
Choreonoid - An integrated graphical robotics software framework

Copyright (c) 2019-2025 Choreonoid Inc.

Copyright (c) 2007-2019
    Shin'ichiro Nakaoka and the Choreonoid development team,
    Intelligent Systems Research Institute,
    National Institute of Advanced Industrial Science and Technology (AIST)

Choreonoid is software released under the MIT license.

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE

---------------------------------------------------------------------------

This software includes the following robot models which are
copyrighted by other developers.

 * Aizu Spider
   see share/model/AizuSpider/LICENSE

 * Aizu Wheel
   see share/model/AizuWheel/LICENSE

 * Double Arm Construction Robot (V7)
   see share/model/DoubleArmV7/LICENSE

 * HRP-4C
   see share/model/HRP4C/LICENSE

 * Kinova JACO2 Arm
   see share/model/JACO2/LICENSE

 * Universal Robots U3, U5, and U10
   see share/model/UniversalRobots/{U3|U5|U10}/LICENSE, respectively

 * WAREC1
   see share/model/WAREC1/LICENSE

---------------------------------------------------------------------------

This software also includes the following software components which are
copyrighted by other developers.

 * CLI11 (https://github.com/CLIUtils/CLI11)
   see thirdparty/CLI11/LICENSE

 * Eigen (http://eigen.tuxfamily.org)
   see thirdparty/eigen-3.4.0/COPYING.README

 * fast_float (https://github.com/fastfloat/fast_float)
   see thirdparty/fast_float-0.8.0/LICENSE.rst

 * fmt (http://fmtlib.net)
   see thirdparty/fmt-11.0.0/LICENSE

 * FreeType (http://freetype.org/)
   see thirdparty/freetype-2.13.0/LICENSE.TXT

 * gettext (http://www.gnu.org/software/gettext)
   see thirdparty/gettext-0.21/include/libintl.h

 * IJG JPEG Library (http://www.ijg.org)
   see thirdparty/Jpeg-9c/README

 * libpng (http://www.libpng.org/pub/png/libpng.html)
   see thirdparty/lpng1232/LICENSE

 * libzip (https://libzip.org/)
   see thirdparty/libzip-1.9.2/LICENSE

 * LibYAML (http://pyyaml.org/wiki/LibYAML)
   MIT license (see thirdparty/yaml-0.2.5/LICENSE)

 * NVIDIA PhysX (https://github.com/NVIDIA-Omniverse/PhysX)
   see thirdparty/physx-5.6.1/LICENSE.md

 * OPCODE (http://www.codercorner.com/Opcode.htm)
   see src/AISTCollisionDetector/Opcode/ReadMe.txt

 * Pugixml (https://pugixml.org)
   see thirdparty/pugixml-1.11/readme.txt

 * pybind11 (https://github.com/pybind/pybind11)
   see thirdparty/pybind11-2.12.0/LICENSE

 * Sol (https://github.com/ThePhD/sol2)
   see thirdparty/sol2/LICENSE

 * Xacro (https://github.com/ros/xacro)
   sett thirdparty/xacro-1.14.10/package.xml

 * zlib (https://zlib.net/)
   see thirdparty/zlib-1.2.13/LICENSE

---------------------------------------------------------------------------

Some binary distributions of Choreonoid may include the binaries of the
following libraries:

* Qt (http://www.qt.io/)
* Assimp (https://www.assimp.org/)
* Open Dynamics Engine (http://www.ode.org/)
* Bullet Physics Library (http://bulletphysics.org/)
* FFmpeg (https://ffmpeg.org/)
* Point Cloud Library (https://pointclouds.org/)
* omniORB (http://omniorb.sourceforge.net/)
