ADD LICENSE

.github/LICENSE_HEADER.txt

@@ -0,0 +1,2 @@
+Copyright (c) 2024-2025 Ziqi Fan
+SPDX-License-Identifier: Apache-2.0

.pre-commit-config.yaml

@@ -0,0 +1,25 @@
+repos:
+  - repo: https://github.com/Lucas-C/pre-commit-hooks
+    rev: v1.5.1
+    hooks:
+      - id: insert-license
+        files: \.(py|yaml)$
+        args:
+          # - --remove-header    # Remove existing license headers. Useful when updating license.
+          - --license-filepath
+          - .github/LICENSE_HEADER.txt
+          - --use-current-year
+  - repo: https://github.com/Lucas-C/pre-commit-hooks
+    rev: v1.5.1
+    hooks:
+      - id: insert-license
+        files: \.(cpp|hpp)$
+        args:
+          # - --remove-header    # Remove existing license headers. Useful when updating license.
+          - --license-filepath
+          - .github/LICENSE_HEADER.txt
+          - --use-current-year
+          - --comment-style
+          - /*| *| */
+
+exclude: ^(src/rl_sar/library/matplotlibcpp|src/rl_sar/library/unitree_legged_sdk_3.2|src/rl_sar/library/unitree_sdk2)/

LICENSE

@@ -186,7 +186,7 @@
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright 2024 Fan Ziqi
+   Copyright 2024-2025 Ziqi Fan
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

src/rl_sar/include/rl_real_a1.hpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #ifndef RL_REAL_HPP
 #define RL_REAL_HPP
 

src/rl_sar/include/rl_real_go2.hpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #ifndef RL_REAL_HPP
 #define RL_REAL_HPP
 

src/rl_sar/include/rl_sim.hpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #ifndef RL_SIM_HPP
 #define RL_SIM_HPP
 

src/rl_sar/library/loop/loop.hpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #ifndef LOOP_H
 #define LOOP_H
 

src/rl_sar/library/observation_buffer/observation_buffer.cpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #include "observation_buffer.hpp"
 
 ObservationBuffer::ObservationBuffer() {}

src/rl_sar/library/observation_buffer/observation_buffer.hpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #ifndef OBSERVATION_BUFFER_HPP
 #define OBSERVATION_BUFFER_HPP
 

src/rl_sar/library/rl_sdk/rl_sdk.cpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #include "rl_sdk.hpp"
 
 /* You may need to override this Forward() function

src/rl_sar/library/rl_sdk/rl_sdk.hpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #ifndef RL_SDK_HPP
 #define RL_SDK_HPP
 

src/rl_sar/models/a1_isaacgym/config.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 a1_isaacgym:
   model_name: "model_0702.pt"
   framework: "isaacgym"

src/rl_sar/models/a1_isaacsim/config.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 a1_isaacsim:
   model_name: "policy.pt"
   framework: "isaacsim"

src/rl_sar/models/go2_isaacgym/config.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 go2_isaacgym:
   model_name: "himloco.pt"
   framework: "isaacgym"

src/rl_sar/models/gr1t1_isaacgym/config.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 gr1t1_isaacgym:
   model_name: "model_4000_jit.pt"
   framework: "isaacgym"

src/rl_sar/models/gr1t2_isaacgym/config.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 gr1t2_isaacgym:
   model_name: "model_4000_jit.pt"
   framework: "isaacgym"

src/rl_sar/scripts/actuator_net.py

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 import os
 import argparse
 from matplotlib import pyplot as plt

src/rl_sar/scripts/observation_buffer.py

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 import torch
 
 class ObservationBuffer:

src/rl_sar/scripts/rl_sdk.py

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 import torch
 import yaml
 import os

src/rl_sar/scripts/rl_sim.py

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 import sys
 import os
 import torch

src/rl_sar/src/rl_real_a1.cpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #include "rl_real_a1.hpp"
 
 // #define PLOT

src/rl_sar/src/rl_real_go2.cpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #include "rl_real_go2.hpp"
 
 // #define PLOT

src/rl_sar/src/rl_sim.cpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #include "rl_sim.hpp"
 
 // #define PLOT

src/robot_joint_controller/src/robot_joint_controller.cpp

@@ -1,3 +1,8 @@
+/*
+ * Copyright (c) 2024-2025 Ziqi Fan
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #include "robot_joint_controller.h"
 #include <pluginlib/class_list_macros.h>
 

src/robots/a1_description/config/robot_control.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 a1_gazebo:
     # Publish all joint states -----------------------------------
     joint_state_controller:

src/robots/go2_description/config/robot_control.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 go2_gazebo:
     # Publish all joint states -----------------------------------
     joint_state_controller:

src/robots/gr1t1_description/config/robot_control.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 gr1t1_gazebo:
     # Publish all joint states -----------------------------------
     joint_state_controller:

src/robots/gr1t2_description/config/robot_control.yaml

@@ -1,3 +1,6 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
 gr1t2_gazebo:
     # Publish all joint states -----------------------------------
     joint_state_controller: