diff --git a/sr_description_common/models/ar_marker_a4/model-1_4.sdf b/sr_description_common/models/ar_marker_a4/model-1_4.sdf
index 59f29340..a113edda 100755
--- a/sr_description_common/models/ar_marker_a4/model-1_4.sdf
+++ b/sr_description_common/models/ar_marker_a4/model-1_4.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?><sdf version="1.4">
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
   <model name="ar_marker_a4">
     <static>true</static>
     <link name="link">
diff --git a/sr_description_common/models/ar_marker_a4/model-1_5.sdf b/sr_description_common/models/ar_marker_a4/model-1_5.sdf
index e700db00..3576a4f1 100755
--- a/sr_description_common/models/ar_marker_a4/model-1_5.sdf
+++ b/sr_description_common/models/ar_marker_a4/model-1_5.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?><sdf version="1.5">
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
   <model name="ar_marker_a4">
     <static>true</static>
     <link name="link">
diff --git a/sr_description_common/models/ar_marker_a4/model.config b/sr_description_common/models/ar_marker_a4/model.config
index 1594bc10..2b354334 100755
--- a/sr_description_common/models/ar_marker_a4/model.config
+++ b/sr_description_common/models/ar_marker_a4/model.config
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?><model>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
   <name>ar_marker_a4</name>
   <version>1.0</version>
   <sdf version="1.6">model.sdf</sdf>
diff --git a/sr_description_common/models/ar_marker_a4/model.sdf b/sr_description_common/models/ar_marker_a4/model.sdf
index ac214021..888e6b85 100755
--- a/sr_description_common/models/ar_marker_a4/model.sdf
+++ b/sr_description_common/models/ar_marker_a4/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?><sdf version="1.6">
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
   <model name="ar_marker_a4">
     <static>true</static>
     <link name="link">
diff --git a/sr_description_common/models/bare_metal_table/model.config b/sr_description_common/models/bare_metal_table/model.config
index 6be1c7e1..33059dda 100644
--- a/sr_description_common/models/bare_metal_table/model.config
+++ b/sr_description_common/models/bare_metal_table/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>bare_metal_table</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/bare_metal_table/model.sdf b/sr_description_common/models/bare_metal_table/model.sdf
index dcd04d97..3106f909 100644
--- a/sr_description_common/models/bare_metal_table/model.sdf
+++ b/sr_description_common/models/bare_metal_table/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="bare_metal_table">
     <static>true</static>
diff --git a/sr_description_common/models/base_plate/model.config b/sr_description_common/models/base_plate/model.config
index 3cc255f9..cc686766 100644
--- a/sr_description_common/models/base_plate/model.config
+++ b/sr_description_common/models/base_plate/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>base_plate</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/base_plate/model.sdf b/sr_description_common/models/base_plate/model.sdf
index fb6203c9..84e7bd47 100644
--- a/sr_description_common/models/base_plate/model.sdf
+++ b/sr_description_common/models/base_plate/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="base_plate">
     <static>true</static>
diff --git a/sr_description_common/models/big_table/model.config b/sr_description_common/models/big_table/model.config
index 828d6304..bfbec000 100644
--- a/sr_description_common/models/big_table/model.config
+++ b/sr_description_common/models/big_table/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>big_table</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/big_table/model.sdf b/sr_description_common/models/big_table/model.sdf
index 447477ca..01c1517b 100644
--- a/sr_description_common/models/big_table/model.sdf
+++ b/sr_description_common/models/big_table/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="big_table">
     <static>true</static>
diff --git a/sr_description_common/models/bimanual_combined_table/model.config b/sr_description_common/models/bimanual_combined_table/model.config
index 09f68e45..71b3bcc9 100644
--- a/sr_description_common/models/bimanual_combined_table/model.config
+++ b/sr_description_common/models/bimanual_combined_table/model.config
@@ -1,4 +1,17 @@
 <?xml version="1.0"?>
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 
 <model>
   <name>bimanual_combined_table</name>
diff --git a/sr_description_common/models/bimanual_combined_table/model.sdf b/sr_description_common/models/bimanual_combined_table/model.sdf
index 95888dd5..bff51e72 100644
--- a/sr_description_common/models/bimanual_combined_table/model.sdf
+++ b/sr_description_common/models/bimanual_combined_table/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="bimanual_combined_table">
     <static>true</static>
diff --git a/sr_description_common/models/bimanual_stand/model.config b/sr_description_common/models/bimanual_stand/model.config
index f4376b41..6e141bad 100644
--- a/sr_description_common/models/bimanual_stand/model.config
+++ b/sr_description_common/models/bimanual_stand/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>bimanual_stand</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/bimanual_stand/model.sdf b/sr_description_common/models/bimanual_stand/model.sdf
index 0c0a0e90..a43ccfc6 100644
--- a/sr_description_common/models/bimanual_stand/model.sdf
+++ b/sr_description_common/models/bimanual_stand/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="bimanual_stand">
   <static>true</static>
diff --git a/sr_description_common/models/duplo_2x2x1/model.config b/sr_description_common/models/duplo_2x2x1/model.config
index b763cd90..aa918ffa 100644
--- a/sr_description_common/models/duplo_2x2x1/model.config
+++ b/sr_description_common/models/duplo_2x2x1/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>duplo_2x2x1</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/duplo_2x2x1/model.sdf b/sr_description_common/models/duplo_2x2x1/model.sdf
index 1af2d592..6d188ea5 100644
--- a/sr_description_common/models/duplo_2x2x1/model.sdf
+++ b/sr_description_common/models/duplo_2x2x1/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="duplo_2x2x1">
     <link name="link">
diff --git a/sr_description_common/models/duplo_2x4x1/model.config b/sr_description_common/models/duplo_2x4x1/model.config
index 1fdd078d..f779b7f0 100644
--- a/sr_description_common/models/duplo_2x4x1/model.config
+++ b/sr_description_common/models/duplo_2x4x1/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>duplo_2x4x1</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/duplo_2x4x1/model.sdf b/sr_description_common/models/duplo_2x4x1/model.sdf
index 0cd92472..6e027cc4 100644
--- a/sr_description_common/models/duplo_2x4x1/model.sdf
+++ b/sr_description_common/models/duplo_2x4x1/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="duplo_2x4x1">
     <link name="link">
diff --git a/sr_description_common/models/duplo_2x4x1/model_simplified.sdf b/sr_description_common/models/duplo_2x4x1/model_simplified.sdf
index cee9b735..99338c8a 100644
--- a/sr_description_common/models/duplo_2x4x1/model_simplified.sdf
+++ b/sr_description_common/models/duplo_2x4x1/model_simplified.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="duplo_2x4x1_simplified">
   <pose>0 0 0 0 0 0</pose>
diff --git a/sr_description_common/models/filling_line/model.config b/sr_description_common/models/filling_line/model.config
index 385516e9..9ac69d4d 100644
--- a/sr_description_common/models/filling_line/model.config
+++ b/sr_description_common/models/filling_line/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>filling_line</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/filling_line/model.sdf b/sr_description_common/models/filling_line/model.sdf
index d3ac5e36..cc99949d 100644
--- a/sr_description_common/models/filling_line/model.sdf
+++ b/sr_description_common/models/filling_line/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="filling_line">
     <static>true</static>
diff --git a/sr_description_common/models/filling_line_boxes/model.config b/sr_description_common/models/filling_line_boxes/model.config
index 5f42654d..d339d47c 100644
--- a/sr_description_common/models/filling_line_boxes/model.config
+++ b/sr_description_common/models/filling_line_boxes/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>filling_line_boxes</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/filling_line_boxes/model.sdf b/sr_description_common/models/filling_line_boxes/model.sdf
index 84a2a88f..870a65d0 100644
--- a/sr_description_common/models/filling_line_boxes/model.sdf
+++ b/sr_description_common/models/filling_line_boxes/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="filling_line_boxes">
     <static>true</static>
diff --git a/sr_description_common/models/folding_table/model.config b/sr_description_common/models/folding_table/model.config
index 9eeab733..fe1b1eee 100644
--- a/sr_description_common/models/folding_table/model.config
+++ b/sr_description_common/models/folding_table/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>folding_table</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/folding_table/model.sdf b/sr_description_common/models/folding_table/model.sdf
index 4c27403e..7a3cea49 100644
--- a/sr_description_common/models/folding_table/model.sdf
+++ b/sr_description_common/models/folding_table/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="folding_table">
     <static>true</static>
diff --git a/sr_description_common/models/ground/model.config b/sr_description_common/models/ground/model.config
index 1ffe5087..40637c7c 100644
--- a/sr_description_common/models/ground/model.config
+++ b/sr_description_common/models/ground/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>ground</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/ground/model.sdf b/sr_description_common/models/ground/model.sdf
index 097aeef1..b92a7de8 100644
--- a/sr_description_common/models/ground/model.sdf
+++ b/sr_description_common/models/ground/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="ground">
     <static>true</static>
diff --git a/sr_description_common/models/ground_large/model.config b/sr_description_common/models/ground_large/model.config
index 19ff7a2d..2847566c 100644
--- a/sr_description_common/models/ground_large/model.config
+++ b/sr_description_common/models/ground_large/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.4"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>ground_large</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/ground_large/model.sdf b/sr_description_common/models/ground_large/model.sdf
index 6338b4c7..f3b9f99f 100644
--- a/sr_description_common/models/ground_large/model.sdf
+++ b/sr_description_common/models/ground_large/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="ground_large">
     <static>true</static>
diff --git a/sr_description_common/models/human/model.config b/sr_description_common/models/human/model.config
index 447a527e..059d7500 100644
--- a/sr_description_common/models/human/model.config
+++ b/sr_description_common/models/human/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>human</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/human/model.sdf b/sr_description_common/models/human/model.sdf
index 06491c40..73849693 100644
--- a/sr_description_common/models/human/model.sdf
+++ b/sr_description_common/models/human/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="human">
     <static>true</static>
diff --git a/sr_description_common/models/human_protection_wall/model.config b/sr_description_common/models/human_protection_wall/model.config
index 5e158ea8..c3007662 100644
--- a/sr_description_common/models/human_protection_wall/model.config
+++ b/sr_description_common/models/human_protection_wall/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>human_protection_wall</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/human_protection_wall/model.sdf b/sr_description_common/models/human_protection_wall/model.sdf
index 945bef32..88397d18 100644
--- a/sr_description_common/models/human_protection_wall/model.sdf
+++ b/sr_description_common/models/human_protection_wall/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="human_protection_wall">
     <static>true</static>
diff --git a/sr_description_common/models/lab_table/model.config b/sr_description_common/models/lab_table/model.config
index 6e317c0d..99691967 100644
--- a/sr_description_common/models/lab_table/model.config
+++ b/sr_description_common/models/lab_table/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>lab_table</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/lab_table/model.sdf b/sr_description_common/models/lab_table/model.sdf
index 81359c94..7de4bd5f 100644
--- a/sr_description_common/models/lab_table/model.sdf
+++ b/sr_description_common/models/lab_table/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="lab_table">
     <static>true</static>
diff --git a/sr_description_common/models/laminar_flow/model.config b/sr_description_common/models/laminar_flow/model.config
index 3a5a6412..a0854b09 100644
--- a/sr_description_common/models/laminar_flow/model.config
+++ b/sr_description_common/models/laminar_flow/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>laminar_flow</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/laminar_flow/model.sdf b/sr_description_common/models/laminar_flow/model.sdf
index 0158c4e1..969845b4 100644
--- a/sr_description_common/models/laminar_flow/model.sdf
+++ b/sr_description_common/models/laminar_flow/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="laminar_flow">
     <static>true</static>
diff --git a/sr_description_common/models/laminar_flow_boxes/model.config b/sr_description_common/models/laminar_flow_boxes/model.config
index 7361c41e..0f95e242 100644
--- a/sr_description_common/models/laminar_flow_boxes/model.config
+++ b/sr_description_common/models/laminar_flow_boxes/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>laminar_flow_boxes</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/laminar_flow_boxes/model.sdf b/sr_description_common/models/laminar_flow_boxes/model.sdf
index de93021c..58645379 100644
--- a/sr_description_common/models/laminar_flow_boxes/model.sdf
+++ b/sr_description_common/models/laminar_flow_boxes/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="laminar_flow_boxes">
     <static>true</static>
diff --git a/sr_description_common/models/laminar_flow_cylinder/model.config b/sr_description_common/models/laminar_flow_cylinder/model.config
index b7cedb9f..3bc664be 100644
--- a/sr_description_common/models/laminar_flow_cylinder/model.config
+++ b/sr_description_common/models/laminar_flow_cylinder/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>laminar_flow_cylinder</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/laminar_flow_cylinder/model.sdf b/sr_description_common/models/laminar_flow_cylinder/model.sdf
index 65196c30..9ab7be82 100644
--- a/sr_description_common/models/laminar_flow_cylinder/model.sdf
+++ b/sr_description_common/models/laminar_flow_cylinder/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="laminar_flow_cylinder">
     <static>true</static>
diff --git a/sr_description_common/models/lego_baseplate_32x32/model.config b/sr_description_common/models/lego_baseplate_32x32/model.config
index c4f5b39d..7e296dc2 100644
--- a/sr_description_common/models/lego_baseplate_32x32/model.config
+++ b/sr_description_common/models/lego_baseplate_32x32/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>lego_baseplate_32x32</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/lego_baseplate_32x32/model.sdf b/sr_description_common/models/lego_baseplate_32x32/model.sdf
index 040e796e..51707901 100644
--- a/sr_description_common/models/lego_baseplate_32x32/model.sdf
+++ b/sr_description_common/models/lego_baseplate_32x32/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="lego_baseplate_32x32">
     <link name="link">
diff --git a/sr_description_common/models/pcb/model.config b/sr_description_common/models/pcb/model.config
index 3cf9613d..a5ca0348 100644
--- a/sr_description_common/models/pcb/model.config
+++ b/sr_description_common/models/pcb/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>pcb</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/pcb/model.sdf b/sr_description_common/models/pcb/model.sdf
index d47cc26c..ab9bac41 100644
--- a/sr_description_common/models/pcb/model.sdf
+++ b/sr_description_common/models/pcb/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="pcb">
     <static>true</static>
diff --git a/sr_description_common/models/pringles/model.config b/sr_description_common/models/pringles/model.config
index d689c9e3..66159b66 100644
--- a/sr_description_common/models/pringles/model.config
+++ b/sr_description_common/models/pringles/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>pringles_cad</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/pringles/model.sdf b/sr_description_common/models/pringles/model.sdf
index a7a69d00..00a671d7 100644
--- a/sr_description_common/models/pringles/model.sdf
+++ b/sr_description_common/models/pringles/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="pringles">
     <link name="link">
diff --git a/sr_description_common/models/robot_safe_store/model.config b/sr_description_common/models/robot_safe_store/model.config
index 15103459..28a5011b 100644
--- a/sr_description_common/models/robot_safe_store/model.config
+++ b/sr_description_common/models/robot_safe_store/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>robot_safe_store</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/robot_safe_store/model.sdf b/sr_description_common/models/robot_safe_store/model.sdf
index 75385b32..43dc830b 100644
--- a/sr_description_common/models/robot_safe_store/model.sdf
+++ b/sr_description_common/models/robot_safe_store/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="robot_safe_store">
     <static>true</static>
diff --git a/sr_description_common/models/server_rack/model.config b/sr_description_common/models/server_rack/model.config
index 53cea044..2aee357f 100644
--- a/sr_description_common/models/server_rack/model.config
+++ b/sr_description_common/models/server_rack/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>server_rack</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/server_rack/model.sdf b/sr_description_common/models/server_rack/model.sdf
index 1514143c..d482f866 100644
--- a/sr_description_common/models/server_rack/model.sdf
+++ b/sr_description_common/models/server_rack/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="server_rack">
     <static>true</static>
diff --git a/sr_description_common/models/shadow_table_2017_full/model.config b/sr_description_common/models/shadow_table_2017_full/model.config
index 5bd58e46..68b99af5 100644
--- a/sr_description_common/models/shadow_table_2017_full/model.config
+++ b/sr_description_common/models/shadow_table_2017_full/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>shadow_table_2017_full</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/shadow_table_2017_full/model.sdf b/sr_description_common/models/shadow_table_2017_full/model.sdf
index 5e6d9715..a53be576 100644
--- a/sr_description_common/models/shadow_table_2017_full/model.sdf
+++ b/sr_description_common/models/shadow_table_2017_full/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="shadow_table_2017_full">
     <static>true</static>
diff --git a/sr_description_common/models/shadow_table_2017_full_simplified/model.config b/sr_description_common/models/shadow_table_2017_full_simplified/model.config
index 69034683..cc2b35e4 100644
--- a/sr_description_common/models/shadow_table_2017_full_simplified/model.config
+++ b/sr_description_common/models/shadow_table_2017_full_simplified/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>shadow_table_2017_full_simplified</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/shadow_table_2017_full_simplified/model.sdf b/sr_description_common/models/shadow_table_2017_full_simplified/model.sdf
index 0e24a2ca..01d8910b 100644
--- a/sr_description_common/models/shadow_table_2017_full_simplified/model.sdf
+++ b/sr_description_common/models/shadow_table_2017_full_simplified/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="shadow_table_2017_full_simplified">
     <static>true</static>
diff --git a/sr_description_common/models/simpleBox/model.config b/sr_description_common/models/simpleBox/model.config
index 59da371c..102c2f8f 100644
--- a/sr_description_common/models/simpleBox/model.config
+++ b/sr_description_common/models/simpleBox/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>simpleBox</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/simpleBox/model.sdf b/sr_description_common/models/simpleBox/model.sdf
index dabb5103..62c05772 100644
--- a/sr_description_common/models/simpleBox/model.sdf
+++ b/sr_description_common/models/simpleBox/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="simpleBox">
   <static>true</static>
diff --git a/sr_description_common/models/square_stand/model.config b/sr_description_common/models/square_stand/model.config
index 8c047880..282b5c04 100644
--- a/sr_description_common/models/square_stand/model.config
+++ b/sr_description_common/models/square_stand/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>square_stand</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/square_stand/model.sdf b/sr_description_common/models/square_stand/model.sdf
index 8780e6f8..92c324b2 100644
--- a/sr_description_common/models/square_stand/model.sdf
+++ b/sr_description_common/models/square_stand/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="square_stand">
   <static>true</static>
diff --git a/sr_description_common/models/stand/model.config b/sr_description_common/models/stand/model.config
index 90a24644..5d4cda65 100644
--- a/sr_description_common/models/stand/model.config
+++ b/sr_description_common/models/stand/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>stand</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/stand/model.sdf b/sr_description_common/models/stand/model.sdf
index 2866acd6..dace43d1 100644
--- a/sr_description_common/models/stand/model.sdf
+++ b/sr_description_common/models/stand/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="stand">
     <static>true</static>
diff --git a/sr_description_common/models/stand_box/model.config b/sr_description_common/models/stand_box/model.config
index 35e7080d..8ef40cdb 100644
--- a/sr_description_common/models/stand_box/model.config
+++ b/sr_description_common/models/stand_box/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>stand_box</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/stand_box/model.sdf b/sr_description_common/models/stand_box/model.sdf
index 85eff883..e34f504d 100644
--- a/sr_description_common/models/stand_box/model.sdf
+++ b/sr_description_common/models/stand_box/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="stand_box">
   <static>true</static>
diff --git a/sr_description_common/models/stand_small/model.config b/sr_description_common/models/stand_small/model.config
index 183fb699..de039cae 100644
--- a/sr_description_common/models/stand_small/model.config
+++ b/sr_description_common/models/stand_small/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>stand small</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/stand_small/model.sdf b/sr_description_common/models/stand_small/model.sdf
index 4e64ae7f..2cce9064 100644
--- a/sr_description_common/models/stand_small/model.sdf
+++ b/sr_description_common/models/stand_small/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="stand_small">
     <static>true</static>
diff --git a/sr_description_common/models/tote/model.config b/sr_description_common/models/tote/model.config
index 32c38380..09adf7a7 100644
--- a/sr_description_common/models/tote/model.config
+++ b/sr_description_common/models/tote/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>tote</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/tote/model.sdf b/sr_description_common/models/tote/model.sdf
index 90087ee0..fb2dab2d 100644
--- a/sr_description_common/models/tote/model.sdf
+++ b/sr_description_common/models/tote/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="tote">
     <static>true</static>
diff --git a/sr_description_common/models/trash_bin/model.config b/sr_description_common/models/trash_bin/model.config
index 77de41e7..efab60c1 100644
--- a/sr_description_common/models/trash_bin/model.config
+++ b/sr_description_common/models/trash_bin/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>trash_bin</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/trash_bin/model.sdf b/sr_description_common/models/trash_bin/model.sdf
index 539dd672..45720e6a 100644
--- a/sr_description_common/models/trash_bin/model.sdf
+++ b/sr_description_common/models/trash_bin/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="trash_bin">
     <static>true</static>
diff --git a/sr_description_common/models/wall/model.config b/sr_description_common/models/wall/model.config
index 9e071334..841ba57e 100644
--- a/sr_description_common/models/wall/model.config
+++ b/sr_description_common/models/wall/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>wall</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/wall/model.sdf b/sr_description_common/models/wall/model.sdf
index 79be7786..38f82503 100644
--- a/sr_description_common/models/wall/model.sdf
+++ b/sr_description_common/models/wall/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
 <model name="wall">
     <static>true</static>
diff --git a/sr_description_common/models/wall_with_hole/model.config b/sr_description_common/models/wall_with_hole/model.config
index b04358ce..710aaa74 100644
--- a/sr_description_common/models/wall_with_hole/model.config
+++ b/sr_description_common/models/wall_with_hole/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>wall_with_hole</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/wall_with_hole/model.sdf b/sr_description_common/models/wall_with_hole/model.sdf
index 45afdddc..f3133a83 100644
--- a/sr_description_common/models/wall_with_hole/model.sdf
+++ b/sr_description_common/models/wall_with_hole/model.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="wall_with_hole">
     <static>true</static>
diff --git a/sr_description_common/models/xprize_base/model.config b/sr_description_common/models/xprize_base/model.config
index 0862c9e8..4ac38622 100644
--- a/sr_description_common/models/xprize_base/model.config
+++ b/sr_description_common/models/xprize_base/model.config
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
     <name>xprize_base</name>
     <version>1.0</version>
diff --git a/sr_description_common/models/xprize_base/model.sdf b/sr_description_common/models/xprize_base/model.sdf
index 97295c40..1bbe00bd 100644
--- a/sr_description_common/models/xprize_base/model.sdf
+++ b/sr_description_common/models/xprize_base/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="xprize_base">
     <static>true</static>
diff --git a/sr_description_common/models/xprize_camera_stand/model.config b/sr_description_common/models/xprize_camera_stand/model.config
index eaa53737..f62c3449 100644
--- a/sr_description_common/models/xprize_camera_stand/model.config
+++ b/sr_description_common/models/xprize_camera_stand/model.config
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
     <name>xprize_camera_stand</name>
     <version>1.0</version>
diff --git a/sr_description_common/models/xprize_camera_stand/model.sdf b/sr_description_common/models/xprize_camera_stand/model.sdf
index a0b22845..4fc813eb 100644
--- a/sr_description_common/models/xprize_camera_stand/model.sdf
+++ b/sr_description_common/models/xprize_camera_stand/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="xprize_camera_stand">
     <static>true</static>
diff --git a/sr_description_common/models/xprize_ceiling/model.config b/sr_description_common/models/xprize_ceiling/model.config
index 63e146ba..0c7076dd 100644
--- a/sr_description_common/models/xprize_ceiling/model.config
+++ b/sr_description_common/models/xprize_ceiling/model.config
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
     <name>xprize_ceiling</name>
     <version>1.0</version>
diff --git a/sr_description_common/models/xprize_ceiling/model.sdf b/sr_description_common/models/xprize_ceiling/model.sdf
index 20c62f0b..d0977d99 100644
--- a/sr_description_common/models/xprize_ceiling/model.sdf
+++ b/sr_description_common/models/xprize_ceiling/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="xprize_ceiling">
     <static>true</static>
diff --git a/sr_description_common/models/xprize_table/model.config b/sr_description_common/models/xprize_table/model.config
index 14470156..c6e9870b 100644
--- a/sr_description_common/models/xprize_table/model.config
+++ b/sr_description_common/models/xprize_table/model.config
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
     <name>xprize_table</name>
     <version>1.0</version>
diff --git a/sr_description_common/models/xprize_table/model.sdf b/sr_description_common/models/xprize_table/model.sdf
index c574ebd1..9ae27181 100644
--- a/sr_description_common/models/xprize_table/model.sdf
+++ b/sr_description_common/models/xprize_table/model.sdf
@@ -1,4 +1,18 @@
 <?xml version='1.0'?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="xprize_table">
     <static>true</static>
diff --git a/sr_description_common/models/ycb_orange/model.config b/sr_description_common/models/ycb_orange/model.config
index b78a0f75..109c113b 100644
--- a/sr_description_common/models/ycb_orange/model.config
+++ b/sr_description_common/models/ycb_orange/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>orange</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/ycb_orange/orange.sdf b/sr_description_common/models/ycb_orange/orange.sdf
index 39d74f0a..f92741c1 100644
--- a/sr_description_common/models/ycb_orange/orange.sdf
+++ b/sr_description_common/models/ycb_orange/orange.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="orange">
     <link name="link">
diff --git a/sr_description_common/models/ycb_pringles/model.config b/sr_description_common/models/ycb_pringles/model.config
index 016cd757..4f29278d 100644
--- a/sr_description_common/models/ycb_pringles/model.config
+++ b/sr_description_common/models/ycb_pringles/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>Pringles</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/ycb_pringles/pringles.sdf b/sr_description_common/models/ycb_pringles/pringles.sdf
index aba676f1..2bb94ee4 100644
--- a/sr_description_common/models/ycb_pringles/pringles.sdf
+++ b/sr_description_common/models/ycb_pringles/pringles.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="pringles">
     <link name="link">
diff --git a/sr_description_common/models/ycb_red_cup/model.config b/sr_description_common/models/ycb_red_cup/model.config
index bfdd1413..d1ae73ab 100644
--- a/sr_description_common/models/ycb_red_cup/model.config
+++ b/sr_description_common/models/ycb_red_cup/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>Red_cup</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/ycb_red_cup/red_cup.sdf b/sr_description_common/models/ycb_red_cup/red_cup.sdf
index 8713ea4d..5f7d7bd6 100644
--- a/sr_description_common/models/ycb_red_cup/red_cup.sdf
+++ b/sr_description_common/models/ycb_red_cup/red_cup.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="red_cup">
     <link name="link">
diff --git a/sr_description_common/models/ycb_tomato_soup/model.config b/sr_description_common/models/ycb_tomato_soup/model.config
index a7defc44..827ce3dc 100644
--- a/sr_description_common/models/ycb_tomato_soup/model.config
+++ b/sr_description_common/models/ycb_tomato_soup/model.config
@@ -1,5 +1,18 @@
 <?xml version="1.0"?>
 
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <model>
   <name>tomato_soup</name>
   <version>1.0</version>
diff --git a/sr_description_common/models/ycb_tomato_soup/tomato_soup.sdf b/sr_description_common/models/ycb_tomato_soup/tomato_soup.sdf
index 4979871c..a622529d 100644
--- a/sr_description_common/models/ycb_tomato_soup/tomato_soup.sdf
+++ b/sr_description_common/models/ycb_tomato_soup/tomato_soup.sdf
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <model name="tomato_soup">
     <link name="link">
diff --git a/sr_description_common/worlds/alpha_glovebox.world b/sr_description_common/worlds/alpha_glovebox.world
index d98f14df..081f0ad8 100644
--- a/sr_description_common/worlds/alpha_glovebox.world
+++ b/sr_description_common/worlds/alpha_glovebox.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <include>
diff --git a/sr_description_common/worlds/bimanual_filling_line.world b/sr_description_common/worlds/bimanual_filling_line.world
index ef9f0f69..31d831b9 100644
--- a/sr_description_common/worlds/bimanual_filling_line.world
+++ b/sr_description_common/worlds/bimanual_filling_line.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <light type="directional" name="lab_light">
diff --git a/sr_description_common/worlds/bimanual_filling_line_boxes.world b/sr_description_common/worlds/bimanual_filling_line_boxes.world
index f009a8af..5435b57a 100644
--- a/sr_description_common/worlds/bimanual_filling_line_boxes.world
+++ b/sr_description_common/worlds/bimanual_filling_line_boxes.world
@@ -1,4 +1,18 @@
 <sdf version='1.7'>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
   <world name='default'>
     <light name='lab_light' type='directional'>
       <pose>0.86 1.96 2.5 -1.55 0 0</pose>
diff --git a/sr_description_common/worlds/customer_stand_bimanual.world b/sr_description_common/worlds/customer_stand_bimanual.world
index 32d4a14b..14d90732 100644
--- a/sr_description_common/worlds/customer_stand_bimanual.world
+++ b/sr_description_common/worlds/customer_stand_bimanual.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor and Ceiling -->
diff --git a/sr_description_common/worlds/customer_stand_bimanual_left_only.world b/sr_description_common/worlds/customer_stand_bimanual_left_only.world
index c41e465f..435e8af3 100644
--- a/sr_description_common/worlds/customer_stand_bimanual_left_only.world
+++ b/sr_description_common/worlds/customer_stand_bimanual_left_only.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor and Ceiling -->
diff --git a/sr_description_common/worlds/customer_stand_bimanual_right_only.world b/sr_description_common/worlds/customer_stand_bimanual_right_only.world
index cb5c53c4..fe3d83bc 100644
--- a/sr_description_common/worlds/customer_stand_bimanual_right_only.world
+++ b/sr_description_common/worlds/customer_stand_bimanual_right_only.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor and Ceiling -->
diff --git a/sr_description_common/worlds/customer_stand_unimanual.world b/sr_description_common/worlds/customer_stand_unimanual.world
index 61b8f8c2..a65d5a14 100644
--- a/sr_description_common/worlds/customer_stand_unimanual.world
+++ b/sr_description_common/worlds/customer_stand_unimanual.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor and Ceiling -->
diff --git a/sr_description_common/worlds/demo_space_large_bimanual.world b/sr_description_common/worlds/demo_space_large_bimanual.world
index b3a6a914..a3318bac 100644
--- a/sr_description_common/worlds/demo_space_large_bimanual.world
+++ b/sr_description_common/worlds/demo_space_large_bimanual.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor and Ceiling -->
diff --git a/sr_description_common/worlds/demo_space_large_bimanual_server_rack.world b/sr_description_common/worlds/demo_space_large_bimanual_server_rack.world
index dc06877c..5493f940 100644
--- a/sr_description_common/worlds/demo_space_large_bimanual_server_rack.world
+++ b/sr_description_common/worlds/demo_space_large_bimanual_server_rack.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor and Ceiling -->
diff --git a/sr_description_common/worlds/demo_space_large_unimanual.world b/sr_description_common/worlds/demo_space_large_unimanual.world
index dc314759..8bbd12ff 100644
--- a/sr_description_common/worlds/demo_space_large_unimanual.world
+++ b/sr_description_common/worlds/demo_space_large_unimanual.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor -->
diff --git a/sr_description_common/worlds/demo_space_small.world b/sr_description_common/worlds/demo_space_small.world
index d3bd70e3..9f8c25da 100644
--- a/sr_description_common/worlds/demo_space_small.world
+++ b/sr_description_common/worlds/demo_space_small.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor -->
diff --git a/sr_description_common/worlds/ms_garage.world b/sr_description_common/worlds/ms_garage.world
index 427f9b80..0f321b4a 100644
--- a/sr_description_common/worlds/ms_garage.world
+++ b/sr_description_common/worlds/ms_garage.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor -->
diff --git a/sr_description_common/worlds/ms_lab.world b/sr_description_common/worlds/ms_lab.world
index 2c6b3354..f3f526c4 100644
--- a/sr_description_common/worlds/ms_lab.world
+++ b/sr_description_common/worlds/ms_lab.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <!-- Floor -->
diff --git a/sr_description_common/worlds/shadowhand.world b/sr_description_common/worlds/shadowhand.world
index a8fff4ba..2fd0276b 100644
--- a/sr_description_common/worlds/shadowhand.world
+++ b/sr_description_common/worlds/shadowhand.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <include>
diff --git a/sr_description_common/worlds/shadowhands_and_arms.world b/sr_description_common/worlds/shadowhands_and_arms.world
index 8db76da6..3b78df13 100644
--- a/sr_description_common/worlds/shadowhands_and_arms.world
+++ b/sr_description_common/worlds/shadowhands_and_arms.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <include>
diff --git a/sr_description_common/worlds/xprize.world b/sr_description_common/worlds/xprize.world
index cf6364bf..28375842 100644
--- a/sr_description_common/worlds/xprize.world
+++ b/sr_description_common/worlds/xprize.world
@@ -1,4 +1,18 @@
 <?xml version="1.0" ?>
+
+<!--
+ Copyright 2023 Shadow Robot Company Ltd.
+ This program is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by the Free
+ Software Foundation version 2 of the License.
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details.
+ You should have received a copy of the GNU General Public License along
+ with this program. If not, see <http://www.gnu.org/licenses/>.
+-->
+
 <sdf version="1.4">
   <world name="default">
     <light type="directional" name="lab_light">