EnvPool MJLab implementation
===========================

The native task managers and serialized model assets are derived from MJLab
1.6.0, commit b517e0c489139e7fcee95702cfb2b01931264985, distributed under the
Apache License, Version 2.0. The pinned source includes the Unitree G1, Unitree
Go1 and I2RT Yam models used by these presets. Original upstream license files
are included with the runtime assets.

The quaternion expressions in math.h follow MJLab's Isaac Lab math helpers.
Those helpers retain the Isaac Lab Developers' BSD-3-Clause attribution; see
LICENSE.isaaclab. Tensor reduction and arithmetic ordering in math.h follows
PyTorch 2.9.0, commit 0fabc3ba44823f257e70ce397d989c8de5e362c1; see
LICENSE.pytorch. These are native adaptations, not a dependency on Torch at
runtime.

Physics and observation-camera kernels are generated from MuJoCo-Warp 3.11.0;
see LICENSE.mujoco-warp and AUTHORS.mujoco-warp for its Apache-2.0 license and
attribution.
The CPU runtime and generated kernel support use NVIDIA Warp 1.14.0, commit
b943176fbe3ab70e90708e74d2c48e6f50557145. Warp is distributed under the Apache
License, Version 2.0 and incorporates third-party components with their own
notices. The Warp license and its supplied third-party notices are preserved
in the vendor license directory. EnvPool's changes to Warp are recorded in
warp_native.patch; they add static CPU replay and thread-local scratch storage.

ARM math uses SLEEF commit 5a1d179df9cf652951b59010a2d2075372d67f68 under the
Boost Software License, Version 1.0. Linux x64 and Windows x64 additionally
statically link the required Intel oneMKL VML and LAPACK routines from the official
2024.2.0 and 2025.2.0 distributions, respectively, matching the pinned official
Torch CPU wheels. Intel's license and third-party notices are included in
those native wheels. No Intel runtime DLL, CUDA runtime, or LLVM JIT is shipped
as part of this family.

The terrain plane fit uses the same single-precision LAPACK implementation as
the official CPU oracle: system Accelerate on macOS, oneMKL on x64, and OpenBLAS
0.3.30 on Linux ARM. The Linux ARM wheel includes only the independent OpenBLAS,
GNU Fortran, and GNU OpenMP runtime libraries redistributed in the pinned Torch
2.9.0+cpu wheel, together with its complete LICENSE and NOTICE files. No Torch
library or Python module is copied into the runtime package.

The locally generated motion fixture is for testing only. It is not included
in either the runtime asset package or the EnvPool wheel.
