56f98bd226
We are standardizing our software under Apache License 2.0. This PR
replaces existing BSD 3-Clause License with Apache 2.0 in this
repository.
## About Copyright
All commits in this repository are made by Reazon Holdings, Inc.
members, so the copyright has been added as follows.
- `Copyright 2025 Reazon Holdings, Inc.`
```console
$ git shortlog -sn
55 Thomason Zhou
14 thomason
5 takuya kodama
1 Fujimoto Seiji
1 edwin-giang
1 toki
```
## How it was done
We added the new license header directory by directory, with each commit
covering a single directory to make review easier.
To ensure there are no missing files, we ran the following commands.
```
$ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" .
./openarm_bringup/README.md
./openarm_bimanual_moveit_config/README.md
./openarm_bimanual_description/urdf/openarm_bimanual.urdf
./.gitignore
./README.md
./openarm_description/urdf/openarm.urdf
./openarm_description/resource/openarm_description
```
The following files are auto-generated.
- openarm_bimanual_description/urdf/openarm_bimanual.urdf
- openarm_description/urdf/openarm.urdf
45 lines
1.7 KiB
XML
45 lines
1.7 KiB
XML
<?xml version="1.0" ?>
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<!--
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Copyright 2025 Reazon Holdings, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
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<xacro:include filename="$(find openarm_description)/urdf/openarm.xacro"/>
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<xacro:include filename="$(find openarm_bimanual_description)/urdf/openarm_pedestal.urdf"/>
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<xacro:include filename="openarm_bimanual_sensors.xacro"/>
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<link name="world"/>
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<joint name="dummy_joint" type="fixed">
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<parent link="world"/>
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<child link="pedestal_link"/>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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</joint>
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<xacro:openarm prefix="right_" side="right" zero_pos="arm" can_device="can0"/>
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<joint name="right_fixed1" type="fixed">
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<parent link="pedestal_link"/>
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<child link="right_dummy_link"/>
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<origin rpy="${3.0186531925068127 + pi} -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
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</joint>
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<xacro:openarm prefix="left_" side="left" zero_pos="arm" can_device="can1"/>
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<joint name="left_fixed1" type="fixed">
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<parent link="pedestal_link"/>
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<child link="left_dummy_link"/>
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<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
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</joint>
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</robot>
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