Merge pull request #290 from leggedrobotics/dev/open_source_header

Dev/open source header
leggedrobotics · Feb 18, 2024 · f47c6c9 · f47c6c9
2 parents fd32604 + 403d053
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diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2022-2024 ETH Zurich, Matias Mattamala, Jonas Frey.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/README.md b/README.md
@@ -190,3 +190,18 @@ Introduction to [pytest](https://github.com/pluralsight/intro-to-pytest).
 ```shell
 pytest
 ```
+
+
+### Open-Sourcing
+Generating headers
+```shell
+pip3 install adheader
+
+# If your are using zsh otherwise remove \
+addheader wild_visual_navigation -t header.txt -p \*.py --sep-len 79 --comment='#' --sep=' '
+addheader wild_visual_navigation_ros -t header.txt -p \*.py -sep-len 79 --comment='#' --sep=' '
+addheader wild_visual_navigation_anymal -t header.txt -p \*.py --sep-len 79 --comment='#' --sep=' '
+
+addheader wild_visual_navigation_ros -t header.txt -p \*CMakeLists.txt --sep-len 79 --comment='#' --sep=' '
+addheader wild_visual_navigation_anymal -t header.txt -p \*.py -p \*CMakeLists.txt --sep-len 79 --comment='#' --sep=' '
+```
diff --git a/wild_visual_navigation/__init__.py b/wild_visual_navigation/__init__.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import os
 
 WVN_ROOT_DIR = os.path.dirname(os.path.dirname(os.path.realpath(__file__)))

diff --git a/wild_visual_navigation/cfg/__init__.py b/wild_visual_navigation/cfg/__init__.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from .global_params import get_global_env_params, GlobalEnvironmentParams
 from .experiment_params import ExperimentParams
 from .ros_params import RosLearningNodeParams, RosFeatureExtractorNodeParams
diff --git a/wild_visual_navigation/cfg/experiment_params.py b/wild_visual_navigation/cfg/experiment_params.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from dataclasses import dataclass, field
 from typing import List, Optional
 from typing import Any

diff --git a/wild_visual_navigation/cfg/global_params.py b/wild_visual_navigation/cfg/global_params.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from dataclasses import dataclass
 
 

diff --git a/wild_visual_navigation/cfg/ros_params.py b/wild_visual_navigation/cfg/ros_params.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from dataclasses import dataclass
 from typing import Dict
 from typing import Any

diff --git a/wild_visual_navigation/feature_extractor/__init__.py b/wild_visual_navigation/feature_extractor/__init__.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from .dino_interface import DinoInterface, run_dino_interfacer
 from .torchvision_interface import TorchVisionInterface
 

diff --git a/wild_visual_navigation/feature_extractor/dino_interface.py b/wild_visual_navigation/feature_extractor/dino_interface.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from os.path import join
 import torch.nn.functional as F
 import torch

diff --git a/wild_visual_navigation/feature_extractor/dino_trt_interface.py b/wild_visual_navigation/feature_extractor/dino_trt_interface.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation import WVN_ROOT_DIR
 from os.path import join
 from omegaconf import DictConfig

diff --git a/wild_visual_navigation/feature_extractor/feature_extractor.py b/wild_visual_navigation/feature_extractor/feature_extractor.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation.feature_extractor import (
     StegoInterface,
     DinoInterface,

diff --git a/wild_visual_navigation/feature_extractor/segment_extractor.py b/wild_visual_navigation/feature_extractor/segment_extractor.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 # author: Jonas Frey
 
 import torch

diff --git a/wild_visual_navigation/feature_extractor/stego_interface.py b/wild_visual_navigation/feature_extractor/stego_interface.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from os.path import join
 import torch.nn.functional as F
 import torch

diff --git a/wild_visual_navigation/feature_extractor/torchvision_interface.py b/wild_visual_navigation/feature_extractor/torchvision_interface.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation import WVN_ROOT_DIR
 from os.path import join
 

diff --git a/wild_visual_navigation/image_projector/__init__.py b/wild_visual_navigation/image_projector/__init__.py
@@ -1 +1,6 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from .image_projector import ImageProjector, run_image_projector
diff --git a/wild_visual_navigation/image_projector/image_projector.py b/wild_visual_navigation/image_projector/image_projector.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from pytictac import Timer
 from os.path import join
 import torch

diff --git a/wild_visual_navigation/model/__init__.py b/wild_visual_navigation/model/__init__.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from .simple_mlp import SimpleMLP, DoubleMLP
 from .simple_gcn import SimpleGCN
 from .linear_rnvp import LinearRnvp

diff --git a/wild_visual_navigation/model/linear_rnvp.py b/wild_visual_navigation/model/linear_rnvp.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import copy
 import torch
 from torch import nn, distributions

diff --git a/wild_visual_navigation/model/network_register.py b/wild_visual_navigation/model/network_register.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation.model import *
 import inspect
 import torch

diff --git a/wild_visual_navigation/model/simple_gcn.py b/wild_visual_navigation/model/simple_gcn.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import torch
 import torch.nn.functional as F
 

diff --git a/wild_visual_navigation/model/simple_mlp.py b/wild_visual_navigation/model/simple_mlp.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import torch
 from wild_visual_navigation.utils import Data
 

diff --git a/wild_visual_navigation/supervision_generator/__init__.py b/wild_visual_navigation/supervision_generator/__init__.py
@@ -1,2 +1,7 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from .twist_dataset import TwistDataset, TwistDataModule
 from .supervision_generator import SupervisionGenerator, run_supervision_generator
diff --git a/wild_visual_navigation/supervision_generator/supervision_generator.py b/wild_visual_navigation/supervision_generator/supervision_generator.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation import WVN_ROOT_DIR
 from wild_visual_navigation.traversability_estimator.graphs import DistanceWindowGraph
 from wild_visual_navigation.traversability_estimator.nodes import TwistNode

diff --git a/wild_visual_navigation/supervision_generator/twist_dataset.py b/wild_visual_navigation/supervision_generator/twist_dataset.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation import WVN_ROOT_DIR
 import os
 import torch

diff --git a/wild_visual_navigation/traversability_estimator/__init__.py b/wild_visual_navigation/traversability_estimator/__init__.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from .graphs import (
     BaseGraph,
     TemporalWindowGraph,

diff --git a/wild_visual_navigation/traversability_estimator/graphs.py b/wild_visual_navigation/traversability_estimator/graphs.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from .nodes import BaseNode
 import networkx as nx
 import random

diff --git a/wild_visual_navigation/traversability_estimator/nodes.py b/wild_visual_navigation/traversability_estimator/nodes.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation.image_projector import ImageProjector
 from wild_visual_navigation.utils import (
     make_box,

diff --git a/wild_visual_navigation/traversability_estimator/traversability_estimator.py b/wild_visual_navigation/traversability_estimator/traversability_estimator.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation.feature_extractor import FeatureExtractor
 from wild_visual_navigation.image_projector import ImageProjector
 from wild_visual_navigation.model import get_model

diff --git a/wild_visual_navigation/utils/__init__.py b/wild_visual_navigation/utils/__init__.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from .data import Data, Batch
 from .flatten_dict import flatten_dict
 from .get_logger import get_logger, get_neptune_run

diff --git a/wild_visual_navigation/utils/confidence_generator.py b/wild_visual_navigation/utils/confidence_generator.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation.utils import KalmanFilter
 from wild_visual_navigation import WVN_ROOT_DIR
 import torch

diff --git a/wild_visual_navigation/utils/create_experiment_folder.py b/wild_visual_navigation/utils/create_experiment_folder.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import datetime
 import os
 import shutil

diff --git a/wild_visual_navigation/utils/data.py b/wild_visual_navigation/utils/data.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from typing import Any, List, Optional, Type, Union
 from typing_extensions import Self
 import torch

diff --git a/wild_visual_navigation/utils/flatten_dict.py b/wild_visual_navigation/utils/flatten_dict.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import collections
 
 __all__ = ["flatten_dict"]

diff --git a/wild_visual_navigation/utils/get_confidence.py b/wild_visual_navigation/utils/get_confidence.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import torch.nn.functional as F
 import torch
 

diff --git a/wild_visual_navigation/utils/get_logger.py b/wild_visual_navigation/utils/get_logger.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from pytorch_lightning.loggers.neptune import NeptuneLogger
 from pytorch_lightning.loggers import TensorBoardLogger, WandbLogger
 from wild_visual_navigation.utils import flatten_dict

diff --git a/wild_visual_navigation/utils/gpu_monitor.py b/wild_visual_navigation/utils/gpu_monitor.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import torch
 import os
 import pandas as pd

diff --git a/wild_visual_navigation/utils/kalman_filter.py b/wild_visual_navigation/utils/kalman_filter.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import torch
 import torch.nn as nn
 

diff --git a/wild_visual_navigation/utils/loading.py b/wild_visual_navigation/utils/loading.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import os
 import yaml
 from wild_visual_navigation import WVN_ROOT_DIR

diff --git a/wild_visual_navigation/utils/loss.py b/wild_visual_navigation/utils/loss.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from wild_visual_navigation.utils import ConfidenceGenerator
 
 import torch.nn.functional as F

diff --git a/wild_visual_navigation/utils/meshes.py b/wild_visual_navigation/utils/meshes.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import torch
 from kornia.geometry.linalg import transform_points
 

diff --git a/wild_visual_navigation/utils/operation_modes.py b/wild_visual_navigation/utils/operation_modes.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 from enum import Enum
 
 

diff --git a/wild_visual_navigation/utils/testing.py b/wild_visual_navigation/utils/testing.py
@@ -1,3 +1,8 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Jonas Frey, Matias Mattamala.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
 import os
 import cv2
 import torch