Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.

This product includes software developed by third parties:

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strands_robots/policies/cosmos3/_msgpack_numpy.py

Adapted from openpi-client (https://github.com/Physical-Intelligence/openpi)
Original code by Physical Intelligence and contributors.
Licensed under the Apache License, Version 2.0.

The code is itself adapted from msgpack-numpy
(https://github.com/lebedov/msgpack-numpy) by Lev E. Givon.
Licensed under the BSD License.

You may obtain a copy of the Apache License at:
    http://www.apache.org/licenses/LICENSE-2.0
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Optional Cosmos 3 -> MuJoCo sim-loop bridge (strands_robots/policies/cosmos3/sim_ik.py,
strands_robots/policies/cosmos3/action_decode.py)

The optional Cosmos3Policy(backend="diffusers") sim-loop bridge turns the model's
raw unified action into MuJoCo joint targets (de-normalize -> EE-pose decode ->
inverse kinematics) using:

  * mink (https://github.com/kevinzakka/mink)
    Apache License, Version 2.0. Differential inverse kinematics on the MuJoCo
    model (FrameTask + PostureTask).
  * MuJoCo (https://github.com/google-deepmind/mujoco)
    Apache License, Version 2.0.

The per-embodiment action-normalization quantiles bundled under
strands_robots/policies/cosmos3/stats/ (q01/q99) are derived from NVIDIA's
cosmos_framework (data/vfm/action/datasets/stats); the de-normalization formula
mirrors cosmos_framework's denormalize_action(method="quantile"). NVIDIA Cosmos
is distributed by NVIDIA under its respective licenses; consult the model card.
These are optional runtime dependencies and are not redistributed with this
package.

You may obtain a copy of the Apache License at:
    http://www.apache.org/licenses/LICENSE-2.0
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Optional in-process Cosmos 3 backend (strands_robots/policies/cosmos3/policy_diffusers.py)

The optional Cosmos3Policy(backend="diffusers") path loads NVIDIA Cosmos 3
world-foundation models in-process via:

  * Hugging Face diffusers (https://github.com/huggingface/diffusers)
    Apache License, Version 2.0. The Cosmos3OmniPipeline + CosmosActionCondition
    used here ship in diffusers-from-source.

NVIDIA Cosmos models (e.g. nvidia/Cosmos3-Nano) are distributed by NVIDIA under
their respective model licenses; consult the model card for terms. These are
optional runtime dependencies and are not redistributed with this package.

You may obtain a copy of the Apache License at:
    http://www.apache.org/licenses/LICENSE-2.0
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