Prepare component licensing for EgoPost

.pre-commit-config.yaml

@@ -34,9 +34,12 @@ repos:
     rev: v6.2.0
     hooks:
       - id: reuse-lint-file
-        name: REUSE lint (SPDX headers on changed files)
-        # Include CMakeLists.txt and Dockerfile.xxx by matching those explicitly in the regex
-        files: \.(py|js|ts|cpp|c|h|hpp|cxx|hxx|cmake|md|yaml|yml|sh|fbs|toml|html)$|CMakeLists\.txt$|Dockerfile(\.[A-Za-z0-9_-]+)?$
+        name: REUSE licenses (source files and complete EgoPost subtree)
+        entry: python scripts/check_licenses.py --fix
+        args: []  # Clear the upstream hook's lint-file argument.
+        stages: [pre-commit]
+        pass_filenames: false
+        always_run: true
   # Copyright year: ensure SPDX-FileCopyrightText includes current year (--fix updates in place)
   - repo: local
     hooks:

AGENTS.md

@@ -47,6 +47,24 @@ If you cannot run a shell, use your search/glob tools on the pattern `**/AGENTS.
 
 Optional context index: [`src/core/AGENTS.md`](src/core/AGENTS.md) (also on the ancestor walk—read it when working under `src/core/`).
 
+## Product naming
+
+- Spell the product name “Isaac Capture” in prose; avoid the ambiguous shorthand “Capture”.
+
+## Component licensing
+
+- Keep licensing summaries brief in README and CONTRIBUTING; automate routine
+  checks and updates rather than documenting manual header maintenance.
+
+- Preserve root `LICENSE.md` verbatim as Apache-2.0; explain component exceptions
+  in README/CONTRIBUTING and local license files, so GitHub can recognize the default.
+- EgoPost uses `LicenseRef-OpenMDW-1.1`; preserve upstream exceptions and notices.
+  Keep license-boundary changes separate from copyright-template and year-policy changes.
+- Keep canonical texts in `LICENSES/` unmodified, including template placeholders;
+  do not prepend project copyright or SPDX headers or include them in header repair.
+- Source hosting does not authorize wheel inclusion. Keep package discovery explicit
+  and verify license metadata/notices in each artifact before shipping a new component.
+
 ## CMake & include structure
 
 When you create or edit a `CMakeLists.txt`, add or move a target, place a header,

CONTRIBUTING.md

@@ -23,6 +23,10 @@ Thanks for your interest in contributing! This document outlines how to build, t
 - Follow PEP 8 for style.
 - Use type annotations (PEP 484) and prefer formatted string literals (PEP 701, f-strings).
 
+## License
+
+- Contributions use the license of the component/file being changed: Apache-2.0 by default, OpenMDW-1.1 for EgoPost, with explicit third-party exceptions preserved. The DCO below applies to each contribution.
+
 ## Pre-commit
 
 We use [pre-commit](https://pre-commit.com/) to run Python linters and formatters (including
@@ -50,31 +54,10 @@ ruff format .
 
 ### License headers
 
-We use [REUSE](https://reuse.software/) to enforce SPDX license headers on source files. Pre-commit runs `reuse lint-file` on changed files (e.g. `.py`, `.cpp`, `.md`, `.yaml`):
-
-1. **Required fields**: Each file must have `SPDX-FileCopyrightText` and `SPDX-License-Identifier`.
-2. **License**: `SPDX-License-Identifier` must be `Apache-2.0` (full text in `LICENSES/Apache-2.0.txt`).
-
-Example header:
-
-```
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-```
-
-To add or fix headers, install the [reuse tool](https://github.com/fsfe/reuse-tool)
-
-```bash
-uv tool install reuse
-```
-
-and run for example:
-
-```bash
-reuse annotate -t compact -l Apache-2.0 --skip-unrecognised -r path/to/file
-```
-
-REUSE does not auto-update the copyright year when you touch a file; include the current year when adding or editing headers.
+Pre-commit automatically checks and updates license headers with [REUSE](https://reuse.software/).
+It adds NVIDIA headers to unannotated first-party files and selects the license by
+file location, preserving existing attribution and explicit third-party exceptions.
+Review and stage any automatic edits, then commit again.
 
 ## CI
 GitHub Actions builds the default targets and runs tests.
@@ -85,10 +68,7 @@ GitHub Actions builds the default targets and runs tests.
 3. Describe motivation, changes, and testing in the PR
 4. Link related issues
 
-## License
-- Your contributions are under the repository’s license unless stated otherwise
-
-### Signing Your Work
+## Signing Your Work
 
 * We require that all contributors "sign-off" on their commits. This certifies that the contribution is your original work, or you have rights to submit it under the same license, or a compatible license.
 

LICENSES/Apache-2.0.txt

@@ -178,15 +178,15 @@
    APPENDIX: How to apply the Apache License to your work.
 
       To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "{}"
+      boilerplate notice, with the fields enclosed by brackets "[]"
       replaced with your own identifying information. (Don't include
       the brackets!)  The text should be enclosed in the appropriate
       comment syntax for the file format. We also recommend that a
       file or class name and description of purpose be included on the
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright 2020 NVIDIA Corporation
+   Copyright [yyyy] [name of copyright owner]
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

LICENSES/LicenseRef-OpenMDW-1.1.txt

@@ -0,0 +1,49 @@
+OpenMDW License Agreement, version 1.1 (OpenMDW-1.1)
+
+By exercising rights granted to you under this agreement, you accept and agree
+to its terms.
+
+As used in this agreement, "Model Materials" means the materials provided to
+you under this agreement, consisting of: (1) one or more machine learning
+models (including architecture and parameters); and (2) all related artifacts
+(including associated data, documentation and software) that are provided to
+you hereunder.
+
+Subject to your compliance with this agreement, permission is hereby granted,
+free of charge, to deal in the Model Materials without restriction, including
+under all copyright, patent, database, and trade secret rights included or
+embodied therein.
+
+If you distribute any portion of the Model Materials, you shall retain in your
+distribution (1) a copy of this agreement, and (2) all copyright notices and
+other notices of origin included in the Model Materials that are applicable to
+your distribution.
+
+If you file, maintain, or voluntarily participate in a lawsuit against any
+person or entity asserting that the Model Materials directly or indirectly
+infringe any patent or copyright, then all rights and grants made to you
+hereunder are terminated, unless that lawsuit was in response to a
+corresponding lawsuit first brought against you.
+
+This agreement does not impose any restrictions or obligations with respect to
+any use, modification, or sharing of any outputs generated by using the Model
+Materials.
+
+THE MODEL MATERIALS ARE 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, TITLE, NONINFRINGEMENT, ACCURACY, OR THE
+ABSENCE OF LATENT OR OTHER DEFECTS OR ERRORS, WHETHER OR NOT DISCOVERABLE, ALL
+TO THE GREATEST EXTENT PERMISSIBLE UNDER APPLICABLE LAW.
+
+YOU ARE SOLELY RESPONSIBLE FOR (1) CLEARING RIGHTS OF OTHER PERSONS THAT MAY
+APPLY TO THE MODEL MATERIALS OR ANY USE THEREOF, INCLUDING WITHOUT LIMITATION
+ANY PERSON'S COPYRIGHTS OR OTHER RIGHTS INCLUDED OR EMBODIED IN THE MODEL
+MATERIALS; (2) OBTAINING ANY NECESSARY CONSENTS, PERMISSIONS OR OTHER RIGHTS
+REQUIRED FOR ANY USE OF THE MODEL MATERIALS; OR (3) PERFORMING ANY DUE
+DILIGENCE OR UNDERTAKING ANY OTHER INVESTIGATIONS INTO THE MODEL MATERIALS OR
+ANYTHING INCORPORATED OR EMBODIED THEREIN.
+
+IN NO EVENT SHALL THE PROVIDERS OF THE MODEL MATERIALS 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 MODEL MATERIALS, THE
+USE THEREOF OR OTHER DEALINGS THEREIN.

LICENSES/MIT.txt

@@ -1,5 +1,7 @@
 MIT License
 
+Copyright (c) <year> <copyright holders>
+
 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

README.md

@@ -63,3 +63,9 @@ Our [documentation page](https://nvidia.github.io/IsaacCapture) provides everyth
 Isaac Teleop is design to work side by side with [NVIDIA Isaac Lab](https://github.com/isaac-sim/IsaacLab) starting with Isaac Lab [3.0 Beta release](https://github.com/isaac-sim/IsaacLab/releases/tag/v3.0.0-beta).
 
 To get started, please refer to Isaac Lab's [Installation](https://isaac-sim.github.io/IsaacLab/develop/source/setup/installation/index.html) guide for more details. Then follow the [CloudXR teleoperation in Isaac Lab](https://isaac-sim.github.io/IsaacLab/develop/source/how-to/cloudxr_teleoperation.html) to get started with Teleoperation in Sim.
+
+## Licensing
+
+The default license is [Apache-2.0](LICENSE.md).
+EgoPost is licensed under [OpenMDW-1.1](src/python/isaaccapture_egopost/LICENSE.md).
+Third-party materials may carry their own licenses.

REUSE.toml

@@ -57,3 +57,10 @@ path = "deps/third_party/chromium/LICENSE"
 precedence = "override"
 SPDX-FileCopyrightText = "Copyright 2015 The Chromium Authors"
 SPDX-License-Identifier = "BSD-3-Clause"
+
+# EgoPost's default never overrides upstream headers or sidecar licenses.
+# The license-only scaffold has no covered files yet; the canonical text is reserved for imports.
+[[annotations]]
+path = "src/python/isaaccapture_egopost/**"
+precedence = "closest"
+SPDX-License-Identifier = "LicenseRef-OpenMDW-1.1"

pyproject.toml

@@ -15,6 +15,7 @@ description = "Isaac Teleop"
 readme = "README.md"
 requires-python = ">=3.11"
 license = "Apache-2.0"
+license-files = ["LICENSE.md"]
 authors = [
     { name = "NVIDIA" },
 ]
@@ -102,6 +103,8 @@ package = false
 isaacteleop = { path = "src/compat" }
 
 [tool.scikit-build]
+# EgoPost is hosted here but is not part of the Isaac Capture distribution.
+sdist.exclude = ["src/python/isaaccapture_egopost/**", "LICENSES/LicenseRef-OpenMDW-1.1.txt"]
 # Floor matches CMakeLists' cmake_minimum_required (3.24, for `cmake --fresh`).
 # Ubuntu 22.04's apt CMake is 3.22 and no longer satisfies it, so scikit-build-core
 # fetches CMake from PyPI there; the <4 cap keeps that fetch on the 3.x line rather

scripts/check_licenses.py

@@ -0,0 +1,176 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Check and fix Isaac Capture source headers, including all EgoPost assets."""
+
+import argparse
+import re
+import subprocess
+import sys
+from datetime import date
+from pathlib import Path
+
+from reuse.global_licensing import ReuseTOML
+from reuse.project import Project
+
+EGOPOST_SUBTREE = Path("src/python/isaaccapture_egopost")
+EGOPOST_LICENSE = "LicenseRef-OpenMDW-1.1"
+DEFAULT_LICENSE = "Apache-2.0"
+COPYRIGHT_HOLDER = "NVIDIA CORPORATION & AFFILIATES. All rights reserved."
+SOURCE_FILES = re.compile(
+    r"\.(py|js|ts|cpp|c|h|hpp|cxx|hxx|cmake|md|yaml|yml|sh|fbs|toml|html)$"
+    r"|CMakeLists\.txt$|Dockerfile(\.[A-Za-z0-9_-]+)?$"
+)
+
+
+def covered_paths(project: Project) -> list[Path]:
+    # Check source files repository-wide; EgoPost additionally includes all assets.
+    paths = (path.relative_to(project.root) for path in project.all_files())
+    return sorted(
+        path
+        for path in paths
+        if path.is_relative_to(EGOPOST_SUBTREE) or SOURCE_FILES.search(str(path))
+    )
+
+
+def third_party_path(path: Path) -> bool:
+    # Directory exemptions follow the repository layout: third_party lives in deps.
+    return path.parts[0] == "deps"
+
+
+def is_egopost_default(project: Project, path: Path, info) -> bool:
+    if info.source_type.value != "reuse-toml" or info.source_path != "REUSE.toml":
+        return False
+    annotation = ReuseTOML.from_file(project.root / "REUSE.toml").find_annotations_item(
+        path
+    )
+    # A subtree fallback is policy, not an explicit per-file exception.
+    return annotation is not None and f"{EGOPOST_SUBTREE}/**" in annotation.paths
+
+
+def check_egopost_default(project: Project) -> bool:
+    annotations = ReuseTOML.from_file(project.root / "REUSE.toml").annotations
+    defaults = [item for item in annotations if f"{EGOPOST_SUBTREE}/**" in item.paths]
+    if not defaults or any(
+        {str(expr) for expr in item.spdx_expressions} != {EGOPOST_LICENSE}
+        or item.precedence.value != "closest"
+        for item in defaults
+    ):
+        print(
+            f"REUSE.toml: EgoPost default must be {EGOPOST_LICENSE} with closest precedence"
+        )
+        return False
+    return True
+
+
+def first_party_licenses(project: Project, path: Path) -> set[str] | None:
+    if third_party_path(path):
+        return None
+    infos = project.reuse_info_of(path)
+    notices = {notice.name for info in infos for notice in info.copyright_notices}
+    explicit_exception = any(
+        info.spdx_expressions
+        and info.source_type.value != "file-header"
+        and not is_egopost_default(project, path, info)
+        for info in infos
+    )
+    if (
+        explicit_exception
+        or not notices
+        or not all("NVIDIA CORPORATION & AFFILIATES" in notice for notice in notices)
+    ):
+        return None
+    return {str(expr) for info in infos for expr in info.spdx_expressions}
+
+
+def fix_license(project: Project, path: Path) -> bool:
+    if third_party_path(path):
+        return False
+    expected = (
+        EGOPOST_LICENSE if path.is_relative_to(EGOPOST_SUBTREE) else DEFAULT_LICENSE
+    )
+    infos = project.reuse_info_of(path)
+    notices = {notice for info in infos for notice in info.copyright_notices}
+    effective = {str(expr) for info in infos for expr in info.spdx_expressions}
+    expressions = first_party_licenses(project, path)
+    add_copyright = not notices and effective <= {expected}
+    if add_copyright or expressions == set():
+        command = [
+            sys.executable,
+            "-m",
+            "reuse",
+            "annotate",
+            "--fallback-dot-license",
+            "-l",
+            expected,
+        ]
+        if add_copyright:
+            command += ["-c", COPYRIGHT_HOLDER, "--year", str(date.today().year)]
+        subprocess.run(command + [str(path)], check=True)
+        return True
+    if expressions is None:
+        return False
+    if expected == EGOPOST_LICENSE and expressions == {"Apache-2.0"}:
+        content = path.read_text()
+        # Replace only the default header tag, retaining copyright and other notices.
+        updated, count = re.subn(
+            r"(SPDX-License-Identifier:[ \t]*)Apache-2\.0(?=[ \t]*(?:\*/|-->)?[ \t]*$)",
+            rf"\g<1>{EGOPOST_LICENSE}",
+            content,
+            count=1,
+            flags=re.MULTILINE,
+        )
+        if count:
+            path.write_text(updated)
+            print(f"{path}: updated default license to {EGOPOST_LICENSE}")
+            return True
+    return False
+
+
+def check_policy(project: Project, path: Path) -> bool:
+    expressions = first_party_licenses(project, path)
+    if expressions is not None and EGOPOST_LICENSE not in expressions:
+        print(
+            f"{path}: expected {EGOPOST_LICENSE}; document any license exception explicitly"
+        )
+        return False
+    return True
+
+
+def main(fix: bool = False) -> int:
+    project = Project.from_directory(Path.cwd())
+    if not check_egopost_default(project):
+        return 1
+    paths = covered_paths(project)
+    changed = False
+    if fix:
+        for path in paths:
+            changed = fix_license(project, path) or changed
+        project = Project.from_directory(Path.cwd())
+    ok = True
+    # Pass complete coverage on every invocation, including metadata-only changes.
+    for start in range(0, len(paths), 200):
+        result = subprocess.run(
+            [sys.executable, "-m", "reuse", "lint-file", "--"]
+            + [str(path) for path in paths[start : start + 200]],
+            check=False,
+        )
+        ok = result.returncode == 0 and ok
+    for path in paths:
+        if path.is_relative_to(EGOPOST_SUBTREE):
+            ok = check_policy(project, path) and ok
+    if changed:
+        print(
+            "License headers updated; review and stage the changes before committing."
+        )
+    return 0 if ok and not changed else 1
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument(
+        "--fix",
+        action="store_true",
+        help="add default NVIDIA headers and repair default license tags",
+    )
+    sys.exit(main(fix=parser.parse_args().fix))

src/core/python/CMakeLists.txt

@@ -42,6 +42,7 @@ add_custom_target(python_package ALL
     COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_BINARY_DIR}/pyproject.toml" "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/"
     COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_SOURCE_DIR}/MANIFEST.in" "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/"
     COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_SOURCE_DIR}/setup.py" "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/"
+    COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_SOURCE_DIR}/LICENSE.md" "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/LICENSE.md"
     COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_SOURCE_DIR}/README.md" "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/README.md"
     COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_SOURCE_DIR}/requirements.txt" "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/"
     COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_SOURCE_DIR}/requirements-dev.txt" "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/"