# Third-Party Code and Assets

The repository reuses components from the following projects. License headers are preserved in-source where applicable, and bundled license files are stored under `assets/licenses/`.

- **IsaacGymEnvs (NVIDIA)**: Base environment utilities adapted in `isaac_vec_env.py` and `isaac_panda_push_env.py` (BSD-3-Clause, see file headers).
- **OSCAR (NVIDIA)**: Operational space controller adapted in `panda_controller/osc.py` (NVIDIA Source Code License for OSCAR).
- **ECRL**: Repository scaffold and training pipeline adapted from the ECRL repository (MIT).
- **DDLP**: Representation-learning components adapted in `dlp2/` and referenced in policy utilities; see the upstream repository for licensing terms.
- **Franka URDF assets**: License provided in `assets/licenses/franka-LICENSE.txt`.
- **CATER dataset assets**: STL object meshes in `assets/object/` originate from the CATER dataset (`https://github.com/rohitgirdhar/CATER`, Apache-2.0). Apache-2.0 license text is bundled in `assets/licenses/CATER-LICENSE.txt`.
- **OSRT**: Block-slot autoencoder components in `bsa/` adapted from the OSRT repository (MIT).

If you distribute derivatives, please keep these notices and comply with the respective licenses.
