THIRD-PARTY SOFTWARE NOTICES

Telekinesis Synapse redistributes source from the third-party projects listed
in sections 1 to 3, and its binary wheels bundle the shared libraries listed in
sections 4 and 5. Their terms apply to that source and those libraries; the
terms in LICENSE.txt apply to the rest of Synapse.

================================================================================
1. ur_rtde
================================================================================

Vendored under:
    include/synapse/hardware_interfaces/rtde/
    src/hardware_interfaces/rtde/

Upstream:      https://gitlab.com/sdurobotics/ur_rtde
Modifications: include paths rewritten from <ur_rtde/...> to
               <synapse/hardware_interfaces/rtde/...>, headers relocated to
               match, Python bindings restructured, and local fixes applied.

MIT License

Copyright (c) Anders Prier Lindvig - SDU Robotics

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.

================================================================================
2. Universal_Robots_Client_Library (ur_client_library)
================================================================================

Vendored under:
    include/urcl/
    src/urcl/

Upstream:      https://github.com/UniversalRobots/Universal_Robots_Client_Library
Modifications: none beyond selecting the subset of files Synapse builds. The
               per-file copyright headers are retained in place.

Copyright 2021 Universal Robots A/S
Copyright 2023 SDU - Anders Prier Lindvig <anpl@mmmi.sdu.dk> (refactor)
Copyright 2021, SDU - Anders Prier Lindvig (refactor)
Copyright 2019 FZI Forschungszentrum Informatik - Tristan Schnell
               <schnell@fzi.de> (original)
Copyright 2019, FZI Forschungszentrum Informatik (refactor)
Copyright 2017, 2018 Simon Rasmussen (refactor)
Copyright 2015, 2016 Thomas Timm Andersen (original version)

Licensed under the Apache License, Version 2.0 (the "License");
you may not use these files except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

The complete text of the Apache License, Version 2.0 is reproduced in
LICENSE-APACHE-2.0.txt.

================================================================================
3. TRAC-IK
================================================================================

Vendored under:
    src/kinematic_solvers/trac_ik/

Upstream:      https://bitbucket.org/traclabs/trac_ik
Modifications: the URDF-path constructor and the urdfdom dependency are
               removed, so the solver is built from a KDL chain that Synapse
               converts from its Pinocchio model; the logging subsystem is
               replaced by silent no-op macros (tracik_log.h); comments
               describing removed functionality are updated.

BSD 3-Clause License

Copyright (c) 2008-2021, TRACLabs, Inc.
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this
  list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright notice,
  this list of conditions and the following disclaimer in the documentation
  and/or other materials provided with the distribution.

* Neither the name of the copyright holder nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

================================================================================
4. Orocos KDL (Kinematics and Dynamics Library)
================================================================================

Bundled as:    a separate shared library next to the kinematic_solvers
               extension module in binary wheels. It is not statically linked.
Upstream:      https://github.com/orocos/orocos_kinematics_dynamics
Modifications: none.

Copyright (c) 2001-2011 Ruben Smits, Erwin Aertbelien, Orocos Project, and
other contributors. See the upstream COPYING file for the full list of
contributors.

Licensed under the GNU Lesser General Public License, version 2.1 or later.
You may replace the bundled library with a modified, interface-compatible
build of Orocos KDL. Its source code is available from the upstream URL above.

The complete text of the GNU Lesser General Public License, version 2.1, is
reproduced in LICENSE-LGPL-2.1.txt.

================================================================================
5. NLopt
================================================================================

Bundled as:    a separate shared library next to the kinematic_solvers
               extension module in binary wheels. It is not statically linked.
Upstream:      https://github.com/stevengj/nlopt
Modifications: none.

Copyright (c) 2007-2024 Massachusetts Institute of Technology and
contributors. Portions (Luksan algorithms) copyright Ladislav Luksan.

Licensed under the GNU Lesser General Public License, version 2.1 or later.
You may replace the bundled library with a modified, interface-compatible
build of NLopt. Its source code is available from the upstream URL above.

The complete text of the GNU Lesser General Public License, version 2.1, is
reproduced in LICENSE-LGPL-2.1.txt.
