# Credits and attribution

The TAVIS asset bundle redistributes third-party 3-D models and
meshes. Each upstream source is acknowledged below, and all assets
are redistributed under their original upstream licenses.

## Robot models

* **Fourier GR1T2 (`robots/GR1/`).** Humanoid torso model published
  by [Fourier Intelligence](https://www.fftai.com/) for the GR-1
  series. The version shipped here is the URDF/USD adaptation
  distributed with NVIDIA IsaacLab assets, with TAVIS-specific edits
  for parallel-gripper attachment and joint observation/action
  layout.

* **Pollen Reachy 2 (`robots/reachy2/`).** Open-source humanoid model
  by [Pollen Robotics](https://www.pollen-robotics.com/), available
  at https://github.com/pollen-robotics/reachy2-sdk and the official
  Reachy 2 USD distribution. The version shipped here was rebuilt
  from the official source with TAVIS-specific edits to the gripper
  mechanism and material assignments.

* **Robotiq 2F-85 (`robots/GR1/robotiq_2f85/`).** Two-finger parallel
  gripper model from [Robotiq](https://robotiq.com/). Distributed via
  NVIDIA IsaacLab assets.

## Task objects

* **YCB objects (`tasks/ycb/`).** Standardised manipulation objects
  from the [Yale-CMU-Berkeley Object and Model Set](https://www.ycbbenchmarks.com/)
  (Calli et al., 2015). Physics-baked USD versions distributed via
  NVIDIA IsaacLab assets.

* **`tasks/packing_table.usd`.** Generic table prop, derived from
  NVIDIA IsaacLab examples.

## Licensing notes

Each upstream source carries its own license terms; consult those
before commercial use. The TAVIS-specific edits to the above assets
are released under the MIT License, the same as the TAVIS code.