All included code is licensed under the BSD 3-Clause License
shown below. Where noted in the source code, some portions may 
be subject to other permissive, non-viral licenses.

Copyright 2018 Russ Tedrake and Robot Locomotion Group @ CSAIL
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
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the Massachusetts Institute of Technology nor the names of its
contributors may be used to endorse or promote products derived from
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