MuJoCo version 2.0 incorporates the following open-source libraries:

  - libccd
  - Collisions
  - sphlib
  - mpuint
  - TinyXML
  - LodePNG
  - Qhull
  - GLEW
  - GLFW

Their copyright and license information is included below.


MuJoCo is compiled with Visual Studio on Windows, Clang on OSX and
GCC on Linux. The compilers may incorporate portions of their standard
headers and/or runtime libraries in the resulting MuJoCo binary.
On Linux, all GCC runtime libraries are linked dynamically and the
compilation process is compliant with the eligibility requirements for
the GCC RUNTIME LIBRARY EXCEPTION to GPLv3, available at:
https://gcc.gnu.org/onlinedocs/libstdc++/manual/license.html



=========================  LIBCCD  ============================================

Copyright (c) 2010-2012 Daniel Fiser <danfis@danfis.cz>,
Intelligent and Mobile Robotics Group, Department of Cybernetics,
Faculty of Electrical Engineering, Czech Technical University in Prague.
All rights reserved.

This work was supported by SYMBRION and REPLICATOR projects.
The SYMBRION project is funded by European Commission within the work
"Future and Emergent Technologies Proactive" under grant agreement no.
216342.
The REPLICATOR project is funded within the work programme "Cognitive
Systems, Interaction, Robotics" under grant agreement no. 216240.
http://www.symbrion.eu/
http://www.replicators.eu/

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 University 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.



=========================  COLLISIONS  ========================================

Copyright (c) 2015 Svetoslav Kolev

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.



=========================  SPHLIB  ============================================

Copyright (c) 2007-2011  Projet RNRT SAPHIR

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.



=========================  MPUINT  ============================================

Title: 
  Multiple-Precision Unsigned Integer Arithmetic 
Author: 
  Philip J. Erdelsky
  pje@efgh.com 
  http://www.alumni.caltech.edu/~pje/ 
Date: 
  October 25, 2001; update on May 16, 2011 
Usage: 
  Public domain; no restrictions on use 



=========================  TINYXML  ===========================================

TinyXML is released under the zlib license: 

This software is provided 'as-is', without any express or implied warranty. 
In no event will the authors be held liable for any damages arising from 
the use of this software. 

Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions: 

1. The origin of this software must not be misrepresented; you must not claim 
that you wrote the original software. If you use this software in a product, 
an acknowledgment in the product documentation would be appreciated but is 
not required. 

2. Altered source versions must be plainly marked as such, and must not be 
misrepresented as being the original software. 

3. This notice may not be removed or altered from any source distribution.



=========================  LODEPNG  ===========================================

Copyright (c) 2005-2015 Lode Vandevenne

This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.

Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:

    1. The origin of this software must not be misrepresented; you must not
    claim that you wrote the original software. If you use this software
    in a product, an acknowledgment in the product documentation would be
    appreciated but is not required.

    2. Altered source versions must be plainly marked as such, and must not be
    misrepresented as being the original software.

    3. This notice may not be removed or altered from any source
    distribution.



=========================  QHULL  =============================================

                    Qhull, Copyright (c) 1993-2012
                    
                            C.B. Barber
                           Arlington, MA 
                          
                               and

       The National Science and Technology Research Center for
        Computation and Visualization of Geometric Structures
                        (The Geometry Center)
                       University of Minnesota

                       email: qhull@qhull.org

This software includes Qhull from C.B. Barber and The Geometry Center.  
Qhull is copyrighted as noted above.  Qhull is free software and may 
be obtained via http from www.qhull.org.  It may be freely copied, modified, 
and redistributed under the following conditions:

1. All copyright notices must remain intact in all files.

2. A copy of this text file must be distributed along with any copies 
   of Qhull that you redistribute; this includes copies that you have 
   modified, or copies of programs or other software products that 
   include Qhull.

3. If you modify Qhull, you must include a notice giving the
   name of the person performing the modification, the date of
   modification, and the reason for such modification.

4. When distributing modified versions of Qhull, or other software 
   products that include Qhull, you must provide notice that the original 
   source code may be obtained as noted above.

5. There is no warranty or other guarantee of fitness for Qhull, it is 
   provided solely "as is".  Bug reports or fixes may be sent to 
   qhull_bug@qhull.org; the authors may or may not act on them as 
   they desire.



=========================  GLEW  ==============================================

The OpenGL Extension Wrangler Library
Copyright (C) 2008-2015, Nigel Stewart <nigels[]users sourceforge net>
Copyright (C) 2002-2008, Milan Ikits <milan ikits[]ieee org>
Copyright (C) 2002-2008, Marcelo E. Magallon <mmagallo[]debian org>
Copyright (C) 2002, Lev Povalahev
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.
* The name of the author 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 OWNER 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.



=========================  GLFW  ==============================================

Copyright (c) 2002-2006 Marcus Geelnard
Copyright (c) 2006-2010 Camilla Berglund <elmindreda@elmindreda.org>

This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.

Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not
   claim that you wrote the original software. If you use this software
   in a product, an acknowledgment in the product documentation would
   be appreciated but is not required.

2. Altered source versions must be plainly marked as such, and must not
   be misrepresented as being the original software.

3. This notice may not be removed or altered from any source
   distribution.
