rai-opensource · kkarol-bdai · Nov 7, 2025 · Nov 5, 2025 · Nov 5, 2025
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute, Inc.  All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute.  All rights reserved.
 
 repos:
 - repo: https://github.com/charliermarsh/ruff-pre-commit

diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2025 Boston Dynamics AI Institute
+Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/__init__.py b/__init__.py
@@ -1 +1 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 FROM ubuntu:22.04
 
 USER root

diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved
 
 # Update the developer docker user to match the UID and GID of the host user
 # This simplifies permissions with the mounted repo code

diff --git a/docker/start_docker.py b/docker/start_docker.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 import subprocess

diff --git a/pyproject.toml b/pyproject.toml
@@ -1,3 +1,5 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright (c) 2024-2025  Boston Dynamics AI Institute LLC. All rights reserved.
 
 [build-system]

diff --git a/setup.cfg b/setup.cfg
@@ -1,2 +1,2 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 # This empty file must exist for pyproject.toml to be used with setuptools
diff --git a/spot_choreo_utils/spot_choreo_utils/bosdyn_helpers.py b/spot_choreo_utils/spot_choreo_utils/bosdyn_helpers.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from bosdyn.api.robot_state_pb2 import RobotState
 from bosdyn.client import (

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/animation_builder.py b/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/animation_builder.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import copy
 import math

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/animation_operators.py b/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/animation_operators.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import copy
 from logging import Logger

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/animation_proto_utils.py b/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/animation_proto_utils.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import math
 from typing import Any, Dict, Optional

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/sequence_builder.py b/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/sequence_builder.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import copy
 import logging

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/sequence_operators.py b/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/sequence_operators.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from bosdyn.api.spot.choreography_sequence_pb2 import (
     MoveParams,

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/spot_properties.py b/spot_choreo_utils/spot_choreo_utils/choreo_creation/choreo_builders/spot_properties.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from itertools import chain
 from typing import Dict, List, Tuple

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_creation/robot_pose_to_pose_utils.py b/spot_choreo_utils/spot_choreo_utils/choreo_creation/robot_pose_to_pose_utils.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from collections import namedtuple
 from typing import Dict

diff --git a/...utils/spot_choreo_utils/choreo_creation/semantic_animations/semantic_animation_builder.py b/...utils/spot_choreo_utils/choreo_creation/semantic_animations/semantic_animation_builder.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 from logging import Logger

diff --git a/...ils/spot_choreo_utils/choreo_creation/semantic_animations/semantic_animation_operators.py b/...ils/spot_choreo_utils/choreo_creation/semantic_animations/semantic_animation_operators.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import copy
 

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_playback/synced_audio_player.py b/spot_choreo_utils/spot_choreo_utils/choreo_playback/synced_audio_player.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import asyncio
 import subprocess

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_playback/synced_performance_coordinator.py b/spot_choreo_utils/spot_choreo_utils/choreo_playback/synced_performance_coordinator.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import asyncio
 

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_playback/synced_performance_modality.py b/spot_choreo_utils/spot_choreo_utils/choreo_playback/synced_performance_modality.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import sys
 from abc import abstractmethod

diff --git a/spot_choreo_utils/spot_choreo_utils/choreo_playback/synced_spot_dancer.py b/spot_choreo_utils/spot_choreo_utils/choreo_playback/synced_spot_dancer.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import asyncio
 import copy

diff --git a/spot_choreo_utils/spot_choreo_utils/paths.py b/spot_choreo_utils/spot_choreo_utils/paths.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from pathlib import Path
 

diff --git a/spot_choreo_utils/spot_choreo_utils/protos/regenerate_protos.py b/spot_choreo_utils/spot_choreo_utils/protos/regenerate_protos.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 #
 # Script that builds pb2 from .proto definitions.
 # This script creates a build directory structure that mirrors package needs

diff --git a/spot_choreo_utils/spot_choreo_utils/serialization/serialization_utils.py b/spot_choreo_utils/spot_choreo_utils/serialization/serialization_utils.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import logging
 import os

diff --git a/spot_choreo_utils/test/test_animation_builder.py b/spot_choreo_utils/test/test_animation_builder.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 import copy
 import logging
 import unittest

diff --git a/spot_choreo_utils/test/test_animation_operators.py b/spot_choreo_utils/test/test_animation_operators.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2023-2024 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2023-2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 import logging
 import unittest
 

diff --git a/spot_choreo_utils/test/test_choreography_serialization_utils.py b/spot_choreo_utils/test/test_choreography_serialization_utils.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 import tempfile
 import unittest
 from pathlib import Path

diff --git a/spot_choreo_utils/test/test_semantic_animation_operators.py b/spot_choreo_utils/test/test_semantic_animation_operators.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 #
 # Functions that modify the contents of a semantic animation to accomplish a specific task
 # If a function is generally useful for keeping animations and their semantic data in sync

diff --git a/spot_choreo_utils/test/test_semantic_animation_wrapper.py b/spot_choreo_utils/test/test_semantic_animation_wrapper.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 import copy
 import tempfile
 import unittest

diff --git a/spot_choreo_utils/test/test_sequence_operators.py b/spot_choreo_utils/test/test_sequence_operators.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 import copy
 import unittest
 from pathlib import Path

diff --git a/spot_choreo_utils/test/test_synced_playback.py b/spot_choreo_utils/test/test_synced_playback.py
@@ -1,4 +1,4 @@
-#  Copyright (c) 2023-2024 Boston Dynamics AI Institute LLC. All rights reserved.
+#  Copyright (c) 2023-2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import asyncio
 import time

diff --git a/spot_choreo_utils/web_animator/pyproject.toml b/spot_choreo_utils/web_animator/pyproject.toml
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 [build-system]
 requires = ["setuptools>=69.5.1", "setuptools-scm>=8.0"]

diff --git a/spot_choreo_utils/web_animator/spot_web_animator/animate.py b/spot_choreo_utils/web_animator/spot_web_animator/animate.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from spot_web_animator.animation_backend.web_animator_backend import web_animation_loop
 

diff --git a/spot_choreo_utils/web_animator/spot_web_animator/animation_backend/web_animator_backend.py b/spot_choreo_utils/web_animator/spot_web_animator/animation_backend/web_animator_backend.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright (c) 2024-2025  Boston Dynamics AI Institute LLC. All rights reserved.
 
 

diff --git a/spot_choreo_utils/web_animator/spot_web_animator/animation_backend/web_animator_drake_ui.py b/spot_choreo_utils/web_animator/spot_web_animator/animation_backend/web_animator_drake_ui.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright (c) 2024-2025  Boston Dynamics AI Institute LLC. All rights reserved.
 
 from collections import namedtuple

diff --git a/..._choreo_utils/web_animator/spot_web_animator/animation_backend/web_animator_serializer.py b/..._choreo_utils/web_animator/spot_web_animator/animation_backend/web_animator_serializer.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright (c) 2024-2025  Boston Dynamics AI Institute LLC. All rights reserved.
 
 from pathlib import Path

diff --git a/spot_choreo_utils/web_animator/spot_web_animator/systems/config/joint_configurations.yaml b/spot_choreo_utils/web_animator/spot_web_animator/systems/config/joint_configurations.yaml
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 base:
   stand:

diff --git a/spot_choreo_utils/web_animator/spot_web_animator/systems/helpers.py b/spot_choreo_utils/web_animator/spot_web_animator/systems/helpers.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import List, Optional
 

diff --git a/spot_choreo_utils/web_animator/spot_web_animator/systems/spot.py b/spot_choreo_utils/web_animator/spot_web_animator/systems/spot.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023-2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from enum import Enum
 from pathlib import Path
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
		# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
Original file line number	Diff line number	Diff line change
		@@ -1,3 +1,5 @@
		# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

		# Copyright (c) 2024-2025 Boston Dynamics AI Institute LLC. All rights reserved.


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