dreamlabs (the dream library: the robots package, dreamcli and the DreamAPI client)
Copyright 2026 Dream Labs

Licensed under the Apache License, Version 2.0 (LICENSE). This distribution also contains, or installs, work by
others. The texts of their licenses are in THIRD-PARTY-LICENSES.md.

Code copied into the wheel:

- i2rt, the YAM arm driver (i2rt/, from https://github.com/i2rt-robotics/i2rt). MIT License, Copyright (c) I2RT
  Robotics. Its i2rt/flow_base/flow_base_controller.py is modified from tidybot2 (https://github.com/jimmyyhwu/tidybot2),
  MIT License, Copyright (c) 2024 Jimmy Wu.
- pyroki, robot kinematics (pyroki/, from https://github.com/chungmin99/pyroki). MIT License, Copyright (c) 2025
  Chung Min Kim.
- jaxls, a least-squares solver (jaxls/, from https://github.com/brentyi/jaxls). MIT License, Copyright (c) 2025
  Brent Yi.
- robots/damiao.py is ported from LeRobot's Damiao motor bus (https://github.com/huggingface/lerobot), Copyright 2025
  The HuggingFace Inc. team, Apache License 2.0; portions of it derive from DM_Control_Python
  (https://github.com/cmjang/DM_Control_Python), MIT License, Copyright (c) 2024 cmjang.
- robots/makers_hold.py and robots/metal_gripper.py are ported from MakerMods Lab's Metal arm control code, Copyright
  2026 MakerMods contributors, Apache License 2.0.
- shared/faceblur/models/face_detection_yunet_2026may.onnx, the YuNet face detector weights (from
  https://github.com/opencv/opencv_zoo). MIT License, Copyright (c) 2020 Shiqi Yu.

Robot descriptions and meshes copied into the wheel:

- robots/setup_view/yam and dream_examples/yam_mujoco/assets: YAM meshes from i2rt, MIT License, Copyright (c) I2RT
  Robotics.
- robots/setup_view/metal: MakerMods Metal arm meshes, MIT License, Copyright (c) 2025 MakerMods.
- robots/setup_view/makers: MakerMods Makers Arm meshes (https://github.com/makermods-robotics/maker-arm-sdk), Apache
  License 2.0.
- robots/setup_view/so101: SO-101 meshes (https://github.com/TheRobotStudio/SO-ARM100), Apache License 2.0.
- dream_examples/yam_mujoco/assets/fruits: scanned objects from the YCB Object and Model Set, Creative Commons
  Attribution 4.0 International; the creators, the changes made and the source files are listed in ATTRIBUTION.md in
  that directory.
- dream_ik/assets: trimmed kinematic descriptions (joint origins and axes, no meshes) derived from the robot makers'
  own: ROBOTIS AI Worker (https://github.com/ROBOTIS-GIT/ai_worker, Apache License 2.0), Enactic OpenArm
  (https://github.com/enactic/openarm_description, Apache License 2.0), MakerMods Maker Arm
  (https://github.com/makermods-robotics/maker-arm-sdk, Apache License 2.0), SO-101
  (https://github.com/TheRobotStudio/SO-ARM100, Apache License 2.0), Unitree R1 (https://github.com/unitreerobotics/unitree_ros,
  BSD 3-Clause License, Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD.), Trossen WidowX AI
  (https://github.com/TrossenRobotics/trossen_arm_description, BSD 3-Clause License, Copyright (c) 2025 Trossen
  Robotics) and the YAM (i2rt, MIT License). The Bracketbot, Blue Worm Mantis, Galaxea, ROBO Robo-T and Seeed reBot
  B601 descriptions were supplied by their makers for this purpose.

Work the dream client derives from:

- The dream client's request lifecycle (one request in flight, timeout recovery, idempotent close) was originally
  derived from the policy client of NVIDIA Isaac GR00T (https://github.com/NVIDIA/Isaac-GR00T), Apache License 2.0,
  Copyright (c) 2025 NVIDIA Corporation.

Libraries pip installs beside this distribution and that it loads at run time, under weak copyleft licenses:

- python-can (https://github.com/hardbyte/python-can), GNU Lesser General Public License v3.0. The CAN bus the YAM,
  Makers and Metal arms are driven over. It is used as an unmodified library; its license text is in
  THIRD-PARTY-LICENSES.md, and its source is at the address above.
- The FFmpeg libraries bundled inside the PyAV (av) and opencv-python-headless wheels, GNU Lesser General Public
  License v2.1 or later; each wheel carries its own license files.

Everything else this distribution depends on is under permissive licenses (MIT, BSD, Apache 2.0, ISC, PSF, MPL 2.0
or similar), as each package's own metadata states.
