added license headers

control_cluster_utils/cluster_client/control_cluster_client.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import torch
 
 from abc import ABC

control_cluster_utils/cluster_server/control_cluster_srvr.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 from abc import ABC
 
 from control_cluster_utils.controllers.rhc import RHChild

control_cluster_utils/controllers/rhc.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 from abc import ABC, abstractmethod
 
 import time 

control_cluster_utils/tests/test_shared_mem_manager_client.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 from control_cluster_utils.utilities.shared_mem import SharedMemClient
 
 import torch

control_cluster_utils/tests/test_shared_mem_manager_server.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 from control_cluster_utils.utilities.shared_mem import SharedMemSrvr, SharedStringArray
 
 import torch

control_cluster_utils/utilities/control_cluster_defs.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import torch
 
 import time 

control_cluster_utils/utilities/debugger_gui/cluster_debugger.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 from PyQt5.QtCore import QThread, pyqtSignal, Qt
 from PyQt5.QtWidgets import QApplication, QMainWindow, QTabWidget, QWidget, QSlider
 from PyQt5.QtWidgets import QLabel, QVBoxLayout, QHBoxLayout, QSplitter, QFrame

control_cluster_utils/utilities/debugger_gui/plot_utils.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import numpy as np
 
 from PyQt5.QtCore import Qt, QTimer

control_cluster_utils/utilities/defs.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 def aggregate_state_size(internal_jnt_number: int):
 
     # root p, q, v, omega + jnt q, v respectively

control_cluster_utils/utilities/homing.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import numpy as np
 
 import xml.etree.ElementTree as ET

control_cluster_utils/utilities/keyboard_cmds.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import torch
 
 from pynput import keyboard

control_cluster_utils/utilities/math_utils.py

@@ -0,0 +1,63 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
+import torch
+from typing import List
+
+def incremental_rotate(q_initial: torch.Tensor, 
+                    d_angle: float, 
+                    axis: List) -> torch.Tensor:
+    """
+    Incrementally rotate a quaternion `q_initial` by `d_angle` radians about `axis`.
+    Parameters:
+    - q_initial (torch.Tensor): Initial quaternion.
+    - d_angle (float): Angle by which to rotate, in radians.
+    - axis (torch.Tensor): Axis about which to rotate.
+    Returns:
+    - torch.Tensor: Resulting quaternion after rotation.
+    """
+    d_angle_tensor = torch.tensor(d_angle)
+    # Compute the quaternion representation of the incremental rotation
+    q_incremental = torch.tensor([torch.cos(d_angle_tensor / 2),
+                            axis[0] * torch.sin(d_angle_tensor / 2),
+                            axis[1] * torch.sin(d_angle_tensor / 2),
+                            axis[2] * torch.sin(d_angle_tensor / 2)])
+
+    # Normalize the quaternion
+    q_incremental /= torch.linalg.norm(q_incremental)
+
+    # Compute the final orientation of the base by multiplying the quaternions
+    q_result = quaternion_multiply(q_incremental, q_initial)
+
+    return q_result
+
+def quaternion_multiply(q1: torch.Tensor, 
+                q2: torch.Tensor):
+
+    """
+    Multiply two quaternions q1 and q2.
+    Assumes quaternions are represented as 1D tensors: [w, x, y, z].
+    """
+    w1, x1, y1, z1 = q1
+    w2, x2, y2, z2 = q2
+
+    w = w1*w2 - x1*x2 - y1*y2 - z1*z2
+    x = w1*x2 + x1*w2 + y1*z2 - z1*y2
+    y = w1*y2 + y1*w2 + z1*x2 - x1*z2
+    z = w1*z2 + z1*w2 + x1*y2 - y1*x2
+
+    return torch.tensor([w, x, y, z])

control_cluster_utils/utilities/pipe_utils.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import os
 
 import yaml

control_cluster_utils/utilities/rhc_defs.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import torch
 
 from typing import TypeVar, List

control_cluster_utils/utilities/shared_mem.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import torch
 
 import numpy as np

control_cluster_utils/utilities/sysutils.py

@@ -1,3 +1,20 @@
+# Copyright (C) 2023  Andrea Patrizi (AndrePatri, [email protected])
+# 
+# This file is part of ControlClusterUtils and distributed under the General Public License version 2 license.
+# 
+# ControlClusterUtils 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, either version 2 of the License, or
+# (at your option) any later version.
+# 
+# ControlClusterUtils 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 ControlClusterUtils.  If not, see <http://www.gnu.org/licenses/>.
+# 
 import os
 
 class PathsGetter:

pyproject.toml

@@ -8,5 +8,5 @@ version = "0.1.0"
 description = ""
 authors = [{name = "AndrePatri", email = "[email protected]"}]
 readme = "README.md"
-license = {file = "LICENSE"}
+license = {file = "LICENSE.md"}
 classifiers = ["License :: OSI Approved :: MIT License"]