim.
- 2 PROTOs: "Creative Commons Attribution 3.0 United States License (original
    model by Andrew Kator & Jennifer Legaz)"
    (projects/objects/traffic/protos/StreetLight.proto,
    ControlledStreetLight.proto).
- 0 PROTOs: no `# license:` header. Every PROTO under projects/ now declares
    one (recounted 2026-08-22); the four sky/sun PROTOs and the two rendering
    samples that previously lacked a header were OmniSim-authored and have
    been given the OmniLink Apache-2.0 line.

Outside projects/: resources/templates/protos/template.proto (the new-PROTO
skeleton) carries no header, and of the 192 test fixtures under tests/, 2
declare "Copyright 2026 OmniLink. Apache 2.0." and 190 carry no header. The
test fixtures are OmniSim- and Webots-authored scaffolding, not redistributed
third-party assets.

VERIFIED 2026-08-22: ZERO PROTO files in this tree declare "Licensed for use
only with Webots" or name Webots on a `# license:` line at all. Every PROTO
carrying that former Cyberbotics assets-license text has been removed or
re-authored.

A note on the re-authored PROTOs, in the interest of accuracy. The PROTOs listed
above as authored for OmniSim were written to be DROP-IN REPLACEMENTS for their
upstream counterparts, so that existing `.wbt` worlds keep loading. That
compatibility requirement was met by RETAINING THE UPSTREAM FIELD INTERFACE —
the field names, their types, their default values, their ordering, and in
places the upstream inline field comments and `hiddenField` deprecation blocks
that document it. The node bodies below the interface were re-authored, but the
interface itself is upstream's design, inherited for compatibility, and a small
number of the simplest PROTOs remain close to upstream throughout. Their headers
assert OmniLink copyright over the file; that assertion should be read as
covering OmniLink's own authorship, not as a claim over the upstream field
vocabulary those files deliberately preserve. Cyberbotics' copyright in the
Webots PROTO interface design is acknowledged, and the whole set is Apache-2.0
either way, so nothing about a downstream user's rights turns on this — but a
redistributor comparing the files to upstream should not be surprised by the
resemblance.

Fonts. Four directories ship font files; each is listed with the license text
that travels with it. Where a font declares its own license in its OpenType
`name` table, that declaration is the source of the attribution below.

Engine fonts (resources/fonts/, mirrored as .woff2 for the web viewer in
resources/web/wwi/fonts/, which carries its own copies of the same texts):
- Liberation Sans / Serif / Mono — SIL Open Font License 1.1. License text:
    resources/fonts/LICENSE-Liberation-OFL-1.1.txt.
- DejaVu Sans / Serif / Sans Mono — DejaVu Fonts License (Bitstream Vera
    derivative). License text: resources/fonts/LICENSE-DejaVu.txt.
- Raleway — SIL Open Font License 1.1. Copyright (c) 2010 Matt McInerney,
    2011 Pablo Impallari, 2011 Rodrigo Fuenzalida, with Reserved Font Name
    Raleway. License text: resources/fonts/SIL-Open-Font-License.txt.
- Code2000 / Code2001 / Code2002 — Copyright 1998-2008 James Kass (1998-2005
    for Code2002). These are the glyph fallback chain. Code2000 declares itself
    SHAREWARE requiring per-user registration; Code2001 and Code2002 declare
    "may be freely distributed. All rights reserved." NOT INCLUDED IN THE
    PUBLIC SNAPSHOT — neither the .ttf files nor their .woff2 conversions are
    redistributed. See the carve-out below.

Documentation webfonts (docs/css/fonts/, loaded by docs/css/omnisim-doc.css):
- Roboto and Roboto Mono — Apache License, Version 2.0, as declared in the
    fonts' own metadata. Copyright 2011 Google Inc. (2015 for Roboto Mono).
    All Rights Reserved. "Roboto" is a trademark of Google. License text:
    docs/css/fonts/LICENSE-Roboto-Apache-2.0.txt.
- Raleway Thin — SIL Open Font License 1.1. Copyright (c) 2010-2013 Matt
    McInerney, Pablo Impallari, Rodrigo Fuenzalida, with Reserved Font Name
    "Raleway". License text: docs/css/fonts/LICENSE-Raleway-OFL-1.1.txt.

Brand fonts (resources/branding/omnisim/fonts/):
- Space Grotesk (variable, weights 300-700) — SIL Open Font License 1.1.
    Copyright 2020 The Space Grotesk Project Authors
    (https://github.com/floriankarsten/space-grotesk); designed by Florian
    Karsten; the OFL header declares no Reserved Font Name. License text:
    resources/branding/omnisim/fonts/OFL-SpaceGrotesk.txt.

Brand fonts (resources/branding/omnilink/fonts/):
- Montserrat (Light / Regular / Medium / SemiBold / Bold) — SIL Open Font
    License 1.1. Copyright 2011 The Montserrat Project Authors
    (https://github.com/JulietaUla/Montserrat), with Reserved Font Name
    "Montserrat"; designed by Julieta Ulanovsky. License text:
    resources/branding/omnilink/fonts/LICENSE-Montserrat-OFL-1.1.txt.
- The OmniLink display face is NOT REDISTRIBUTED. No license grant accompanies
    it: the files carry no copyright, license or vendor record in their own
    OpenType metadata and no terms were ever filed with them. It is excluded
    from the public snapshot, so its files are absent from public
    distributions. See resources/branding/omnilink/BRAND.md.

Icons (resources/icons/):
- Google Material Symbols — Apache License 2.0.
    https://github.com/google/material-design-icons
- The viewpoint glyphs, the small UI primitives and the splitter grips are
    OmniSim original artwork (Apache-2.0). See resources/icons/*/license.txt.

Reference-motion data (projects/policies/):
- The G1/H1 "ghost" reference trajectories under
    projects/policies/ghosts/g1/ have mixed provenance; each LUT
    records its origin in its `source` field. Those synthesized by OmniSim's
    own tooling are covered by the repository's Apache-2.0 terms. See the
    carve-out below.
- Several of those LUTs were recorded by running Unitree's pretrained walk
    policy inside OmniSim. The recorded trajectory is OmniSim's own measurement,
    but the policy that produced it is Unitree's — see the next section.

Benchmark reference data (tests/benchmarks/):
- DAIR cube-toss dataset — 550 recorded tosses of an acrylic cube onto a wooden
    table (AprilTag/TagSLAM tracked at 148 Hz), plus the cube's URDF, vendored
    at tests/benchmarks/omnibench/lane1r/data/ and replayed by OmniBench lane 1R.
    From https://github.com/DAIRLab/dair_pll.
    BSD 3-Clause License.
    Copyright (c) 2022, Dynamic Autonomy and Intelligent Robotics Lab.
    All rights reserved.
    License text: tests/benchmarks/omnibench/lane1r/data/LICENSE.
    This is third-party MEASURED DATA, redistributed unmodified; it is NOT
    OmniLink's work and is NOT covered by the Apache-2.0 grant in LICENSE. BSD-3
    clause 1 requires the copyright notice, the conditions and the disclaimer to
    be retained — the LICENSE file above, plus this entry, are that material.
    The dataset accompanies Acosta, Yang & Posa, "Validating Robotics Simulators
    on Real-World Impacts", RA-L 2022 (arXiv:2110.00541), whose published
    per-simulator baselines lane 1R compares against.

================================================================================
Third-Party Pretrained Policy Weights
================================================================================

- Unitree Robotics — pretrained G1 and H1 walk policies
    From https://github.com/unitreerobotics/unitree_rl_gym
    (pre_train/g1/motion.pt, pre_train/h1/motion.pt).
    BSD 3-Clause License.
    Copyright (c) HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics").
    All rights reserved.
    Files:
        projects/policies/research/controllers/g1_unitree_deploy/motion.pt
        projects/policies/research/controllers/h1_unitree_deploy/motion.pt
    License texts (one per directory, each with a provenance note):
        projects/policies/research/controllers/g1_unitree_deploy/LICENSE.upstream
        projects/policies/research/controllers/h1_unitree_deploy/LICENSE.upstream
    These are third-party BINARY artifacts, redistributed unmodified. BSD-3
    clause 2 requires that a binary redistribution reproduce the copyright
    notice, the conditions and the disclaimer in the materials accompanying the
    distribution — the LICENSE.upstream files above, plus this entry, are that
    material. They are NOT OmniLink's work and are NOT covered by the
    Apache-2.0 grant in LICENSE.
    NO COPYRIGHT YEAR IS ASSERTED for these weights: nothing in this tree
    establishes the year range that unitree_rl_gym's own LICENSE declares, and
    the 2016-2022 range shown for the Unitree URDFs above comes from a
    different upstream repository (unitree_ros).
    ⚠️ UNRESOLVED: unitree_rl_gym's training code descends from legged_gym
    (ETH Zürich, Robotic Systems Lab) and rsl_rl, whose BSD-3 notices are
    reported to carry additional ETH Zürich and NVIDIA CORPORATION copyright
    lines. Whether those notices attach to a trained-weights artifact — as
    opposed to the training source, which is not redistributed here — has not
    been determined, and no such copyright line or year is asserted anywhere in
    this distribution because none could be sourced from it. See the
    LICENSE.upstream files for the full statement of what is and is not known.

================================================================================
Carve-Out: Components NOT Covered by the Apache-2.0 Grant
================================================================================

IMPORTANT NOTICE TO REDISTRIBUTORS AND DOWNSTREAM USERS.

The Apache License 2.0 in LICENSE applies to OmniSim's own source code and to
the Webots-derived source code it builds on. It does NOT and CANNOT grant
rights in third-party material that its owners licensed on other terms. The
following components are known or believed to carry terms that are narrower
than, or incompatible with, Apache-2.0.

Several of them are EXCLUDED FROM THE PUBLIC SNAPSHOT, and each says so in its
own entry. They are still listed here for two reasons: this same file ships with
distributions built from the full development tree, where the files ARE present;
and a redistributor who obtains the tree by another route needs to know which
components carry the exclusion. Read each entry's own statement rather than
assuming a component is or is not in the copy you hold.

1. The Code2000 / Code2001 / Code2002 glyph-fallback fonts — six files, in two
   formats:
       resources/fonts/Code2000.ttf, Code2001.ttf, Code2002.ttf
       resources/web/wwi/fonts/Code2000.woff2, Code2001.woff2, Code2002.woff2
   No license text accompanies them in any form. Their own OpenType metadata
   declares, verbatim: Code2000 — "Code2000 is shareware. Users are required to
   register the font after a reasonable evaluation period by sending $5.00 (US)
   or equivalent to: James Kass …"; Code2001 and Code2002 — "may be freely
   distributed. All rights reserved." Copyright 1998-2008 James Kass
   (1998-2005 for Code2002). Shareware-with-registration is not an Apache-2.0
   grant, and the .woff2 files are format conversions, i.e. modified versions,
   for which no permission to modify was granted at all.
   NOT INCLUDED IN THE PUBLIC SNAPSHOT — all six files are excluded, so this
   paragraph applies to the development tree and to any distribution that does
   carry them. They are the glyph fallback chain used for scripts the primary
   fonts do not cover; the shipped DejaVu faces cover the common cases.

2. The OmniLink display typeface — resources/branding/omnilink/fonts/, three
   .otf files. No license grant of any kind accompanies these files: they carry
   no copyright, license, license-URL or vendor record in their own OpenType
   metadata, and no EULA or written permission is filed with them. Retail
   display faces are typically licensed for use, not for redistribution.
   NOT INCLUDED IN THE PUBLIC SNAPSHOT — the files are excluded, so this
   paragraph applies to the development tree only. Do not add them, or any
   other retail typeface, to a redistributed tree without a written
   redistribution grant. resources/branding/omnilink/BRAND.md names the
   OFL-licensed substitute.

3. (WITHDRAWN 2026-08-24.) This item carved out the assimpjs JavaScript
   wrapper in resources/web/wwi/dependencies/, on the ground that its terms
   could not be verified from anything in this tree. They have now been
   verified, and the item is discharged rather than merely reworded.
   The upstream was identified by sha256 as cyberbotics/assimpjs — a FORK of
   kovacsv/assimpjs, which is why matching it against upstream releases had
   failed: every kovacsv release ships a 3.9-4.2 MB .wasm against our 2.44 MB.
   The fork carries upstream's LICENSE.md unchanged: MIT, Copyright (c) 2021
   Viktor Kovacs. The bundled Assimp was pinned to v5.2.3 by submodule SHA, and
   the Emscripten runtime layer inside both files was named for the first time.
   All three notices now ship at LICENSE-assimpjs.txt beside the code. Nothing
   about these two files is unlicensed any more.

4. (WITHDRAWN 2026-08-22.) This item carved out the NASA Valkyrie model
   under the NASA Open Source Agreement v1.3. The package has been REMOVED
   from the tree entirely, so there is nothing to carve out and no NOSA
   obligation attaches to any distribution of OmniSim.

5. resources/branding/ — the OmniSim and OmniLink BRAND ARTWORK. Copyright
   2026 OmniLink, all rights reserved. The logos, the dot-sphere orb, the
   wordmarks, lockups, glyphs and favicons under that directory are OmniLink's
   own copyrighted artwork and are NOT licensed under Apache-2.0. Full terms
   are in resources/branding/LICENSE.

   This is a COPYRIGHT reservation and it is deliberately separate from the
   trademark reservation further down this file. Apache-2.0 Section 6 withholds
   trademark rights, but it withholds nothing about copying an image file; on
   its own it would leave a recipient free to alter and republish this artwork
   provided they did not use it AS a mark. That is not the intent, so the
   copyright is reserved here explicitly. TRADEMARKS.md governs use of the
   marks; resources/branding/LICENSE governs the files.

   Reproducing the assets UNMODIFIED to refer factually to OmniSim or OmniLink
   is permitted without asking — see TRADEMARKS.md, which is generous about
   this on purpose. A fork that redistributes modified OmniSim code must
   replace this directory with its own artwork.

   Two files inside it are governed by their own terms instead: the Montserrat
   typeface (SIL OFL 1.1, text alongside it) and the Hogira display faces,
   which are item 2 above.


Historical — robot packages removed from this tree
--------------------------------------------------
Nothing below is redistributed. The paths are named because they are GONE;
requiring them to resolve would require this notice to lie.

- NASA Johnson Space Center — Valkyrie (R5) — REMOVED 2026-08-22
    Formerly at projects/robots/nasa/valkyrie/, from
    https://github.com/openhumanoids/val_description under the NASA Open
    Source Agreement v1.3. The package is GONE from this tree and nothing is
    redistributed, so no NOSA obligation attaches. It was removed rather than
    merely held because NOSA v1.3 is not Apache-2.0 compatible (GPL-
    incompatible, non-relicensable, and Section 3 requires the agreement
    accompany every redistribution) and because the LICENSE.upstream we
    carried was an UNFILLED TEMPLATE — every identifying blank, including the
    name of the government agency, was left as "_____", so it did not even
    satisfy its own Section 3.

- Agility Robotics — Digit — REMOVED 2026-08-22
    Formerly at projects/robots/agility/digit/. Its upstream was a third-party
    Julia package (DigitRobot.jl) carrying no LICENSE on any branch, and
    Agility Robotics has published no redistribution grant for Digit's
    URDF or meshes. There was no permission to rely on, so the material was
    deleted rather than held behind a release deny-list.

Every other third-party robot model in this distribution is redistributed under
a permissive license (BSD 3-Clause or Apache-2.0) whose verbatim text ships
beside the geometry. See the Third-Party Robot Models section above for the
per-robot license and the path to its license file.

Do not assume Apache-2.0 rights in any of the above. If you redistribute
OmniSim, satisfy yourself that you have the rights you need in each component
you ship, and check the individual file headers. The full component inventory
is in THIRD_PARTY_NOTICES.md.

================================================================================
Trademarks
================================================================================

"Webots" is a trademark of Cyberbotics Ltd. "OmniSim" and "OmniLink", the
OmniLink dot-sphere orb mark, the tagline "by OmniLink, for OmniLink agents",
and the associated brand palette and trade dress are trademarks of OmniLink.
All other trademarks are the property of their respective owners. Use of any
trademark herein does not imply endorsement.

Every manufacturer and product name in this distribution — "Husky", "Jackal",
"Go2", "B2", "G1", "H1", "ROSbot", "TurtleBot", "UR3e"/"UR5e"/
"UR10e", "Panda", "Mavic", and the names of the companies that make them — is
used NOMINATIVELY: to identify, factually, the machine that a model depicts or
that OmniSim supports. No such use indicates endorsement, sponsorship,
affiliation or approval by the trademark owner. BSD 3-Clause (clause 3) and
Apache-2.0 (Section 6) both withhold trademark rights, and no license in this
distribution grants any.

"TurtleBot" is a registered trademark of the Open Source Robotics Foundation
(OSRF), not of ROBOTIS; ROBOTIS manufactures the TurtleBot3 hardware and holds
the copyright in the turtlebot3_description package, which is distinct from
ownership of the mark.

The Apache License 2.0 covers the source code only. It does not grant any
rights to use the OmniLink and OmniSim trademarks (Apache 2.0 Section 6). The
permitted and prohibited uses of those marks — including the rule that forks
redistributing modified code must rename and rebrand — are set out in the
project's Trademark Policy at TRADEMARKS.md.
