License¶
| Part | License | Text |
|---|---|---|
The code (twinrobo/, tools, examples) |
GNU AGPL-3.0, or a commercial license | LICENSE |
| Use with NVIDIA Isaac Sim / Omniverse | an additional permission to the AGPL | LICENSE-EXCEPTION.md |
The camera catalog (twinrobo/catalog/) |
Apache-2.0: free to use anywhere | catalog LICENSE |
| Third-party material | its own licenses | NOTICE |
Contributions are made under the contributor agreement, which keeps both options open.
Commercial license¶
TwinRobo is dual-licensed:
- GNU AGPL-3.0 (
LICENSE, with the Isaac Sim / Omniverse permission inLICENSE-EXCEPTION.md): free for research, education, open-source projects and any use that complies with the AGPL. - Commercial license: for use in proprietary products and services, without the AGPL's obligations.
The camera catalog (twinrobo/catalog/) is Apache-2.0 and is free to use
anywhere, under either option.
When you need a commercial license¶
The AGPL requires that if you convey TwinRobo, or a program that includes or is based on it, or let users interact with a modified version over a network, you offer those users its complete corresponding source code under the AGPL. A commercial license is for when that does not work for you, for example:
- TwinRobo inside a proprietary simulator, robot software stack or product that you ship to customers or partners;
- TwinRobo inside a hosted service, SaaS or API that others use;
- a company policy that does not allow AGPL software.
If you are unsure, ask us: we are happy to tell you whether your use needs one.
What it includes¶
- The right to use, modify and distribute TwinRobo in proprietary software, without the AGPL's source-code obligations.
- Support and priority fixes.
- Access to commercial add-ons as they are released (advanced sensor, ISP and shutter models).
Getting one¶
Open a commercial license inquiry with your company and intended use; the follow-up can be private.
This page describes the licensing model; the license agreement itself governs.