cad2urdf
Copyright 2026 Ahmed Sleem

This product builds on top of the following open-source component:

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LinkForge Core (linkforge-core)
Copyright (c) Arouna Patouossa Mounchili and the LinkForge contributors
Licensed under the Apache License, Version 2.0.
https://github.com/arounamounchili/linkforge

The Apache-2.0 license permits use of linkforge-core in this commercial,
closed-source product. Only the `linkforge.core` package is used. The
GPLv3-licensed `linkforge.blender` platform package is NOT used or imported.
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A copy of the Apache License 2.0 is available at:
https://www.apache.org/licenses/LICENSE-2.0

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onshape-to-robot
Copyright (c) 2019 Rhoban Team <Gregoire Passault>
Onshape API sample code Copyright (c) 2016 Onshape, Inc.
Licensed under the MIT License.
https://github.com/rhoban/onshape-to-robot

The Onshape REST API client under `src/cad2urdf/ingest/onshape_api/` is
adapted from onshape-to-robot (env-var credentials, library-safe error
handling, stdlib json). The MIT license permits this use, modification, and
redistribution in this commercial, closed-source product, provided this
copyright and permission notice is retained:

  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.
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SolidWorks add-in joint derivation
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The SolidWorks add-in under `solidworks-addin/` derives joint type/axis/origin
using the SolidWorks `IComponent2.GetRemainingDOFs` approach adapted from the
ROS SolidWorks-to-URDF exporter (`sw_urdf_exporter`, SW2URDF):

  Copyright (c) Stephen Brawner (brawner@gmail.com)

The MIT license permits this use, modification, and redistribution in this
commercial, closed-source product, provided this copyright and permission
notice is retained:

  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.
------------------------------------------------------------------------

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sw2robot (solidworks_urdf_exporter2)
Copyright 2026 Iori Yanokura
Licensed under the Apache License, Version 2.0.
https://github.com/jsk-ros-pkg/solidworks_urdf_exporter2

Vendored in full under `solidworks_urdf_exporter2-main/` and used by the
Jointly desktop app (`desktop/`) as the SolidWorks COM extractor: it reads an
assembly's real mate graph and LimitDistance/LimitAngle mates (real joint
limits) into a URDF, which `src/cad2urdf/ingest/sw_graph.py` then reads into
cad2urdf's own pipeline (`pipeline.convert_sw_graph`). The Apache-2.0 license
permits this use, modification, and redistribution in this commercial,
closed-source product, provided the License and this notice are retained; see
the Apache License 2.0 text linked above for the full terms.
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