NOTICE

GraspQP
Copyright (c) 2025 ETH Zurich, René Zurbrügg

This product is released under the MIT License (see the LICENSE file), with the
exceptions and third-party components listed below.

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1. License split
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Except where noted, all source files in this repository are licensed under the
MIT License and are copyright ETH Zurich (see LICENSE and AUTHORS).

Files derived from the NVIDIA Isaac Lab project retain their original
BSD-3-Clause license and copyright ("The Isaac Lab Project Developers"). The
ETH Zurich copyright line added at the top of those files does not change their
BSD-3-Clause license. The full BSD-3-Clause text is reproduced in Section 4.

Portions of the grasp-optimization code (graspqp/src/graspqp/core/*.py and
scripts/fit.py, scripts/vis/visualize_hand_model.py) are derived from
DexGraspNet (https://github.com/PKU-EPIC/DexGraspNet), MIT License,
Copyright (c) 2023 Jialiang Zhang, Ruicheng Wang.

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2. Third-party dependencies (installed at build/run time, not redistributed here)
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These are pulled in via pip / the Docker images and remain under their own
licenses; consult each project for the authoritative terms:

- pytorch_kinematics  - https://github.com/renezurbruegg/pytorch_kinematics (MIT)
- TorchSDF (optional) - https://github.com/renezurbruegg/TorchSDF
- NVIDIA Warp (warp-lang)          - NVIDIA
- PyTorch3D (optional)             - Meta Platforms, BSD-3-Clause
- NVIDIA Kaolin (optional backend) - NVIDIA
- qpth                             - Apache-2.0
- NVIDIA Isaac Sim / Isaac Lab (required only for the graspqp_isaaclab
  simulation package): use requires accepting NVIDIA's Omniverse / Isaac Sim
  license (e.g. ACCEPT_EULA=Y). Isaac Sim is NOT redistributed in this
  repository.

The interactive HTML viewer (viewer/test.html) links to JavaScript libraries
from public CDNs via <script src="..."> tags. Those libraries are loaded at
runtime from the CDN and are not redistributed in this repository.

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3. Robot models and object assets
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Robot hand / gripper models bundled under graspqp/assets/ and
graspqp_isaaclab/src/graspqp_isaaclab/assets/ (Allegro Hand, Shadow Hand,
Ability Hand, Robotiq 2F / 3F, Franka Panda, Schunk 2F) are the property of
their respective manufacturers / original authors and are included solely for
research reproducibility under their own terms. They are NOT covered by this
repository's MIT License.

The bundled test object (graspqp/tests/assets/dummy_sphere) is a procedurally
generated primitive and is covered by this repository's MIT License.

Object datasets used for grasp synthesis and evaluation are downloaded
separately by the user and are the property of their respective owners; they
are not part of this repository.

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4. BSD-3-Clause License (NVIDIA Isaac Lab derived files)
================================================================================
Copyright (c) 2022-2025, The Isaac Lab Project Developers.
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors
   may be used to endorse or promote products derived from this software
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.