geodex
Copyright 2026 Space and Terrestrial Autonomous Robotic Systems (STARS) Lab

Licensed under the Apache License, Version 2.0 (see LICENSE).

The pygeodex wheels statically link, and the geodex sources build, the following
third-party software. Each license text is in THIRD_PARTY_LICENSES.txt, in the section
named in the last column.

  OMPL (utiasSTARS fork)       BSD-3-Clause             ompl
  VAMP, nigh, pdqsort          Apache-2.0, BSD-3, Zlib  vamp
  SIMDxorshift (x86-64)        Apache-2.0               simdxorshift
  Boost                        BSL-1.0                  boost
  Eigen                        MPL-2.0 and others       eigen
  nanobind, robin-map          BSD-3-Clause, MIT        nanobind
  yaml-cpp                     MIT                      yaml-cpp
  cricket (VAMP kernel code)   MIT                      cricket

The generated VAMP collision kernels follow cricket's kernel template, and the PR2 sphere
model starts from cricket's PR2 resource.

The robot dynamics and collision models, and the robot descriptions in this repository,
derive from the following sources.

  Franka Panda and FR3         Apache-2.0 with NOTICE   franka-description
  Robotiq 2F-85 and coupling   BSD-3-Clause             ros2-robotiq-gripper
  Universal Robots UR5         BSD-3-Clause, MIT        ur5-robotiq
  Universal Robots UR5e        BSD-3-Clause             universal-robots-description
  robowflex_resources          MIT                      robowflex-resources
  Rethink Baxter               BSD-3-Clause             baxter-common
  Willow Garage PR2            BSD-3-Clause             pr2-description
  Clearpath platforms          BSD-3-Clause             clearpath-common
  Hello Robot Stretch 3 and 4  Clear BSD                stretch-urdf

The UR5 URDF is expanded from robowflex_resources, which also records the upstream sources of
the Panda and Baxter descriptions. The UR5e on the Ridgeback and Husky comes from the Universal
Robots ROS 2 description. The FR3 comes from franka_description, and the Robotiq 2F-85 on its
coupling comes from PickNik's ros2_robotiq_gripper.

The franka_description NOTICE reads:

  franka_description
  Copyright 2023 Franka Robotics GmbH
