Fixed all licence issues.

.circleci/config.yml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 version: 2
 jobs:
   build:

aws.yml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 settings:
   machine_type: medium
   ubuntu:

sr_config/package.xml

@@ -1,3 +1,15 @@
+<!--
+ Copyright 2022 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/>.
+-->
 <package>
   <name>sr_config</name>
   <version>1.4.0</version>

sr_ethercat_hand_config/calibrations/lh/calibration.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 sr_calibrations: [
 ["FFJ1", [[2929.0, 0.0], [2189.0, 22.5], [1554.0, 45.0], [859.0, 67.5], [416.0, 90.0]]], 
 ["FFJ2", [[3027.0, 0.0], [2814.0, 22.5], [2359.0, 45.0], [1986.0, 67.5], [1563.0, 90.0]]], 

sr_ethercat_hand_config/calibrations/lh/pressure_calibration.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 {'sr_pressure_calibrations': [
 # Each joint has 2 pressure sensors 0 and 1. So we have a row per joint/sensor combination.
 # ["<joint_name>_<sensor>", [[<raw sensor value>, <calibrated millibar pressure>], [<raw sensor value>, <calibrated millibar pressure>]]], 

sr_ethercat_hand_config/calibrations/lh/pressure_calibration_raw.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 # Use this file to see raw values from the pressure sensors.
 #
 {'sr_pressure_calibrations': [

sr_ethercat_hand_config/calibrations/rh/calibration.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 sr_calibrations: [
 ["FFJ1", [[2929.0, 0.0], [2189.0, 22.5], [1554.0, 45.0], [859.0, 67.5], [416.0, 90.0]]], 
 ["FFJ2", [[3027.0, 0.0], [2814.0, 22.5], [2359.0, 45.0], [1986.0, 67.5], [1563.0, 90.0]]], 

sr_ethercat_hand_config/calibrations/rh/pressure_calibration.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 {'sr_pressure_calibrations': [
 # Each joint has 2 pressure sensors 0 and 1. So we have a row per joint/sensor combination.
 # ["<joint_name>_<sensor>", [[<raw sensor value>, <calibrated millibar pressure>], [<raw sensor value>, <calibrated millibar pressure>]]], 

sr_ethercat_hand_config/calibrations/rh/pressure_calibration_raw.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 # Use this file to see raw values from the pressure sensors.
 #
 {'sr_pressure_calibrations': [

sr_ethercat_hand_config/controls/friction_compensation.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 sr_friction_map: [
 #["LFJ5", 1,  [[0.0, 0.0], [1.0, 0.0]]],
 #["LFJ5", -1, [[0.0, -80.0], [1.0, -80.0]]]

sr_ethercat_hand_config/controls/host/lh/sr_edc_calibration_controllers.yaml

@@ -1,3 +1,16 @@
+# Copyright 2022 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/>.
 
 # Shadow Hand Defines
 

sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 # First Finger (Index finger)
 sh_lh_ffj0_effort_controller:
   type: sr_mechanism_controllers/SrhEffortJointController

sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers_PWM.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 # First Finger (Index finger)
 sh_lh_ffj0_effort_controller:
   type: sr_mechanism_controllers/SrhEffortJointController

sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 sh_lh_ffj0_position_controller:
   joint:  lh_FFJ0
   pid:

sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers_PWM.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 sh_lh_ffj0_position_controller:
   joint: lh_FFJ0
   pid:

sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 # Shadow Hand Defines .. Need Fixing as PID values are not correct
 
 sh_lh_ffj0_velocity_controller:

sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers_PWM.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 # Shadow Hand Defines .. Need Fixing as PID values are not correct
 
 sh_lh_ffj0_velocity_controller:

sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 sh_lh_ffj0_mixed_position_velocity_controller:
   joint:  lh_FFJ0
   motor_min_force_threshold: 40

sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 sh_lh_ffj0_mixed_position_velocity_controller:
   joint:  lh_FFJ0
   motor_min_force_threshold: 40

sr_ethercat_hand_config/controls/host/rh/sr_edc_calibration_controllers.yaml

@@ -1,3 +1,16 @@
+# Copyright 2022 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/>.
 
 # Shadow Hand Defines
 

sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 # First Finger (Index finger)
 sh_rh_ffj0_effort_controller:
   type: sr_mechanism_controllers/SrhEffortJointController

sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers_PWM.yaml

@@ -1,3 +1,17 @@
+# Copyright 2022 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/>.
+
 # First Finger (Index finger)
 sh_rh_ffj0_effort_controller:
   type: sr_mechanism_controllers/SrhEffortJointController