check licenses

CHANGELOG.md

@@ -10,6 +10,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 - :warning: Breaking (only for ROS packaging) :warning: renamed the ROS package as `example_robot_descriptions`.
 
+### Removed
+
+- reverted addition of Falcon Bravo7 Bluevolta robots for license issues
+
 ## [5.0.0] - 2026-06-05
 
 ### Added

LICENSE

@@ -1,22 +1,18 @@
-BSD 3-Clause License
+BSD 2-Clause License
 
-Copyright (C) 2018-2020 LAAS-CNRS, University of Edinburgh, INRIA
+Copyright (C) 2018-2026 LAAS-CNRS, University of Edinburgh, INRIA
 Copyright note valid unless otherwise stated in individual files.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
 
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
 
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

package.xml

@@ -9,9 +9,72 @@
   <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
   <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
 
+  <!-- This project -->
+  <license>BSD-2-Clause</license>
+
+  <!-- Robot descriptions for:
+        - alexander_description
+        - centauro_description
+        - hyq_description
+        - panda_description
+        - so_arm_description
+        - tiago_description
+        - tiago_pro_description
+  -->
   <license>Apache-2.0</license>
+
+  <!-- Robot descriptions for:
+        - borinot_description
+        - hextilt_description
+        - human_description
+        - simple_humanoid_description
+  -->
   <license>BSD-2-Clause</license>
-  <license>LGPL-3.0</license>
+
+  <!-- Robot descriptions for:
+        - anymal_b_simple_description
+        - anymal_c_simple_description
+        - bolt_description
+        - finger_edu_description
+        - g1_description
+        - solo_description
+        - talos_descrition
+        - xarm_description
+  -->
+  <license>BSD-3-Clause</license>
+
+  <!-- Robot descriptions for:
+        - allegro_hand_description
+        - asr_twodof_description
+        - baxter_description
+        - double_pendulum_description
+        - hector_description
+        - kinova_description
+        - pr2_description
+        - romeo_description
+        - ur_description
+  -->
+  <license>BSD</license>
+
+  <!-- Robot descriptions for:
+        - alex_description
+  -->
+  <license>CC-BY-NC-ND-4.0</license>
+
+  <!-- Robot descriptions for:
+        - icub_description
+  -->
+  <license>CC-BY-SA-4.0</license>
+
+  <!-- Robot descriptions for:
+        - cassie_description
+  -->
+  <license>ISC</license>
+
+
+  <!-- Robot descriptions for:
+        - z1_description
+  -->
   <license>MPL-2.0</license>
 
   <url type="repository">https://github.com/gepetto/example-robot-data</url>

python/example_robot_data/human.py

@@ -863,9 +863,7 @@ def get_dict_joint_placements(height: float, gender: str = "m") -> dict:
                 joint_placements.append(np.array([0, dict_lengths["L_abdomen"], 0]))
             elif j == "middle_cervical_Z":
                 joint_placements.append(np.array([0, dict_lengths["L_thorax_cerv"], 0]))
-            elif j == "left_clavicle_joint_X":
-                joint_placements.append(np.array([0, dict_lengths["L_thorax_supr"], 0]))
-            elif j == "right_clavicle_joint_X":
+            elif j == "left_clavicle_joint_X" or j == "right_clavicle_joint_X":
                 joint_placements.append(np.array([0, dict_lengths["L_thorax_supr"], 0]))
             elif j == "left_shoulder_Z":
                 joint_placements.append(

python/example_robot_data/robots_loader.py

@@ -50,60 +50,6 @@ class Go1Loader(RobotLoader):
     free_flyer = True
 
 
-class FalconBravo7NoEndEffectorLoader(RobotLoader):
-    path = "falcon_description"
-    urdf_filename = "falcon_bravo7_no_ee.urdf"
-    urdf_subpath = "urdf"
-    srdf_filename = "falcon_bravo7_no_ee.srdf"
-    ref_posture = "standing"
-    free_flyer = True
-
-
-class BluevoltaBravo7NoEndEffectorLoader(RobotLoader):
-    path = "bluevolta_description"
-    urdf_filename = "bluevolta_bravo7_no_ee.urdf"
-    urdf_subpath = "urdf"
-    srdf_filename = "bluevolta_bravo7_no_ee.srdf"
-    ref_posture = "standing"
-    free_flyer = True
-
-
-class FalconBravo7GripperLoader(RobotLoader):
-    path = "falcon_description"
-    urdf_filename = "falcon_bravo7_gripper.urdf"
-    urdf_subpath = "urdf"
-    srdf_filename = "falcon_bravo7_gripper.srdf"
-    ref_posture = "standing"
-    free_flyer = True
-
-
-class BluevoltaBravo7GripperLoader(RobotLoader):
-    path = "bluevolta_description"
-    urdf_filename = "bluevolta_bravo7_gripper.urdf"
-    urdf_subpath = "urdf"
-    srdf_filename = "bluevolta_bravo7_gripper.srdf"
-    ref_posture = "standing"
-    free_flyer = True
-
-
-class Bravo7NoEndEffectorLoader(RobotLoader):
-    path = "bravo7_description"
-    urdf_filename = "bravo7_no_ee.urdf"
-    urdf_subpath = "urdf"
-    srdf_filename = "bravo7_no_ee.srdf"
-    ref_posture = "standing"
-    free_flyer = False
-
-
-class Bravo7GripperLoader(RobotLoader):
-    path = "bravo7_description"
-    urdf_filename = "bravo7_gripper.urdf"
-    urdf_subpath = "urdf"
-    srdf_filename = "bravo7_gripper.srdf"
-    ref_posture = "standing"
-    free_flyer = False
-
-
 class Go2Loader(RobotLoader):
     path = "go2_description"
     urdf_filename = "go2.urdf"
@@ -485,12 +431,6 @@ class xArm7Loader(RobotLoader):
 ROBOTS = {
     "centauro": CentauroLoader,
     "b1": B1Loader,
-    "bravo7_gripper": Bravo7GripperLoader,
-    "bravo7_no_ee": Bravo7NoEndEffectorLoader,
-    "falcon_bravo7_no_ee": FalconBravo7NoEndEffectorLoader,
-    "falcon_bravo7_gripper": FalconBravo7GripperLoader,
-    "bluevolta_bravo7_no_ee": BluevoltaBravo7NoEndEffectorLoader,
-    "bluevolta_bravo7_gripper": BluevoltaBravo7GripperLoader,
     "go1": Go1Loader,
     "go2": Go2Loader,
     "a1": A1Loader,

python/example_robot_data/utils.py

@@ -23,7 +23,7 @@ def getModelPath(subpath, verbose=False):
         join(source, "robots"),
     ]
     try:
-        EXAMPLE_ROBOT_DATA_MODEL_DIR
+        _ = EXAMPLE_ROBOT_DATA_MODEL_DIR
 
         # function called from installed project
         paths.append(EXAMPLE_ROBOT_DATA_MODEL_DIR)

robots/alex_description/README.md

@@ -1,3 +1,4 @@
 # Boarwalk Robotics - Alex Robot
 
-upstream: [](https://github.com/boardwalkrobotics/alex-robot-models) license: CC BY-NC-ND 4.0
+upstream: https://github.com/boardwalkrobotics/alex-robot-models
+license: CC-BY-NC-ND-4.0

robots/alexander_description/README.md

@@ -1,3 +1,4 @@
 # IHMC - Alexander Humanoid ('Alex' was preliminary upper body design)
-[IHMC Alexander SDK](https://github.com/ihmcrobotics/ihmc-alexander-sdk/)
-License: Apache 2.0
+
+upstream: [IHMC Alexander SDK](https://github.com/ihmcrobotics/ihmc-alexander-sdk/)
+license: Apache-2.0

robots/allegro_hand_description/README.md

@@ -0,0 +1,4 @@
+# Allegro hand
+
+upstream: https://github.com/Wonikrobotics-git/allegro_hand_linux_v4/tree/main/ros_source/src/allegro_hand_description
+license: BSD

robots/asr_twodof_description/README.md

@@ -1,9 +1,8 @@
+# asr 2dof
+
+upstream: https://bitbucket.org/qbrobotics/qbmove-ros/src/production-melodic/qb_move_description/
+license: BSD
 
 This is a 2DOF robot based on qbmove actuators.
 
 qbmove is a muscle-like building block actuator, small and lightweight, and based on the Variable Stiffness Actuation (VSA) principle, designed for constructing innovative robot structures and soft manipulators. It is unique in its ability to endow robots with Natural Motion, i.e. that resembles the elegance and deftness of human motion.
-
-
-upstream: https://bitbucket.org/qbrobotics/qbmove-ros/src/production-melodic/qb_move_description/
-
-license: BSD