Compress source headers with SPDX license identifiers

doc/conf.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 import re
 import sys

examples/arm_kinova_gen2.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Kinova Gen2 arm tracking a moving target."""
 

examples/arm_ur3.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Universal Robots UR3 arm tracking a moving target."""
 

examples/arm_ur5.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Universal Robots UR5 arm tracking a moving target."""
 

examples/double_pendulum.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Swing the double pendulum left and right."""
 

examples/flying_dual_arm_ur3.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2023 Inria
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """A pair of UR3 arms on a mobile body tracking moving targets."""
 

examples/humanoid_draco3.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2023 Inria
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """DRACO 3 humanoid standing on two feet and reaching with a hand."""
 

examples/humanoid_jvrc.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """JVRC-1 humanoid standing on two feet and reaching with a hand."""
 

examples/humanoid_sigmaban.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2023 Inria
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """SigmaBan humanoid standing on two feet."""
 

examples/load_custom_urdf.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Load a custom URDF."""
 

examples/meshcat_shapes.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Standalone version of meshcat-shapes.
 

examples/mobile_omni_wheeled_robot.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Move an omnidirectional robot between two jumping targets.
 

examples/mobile_stretch.py

@@ -1,20 +1,9 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 # Copyright 2023 Inria
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Move a Stretch RE1 with a fixed fingertip target around the origin."""
 

examples/visualize_in_meshcat.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Upkie wheeled biped bending its knees."""
 

examples/visualize_in_yourdfpy.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Upkie wheeled biped bending its knees."""
 

examples/wheeled_biped_upkie.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Upkie wheeled biped bending its knees."""
 

pink/__init__.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Python inverse kinematics for your robot model based on Pinocchio."""
 

pink/configuration.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Configuration type.
 

pink/exceptions.py

@@ -1,19 +1,8 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
 
 """Exceptions specific to Pink."""