Which of the scene-graph systems have released code, under what stated licence, and what third-party models, keys or data does each need?

At the observed commits, Hydra (BSD-style LICENSE), ConceptGraphs (MIT) have permissive code licences, while the 3DSceneGraph repository carries a non-commercial research-use software licence and its data sits behind a separate click-through agreement that was not accessed. ConceptGraphs code is MIT but running it needs third-party segmentation and vision-language checkpoints plus an OpenAI API key, whose terms are separate. A permissive code licence does not state anything about weights, data or outputs. Curator qualifications: 3DSceneGraph LICENSE is the MIT text modified: 'to deal in the Software without restriction for non-commercial research use, including without limitation the rights to use, copy, modify, merge, publish copies of the Software' (MIT's 'distribute, sublicense, and/or sell copies' wording is absent; curator observation, not legal reading); README: 'The license in this repository covers only the provided software. Note that it allows only non-commercial research use'; data link leads first to a license agreement; Gibson raw data under separate terms. GitHub metadata NOASSERTION (rights conflict confirmed: metadata vs text). Hydra: 'Redistribution and use in source and binary forms, with or without modification, are permitted provided ...' (Copyright 2022 Massachusetts Institute of Technology). ConceptGraphs: 'MIT License', Copyright (c) 2023 concept-graphs. README setup sections (checkpoints, GPT-4 key) and Hydra DISCLAIMER not re-read. Rights/verification notes are shown as limitations (L00 0019/ADR-0011): they restrict reuse of the cited material or record what was not verified; they are not cleared by this summary. Limitations: [component_reuse_restriction] Prefer licence text over repository metadata. Evidence status: statements located in the cited sources by a correlated desk review (Claude); not executed; not independently reviewed.

{
  "citations": [
    {
      "url": "https://github.com/StanfordVL/3DSceneGraph",
      "note": "StanfordVL/3DSceneGraph f07b7002 LICENSE; README lines 9, 14 (equals producer pin); gh api -X GET repos/StanfordVL/3DSceneGraph license: spdx_id NOASSERTION; MIT-SPARK/Hydra 2e58a35b LICENSE (BSD-style, 2022 MIT); concept-graphs 93277a02 LICENSE (MIT)"
    },
    {
      "url": "https://github.com/MIT-SPARK/Hydra",
      "note": "StanfordVL/3DSceneGraph f07b7002 LICENSE; README lines 9, 14 (equals producer pin); gh api -X GET repos/StanfordVL/3DSceneGraph license: spdx_id NOASSERTION; MIT-SPARK/Hydra 2e58a35b LICENSE (BSD-style, 2022 MIT); concept-graphs 93277a02 LICENSE (MIT)"
    },
    {
      "url": "https://github.com/concept-graphs/concept-graphs",
      "note": "StanfordVL/3DSceneGraph f07b7002 LICENSE; README lines 9, 14 (equals producer pin); gh api -X GET repos/StanfordVL/3DSceneGraph license: spdx_id NOASSERTION; MIT-SPARK/Hydra 2e58a35b LICENSE (BSD-style, 2022 MIT); concept-graphs 93277a02 LICENSE (MIT)"
    }
  ]
}