Roughly two and a half years after their patent battle began, Boston Dynamics and Ghost Robotics have settled the dispute on reasonably amicable terms. The robotics firms on Wednesday issued a joint release announcing the end of the dispute.

After disagreement over a weaponization pledge, the Philly-founded company and its longtime rival say they’ll work together on policy.

With the conclusion of the lawsuit, Boston Dynamics and Ghost Robotics highlighted potential areas of overlapping interest in the future.