diff --git a/LICENSES/GPL-3.0-only.txt b/LICENSES/GPL-3.0-only.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6cdd22a6c1fbc887e08a215cb4beb3c47048041
--- /dev/null
+++ b/LICENSES/GPL-3.0-only.txt
@@ -0,0 +1,232 @@
+GNU GENERAL PUBLIC LICENSE
+Version 3, 29 June 2007
+
+Copyright © 2007 Free Software Foundation, Inc. <https://fsf.org/>
+
+Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.
+
+Preamble
+
+The GNU General Public License is a free, copyleft license for software and other kinds of works.
+
+The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.
+
+When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for them if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs, and that you know you can do these things.
+
+To protect your rights, we need to prevent others from denying you these rights or asking you to surrender the rights. Therefore, you have certain responsibilities if you distribute copies of the software, or if you modify it: responsibilities to respect the freedom of others.
+
+For example, if you distribute copies of such a program, whether gratis or for a fee, you must pass on to the recipients the same freedoms that you received. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.
+
+Developers that use the GNU GPL protect your rights with two steps: (1) assert copyright on the software, and (2) offer you this License giving you legal permission to copy, distribute and/or modify it.
+
+For the developers' and authors' protection, the GPL clearly explains that there is no warranty for this free software. For both users' and authors' sake, the GPL requires that modified versions be marked as changed, so that their problems will not be attributed erroneously to authors of previous versions.
+
+Some devices are designed to deny users access to install or run modified versions of the software inside them, although the manufacturer can do so. This is fundamentally incompatible with the aim of protecting users' freedom to change the software. The systematic pattern of such abuse occurs in the area of products for individuals to use, which is precisely where it is most unacceptable. Therefore, we have designed this version of the GPL to prohibit the practice for those products. If such problems arise substantially in other domains, we stand ready to extend this provision to those domains in future versions of the GPL, as needed to protect the freedom of users.
+
+Finally, every program is threatened constantly by software patents. States should not allow patents to restrict development and use of software on general-purpose computers, but in those that do, we wish to avoid the special danger that patents applied to a free program could make it effectively proprietary. To prevent this, the GPL assures that patents cannot be used to render the program non-free.
+
+The precise terms and conditions for copying, distribution and modification follow.
+
+TERMS AND CONDITIONS
+
+0. Definitions.
+
+“This License” refers to version 3 of the GNU General Public License.
+
+“Copyright” also means copyright-like laws that apply to other kinds of works, such as semiconductor masks.
+
+“The Program” refers to any copyrightable work licensed under this License. Each licensee is addressed as “you”. “Licensees” and “recipients” may be individuals or organizations.
+
+To “modify” a work means to copy from or adapt all or part of the work in a fashion requiring copyright permission, other than the making of an exact copy. The resulting work is called a “modified version” of the earlier work or a work “based on” the earlier work.
+
+A “covered work” means either the unmodified Program or a work based on the Program.
+
+To “propagate” a work means to do anything with it that, without permission, would make you directly or secondarily liable for infringement under applicable copyright law, except executing it on a computer or modifying a private copy. Propagation includes copying, distribution (with or without modification), making available to the public, and in some countries other activities as well.
+
+To “convey” a work means any kind of propagation that enables other parties to make or receive copies. Mere interaction with a user through a computer network, with no transfer of a copy, is not conveying.
+
+An interactive user interface displays “Appropriate Legal Notices” to the extent that it includes a convenient and prominently visible feature that (1) displays an appropriate copyright notice, and (2) tells the user that there is no warranty for the work (except to the extent that warranties are provided), that licensees may convey the work under this License, and how to view a copy of this License. If the interface presents a list of user commands or options, such as a menu, a prominent item in the list meets this criterion.
+
+1. Source Code.
+The “source code” for a work means the preferred form of the work for making modifications to it. “Object code” means any non-source form of a work.
+
+A “Standard Interface” means an interface that either is an official standard defined by a recognized standards body, or, in the case of interfaces specified for a particular programming language, one that is widely used among developers working in that language.
+
+The “System Libraries” of an executable work include anything, other than the work as a whole, that (a) is included in the normal form of packaging a Major Component, but which is not part of that Major Component, and (b) serves only to enable use of the work with that Major Component, or to implement a Standard Interface for which an implementation is available to the public in source code form. A “Major Component”, in this context, means a major essential component (kernel, window system, and so on) of the specific operating system (if any) on which the executable work runs, or a compiler used to produce the work, or an object code interpreter used to run it.
+
+The “Corresponding Source” for a work in object code form means all the source code needed to generate, install, and (for an executable work) run the object code and to modify the work, including scripts to control those activities. However, it does not include the work's System Libraries, or general-purpose tools or generally available free programs which are used unmodified in performing those activities but which are not part of the work. For example, Corresponding Source includes interface definition files associated with source files for the work, and the source code for shared libraries and dynamically linked subprograms that the work is specifically designed to require, such as by intimate data communication or control flow between those subprograms and other parts of the work.
+
+The Corresponding Source need not include anything that users can regenerate automatically from other parts of the Corresponding Source.
+
+The Corresponding Source for a work in source code form is that same work.
+
+2. Basic Permissions.
+All rights granted under this License are granted for the term of copyright on the Program, and are irrevocable provided the stated conditions are met. This License explicitly affirms your unlimited permission to run the unmodified Program. The output from running a covered work is covered by this License only if the output, given its content, constitutes a covered work. This License acknowledges your rights of fair use or other equivalent, as provided by copyright law.
+
+You may make, run and propagate covered works that you do not convey, without conditions so long as your license otherwise remains in force. You may convey covered works to others for the sole purpose of having them make modifications exclusively for you, or provide you with facilities for running those works, provided that you comply with the terms of this License in conveying all material for which you do not control copyright. Those thus making or running the covered works for you must do so exclusively on your behalf, under your direction and control, on terms that prohibit them from making any copies of your copyrighted material outside their relationship with you.
+
+Conveying under any other circumstances is permitted solely under the conditions stated below. Sublicensing is not allowed; section 10 makes it unnecessary.
+
+3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+No covered work shall be deemed part of an effective technological measure under any applicable law fulfilling obligations under article 11 of the WIPO copyright treaty adopted on 20 December 1996, or similar laws prohibiting or restricting circumvention of such measures.
+
+When you convey a covered work, you waive any legal power to forbid circumvention of technological measures to the extent such circumvention is effected by exercising rights under this License with respect to the covered work, and you disclaim any intention to limit operation or modification of the work as a means of enforcing, against the work's users, your or third parties' legal rights to forbid circumvention of technological measures.
+
+4. Conveying Verbatim Copies.
+You may convey verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice; keep intact all notices stating that this License and any non-permissive terms added in accord with section 7 apply to the code; keep intact all notices of the absence of any warranty; and give all recipients a copy of this License along with the Program.
+
+You may charge any price or no price for each copy that you convey, and you may offer support or warranty protection for a fee.
+
+5. Conveying Modified Source Versions.
+You may convey a work based on the Program, or the modifications to produce it from the Program, in the form of source code under the terms of section 4, provided that you also meet all of these conditions:
+
+     a) The work must carry prominent notices stating that you modified it, and giving a relevant date.
+
+     b) The work must carry prominent notices stating that it is released under this License and any conditions added under section 7. This requirement modifies the requirement in section 4 to “keep intact all notices”.
+
+     c) You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply, along with any applicable section 7 additional terms, to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it.
+
+     d) If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Program has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so.
+
+A compilation of a covered work with other separate and independent works, which are not by their nature extensions of the covered work, and which are not combined with it such as to form a larger program, in or on a volume of a storage or distribution medium, is called an “aggregate” if the compilation and its resulting copyright are not used to limit the access or legal rights of the compilation's users beyond what the individual works permit. Inclusion of a covered work in an aggregate does not cause this License to apply to the other parts of the aggregate.
+
+6. Conveying Non-Source Forms.
+You may convey a covered work in object code form under the terms of sections 4 and 5, provided that you also convey the machine-readable Corresponding Source under the terms of this License, in one of these ways:
+
+     a) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by the Corresponding Source fixed on a durable physical medium customarily used for software interchange.
+
+     b) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by a written offer, valid for at least three years and valid for as long as you offer spare parts or customer support for that product model, to give anyone who possesses the object code either (1) a copy of the Corresponding Source for all the software in the product that is covered by this License, on a durable physical medium customarily used for software interchange, for a price no more than your reasonable cost of physically performing this conveying of source, or (2) access to copy the Corresponding Source from a network server at no charge.
+
+     c) Convey individual copies of the object code with a copy of the written offer to provide the Corresponding Source. This alternative is allowed only occasionally and noncommercially, and only if you received the object code with such an offer, in accord with subsection 6b.
+
+     d) Convey the object code by offering access from a designated place (gratis or for a charge), and offer equivalent access to the Corresponding Source in the same way through the same place at no further charge. You need not require recipients to copy the Corresponding Source along with the object code. If the place to copy the object code is a network server, the Corresponding Source may be on a different server (operated by you or a third party) that supports equivalent copying facilities, provided you maintain clear directions next to the object code saying where to find the Corresponding Source. Regardless of what server hosts the Corresponding Source, you remain obligated to ensure that it is available for as long as needed to satisfy these requirements.
+
+     e) Convey the object code using peer-to-peer transmission, provided you inform other peers where the object code and Corresponding Source of the work are being offered to the general public at no charge under subsection 6d.
+
+A separable portion of the object code, whose source code is excluded from the Corresponding Source as a System Library, need not be included in conveying the object code work.
+
+A “User Product” is either (1) a “consumer product”, which means any tangible personal property which is normally used for personal, family, or household purposes, or (2) anything designed or sold for incorporation into a dwelling. In determining whether a product is a consumer product, doubtful cases shall be resolved in favor of coverage. For a particular product received by a particular user, “normally used” refers to a typical or common use of that class of product, regardless of the status of the particular user or of the way in which the particular user actually uses, or expects or is expected to use, the product. A product is a consumer product regardless of whether the product has substantial commercial, industrial or non-consumer uses, unless such uses represent the only significant mode of use of the product.
+
+“Installation Information” for a User Product means any methods, procedures, authorization keys, or other information required to install and execute modified versions of a covered work in that User Product from a modified version of its Corresponding Source. The information must suffice to ensure that the continued functioning of the modified object code is in no case prevented or interfered with solely because modification has been made.
+
+If you convey an object code work under this section in, or with, or specifically for use in, a User Product, and the conveying occurs as part of a transaction in which the right of possession and use of the User Product is transferred to the recipient in perpetuity or for a fixed term (regardless of how the transaction is characterized), the Corresponding Source conveyed under this section must be accompanied by the Installation Information. But this requirement does not apply if neither you nor any third party retains the ability to install modified object code on the User Product (for example, the work has been installed in ROM).
+
+The requirement to provide Installation Information does not include a requirement to continue to provide support service, warranty, or updates for a work that has been modified or installed by the recipient, or for the User Product in which it has been modified or installed. Access to a network may be denied when the modification itself materially and adversely affects the operation of the network or violates the rules and protocols for communication across the network.
+
+Corresponding Source conveyed, and Installation Information provided, in accord with this section must be in a format that is publicly documented (and with an implementation available to the public in source code form), and must require no special password or key for unpacking, reading or copying.
+
+7. Additional Terms.
+“Additional permissions” are terms that supplement the terms of this License by making exceptions from one or more of its conditions. Additional permissions that are applicable to the entire Program shall be treated as though they were included in this License, to the extent that they are valid under applicable law. If additional permissions apply only to part of the Program, that part may be used separately under those permissions, but the entire Program remains governed by this License without regard to the additional permissions.
+
+When you convey a copy of a covered work, you may at your option remove any additional permissions from that copy, or from any part of it. (Additional permissions may be written to require their own removal in certain cases when you modify the work.) You may place additional permissions on material, added by you to a covered work, for which you have or can give appropriate copyright permission.
+
+Notwithstanding any other provision of this License, for material you add to a covered work, you may (if authorized by the copyright holders of that material) supplement the terms of this License with terms:
+
+     a) Disclaiming warranty or limiting liability differently from the terms of sections 15 and 16 of this License; or
+
+     b) Requiring preservation of specified reasonable legal notices or author attributions in that material or in the Appropriate Legal Notices displayed by works containing it; or
+
+     c) Prohibiting misrepresentation of the origin of that material, or requiring that modified versions of such material be marked in reasonable ways as different from the original version; or
+
+     d) Limiting the use for publicity purposes of names of licensors or authors of the material; or
+
+     e) Declining to grant rights under trademark law for use of some trade names, trademarks, or service marks; or
+
+     f) Requiring indemnification of licensors and authors of that material by anyone who conveys the material (or modified versions of it) with contractual assumptions of liability to the recipient, for any liability that these contractual assumptions directly impose on those licensors and authors.
+
+All other non-permissive additional terms are considered “further restrictions” within the meaning of section 10. If the Program as you received it, or any part of it, contains a notice stating that it is governed by this License along with a term that is a further restriction, you may remove that term. If a license document contains a further restriction but permits relicensing or conveying under this License, you may add to a covered work material governed by the terms of that license document, provided that the further restriction does not survive such relicensing or conveying.
+
+If you add terms to a covered work in accord with this section, you must place, in the relevant source files, a statement of the additional terms that apply to those files, or a notice indicating where to find the applicable terms.
+
+Additional terms, permissive or non-permissive, may be stated in the form of a separately written license, or stated as exceptions; the above requirements apply either way.
+
+8. Termination.
+You may not propagate or modify a covered work except as expressly provided under this License. Any attempt otherwise to propagate or modify it is void, and will automatically terminate your rights under this License (including any patent licenses granted under the third paragraph of section 11).
+
+However, if you cease all violation of this License, then your license from a particular copyright holder is reinstated (a) provisionally, unless and until the copyright holder explicitly and finally terminates your license, and (b) permanently, if the copyright holder fails to notify you of the violation by some reasonable means prior to 60 days after the cessation.
+
+Moreover, your license from a particular copyright holder is reinstated permanently if the copyright holder notifies you of the violation by some reasonable means, this is the first time you have received notice of violation of this License (for any work) from that copyright holder, and you cure the violation prior to 30 days after your receipt of the notice.
+
+Termination of your rights under this section does not terminate the licenses of parties who have received copies or rights from you under this License. If your rights have been terminated and not permanently reinstated, you do not qualify to receive new licenses for the same material under section 10.
+
+9. Acceptance Not Required for Having Copies.
+You are not required to accept this License in order to receive or run a copy of the Program. Ancillary propagation of a covered work occurring solely as a consequence of using peer-to-peer transmission to receive a copy likewise does not require acceptance. However, nothing other than this License grants you permission to propagate or modify any covered work. These actions infringe copyright if you do not accept this License. Therefore, by modifying or propagating a covered work, you indicate your acceptance of this License to do so.
+
+10. Automatic Licensing of Downstream Recipients.
+Each time you convey a covered work, the recipient automatically receives a license from the original licensors, to run, modify and propagate that work, subject to this License. You are not responsible for enforcing compliance by third parties with this License.
+
+An “entity transaction” is a transaction transferring control of an organization, or substantially all assets of one, or subdividing an organization, or merging organizations. If propagation of a covered work results from an entity transaction, each party to that transaction who receives a copy of the work also receives whatever licenses to the work the party's predecessor in interest had or could give under the previous paragraph, plus a right to possession of the Corresponding Source of the work from the predecessor in interest, if the predecessor has it or can get it with reasonable efforts.
+
+You may not impose any further restrictions on the exercise of the rights granted or affirmed under this License. For example, you may not impose a license fee, royalty, or other charge for exercise of rights granted under this License, and you may not initiate litigation (including a cross-claim or counterclaim in a lawsuit) alleging that any patent claim is infringed by making, using, selling, offering for sale, or importing the Program or any portion of it.
+
+11. Patents.
+A “contributor” is a copyright holder who authorizes use under this License of the Program or a work on which the Program is based. The work thus licensed is called the contributor's “contributor version”.
+
+A contributor's “essential patent claims” are all patent claims owned or controlled by the contributor, whether already acquired or hereafter acquired, that would be infringed by some manner, permitted by this License, of making, using, or selling its contributor version, but do not include claims that would be infringed only as a consequence of further modification of the contributor version. For purposes of this definition, “control” includes the right to grant patent sublicenses in a manner consistent with the requirements of this License.
+
+Each contributor grants you a non-exclusive, worldwide, royalty-free patent license under the contributor's essential patent claims, to make, use, sell, offer for sale, import and otherwise run, modify and propagate the contents of its contributor version.
+
+In the following three paragraphs, a “patent license” is any express agreement or commitment, however denominated, not to enforce a patent (such as an express permission to practice a patent or covenant not to sue for patent infringement). To “grant” such a patent license to a party means to make such an agreement or commitment not to enforce a patent against the party.
+
+If you convey a covered work, knowingly relying on a patent license, and the Corresponding Source of the work is not available for anyone to copy, free of charge and under the terms of this License, through a publicly available network server or other readily accessible means, then you must either (1) cause the Corresponding Source to be so available, or (2) arrange to deprive yourself of the benefit of the patent license for this particular work, or (3) arrange, in a manner consistent with the requirements of this License, to extend the patent license to downstream recipients. “Knowingly relying” means you have actual knowledge that, but for the patent license, your conveying the covered work in a country, or your recipient's use of the covered work in a country, would infringe one or more identifiable patents in that country that you have reason to believe are valid.
+
+If, pursuant to or in connection with a single transaction or arrangement, you convey, or propagate by procuring conveyance of, a covered work, and grant a patent license to some of the parties receiving the covered work authorizing them to use, propagate, modify or convey a specific copy of the covered work, then the patent license you grant is automatically extended to all recipients of the covered work and works based on it.
+
+A patent license is “discriminatory” if it does not include within the scope of its coverage, prohibits the exercise of, or is conditioned on the non-exercise of one or more of the rights that are specifically granted under this License. You may not convey a covered work if you are a party to an arrangement with a third party that is in the business of distributing software, under which you make payment to the third party based on the extent of your activity of conveying the work, and under which the third party grants, to any of the parties who would receive the covered work from you, a discriminatory patent license (a) in connection with copies of the covered work conveyed by you (or copies made from those copies), or (b) primarily for and in connection with specific products or compilations that contain the covered work, unless you entered into that arrangement, or that patent license was granted, prior to 28 March 2007.
+
+Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law.
+
+12. No Surrender of Others' Freedom.
+If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.
+
+13. Use with the GNU Affero General Public License.
+Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such.
+
+14. Revised Versions of this License.
+The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.
+
+Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License “or any later version” applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of the GNU General Public License, you may choose any version ever published by the Free Software Foundation.
+
+If the Program specifies that a proxy can decide which future versions of the GNU General Public License can be used, that proxy's public statement of acceptance of a version permanently authorizes you to choose that version for the Program.
+
+Later license versions may give you additional or different permissions. However, no additional obligations are imposed on any author or copyright holder as a result of your choosing to follow a later version.
+
+15. Disclaimer of Warranty.
+THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+16. Limitation of Liability.
+IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+
+17. Interpretation of Sections 15 and 16.
+If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.
+
+END OF TERMS AND CONDITIONS
+
+How to Apply These Terms to Your New Programs
+
+If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.
+
+To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found.
+
+     <one line to give the program's name and a brief idea of what it does.>
+     Copyright (C) <year>  <name of author>
+
+     This program 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 3 of the License, or (at your option) any later version.
+
+     This program 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 this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:
+
+     <program>  Copyright (C) <year>  <name of author>
+     This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+     This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.
+
+You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see <https://www.gnu.org/licenses/>.
+
+The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read <https://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/LICENSES/MIT.txt b/LICENSES/MIT.txt
deleted file mode 100644
index 2071b23b0e08594ea6bc99ac71129ef992abf498..0000000000000000000000000000000000000000
--- a/LICENSES/MIT.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-MIT License
-
-Copyright (c) <year> <copyright holders>
-
-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
index a77e8257bd45c0123ef27a580d72868096a875fb..f36a4882ee9a1c5ea2956db0f264678e7b73c84c 100644
--- a/README.md
+++ b/README.md
@@ -63,5 +63,5 @@ Contributors: Sylvain Calinon, Philip Abbet, Jérémy Maceiras, Hakan Girgin, Ju
 
 Copyright (c) 2024 Idiap Research Institute, https://idiap.ch
 
-RCFS is licensed under the MIT License.
+RCFS is licensed under the GPLv3 License.
 
diff --git a/cpp/header.txt b/cpp/header.txt
index 3659078ec4123049f597136151b7f2a7ef32f04e..35538a171b5fc459c4a7bda7a9c92d61abe5942d 100644
--- a/cpp/header.txt
+++ b/cpp/header.txt
@@ -6,5 +6,5 @@ Written by John Doe <john.doe@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
diff --git a/cpp/src/IK_manipulator.cpp b/cpp/src/IK_manipulator.cpp
index e65067982a2b8de4cbe2874e7e4dc786255d00eb..5e9f35b90340419ad3c06b0bb24c20109dfe1668 100644
--- a/cpp/src/IK_manipulator.cpp
+++ b/cpp/src/IK_manipulator.cpp
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
 
 #include <iostream>
diff --git a/cpp/src/LQT.cpp b/cpp/src/LQT.cpp
index aa49a84f78a906c87a29cc2767ae068dea9e990d..99c1f5d50160b788d88997dded59688234d86a43 100644
--- a/cpp/src/LQT.cpp
+++ b/cpp/src/LQT.cpp
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
 
 #include <Eigen/Dense>
diff --git a/cpp/src/iLQR_bicopter.cpp b/cpp/src/iLQR_bicopter.cpp
index 64a74217fd83efed6105ff050c3e3976bab43628..d42612dcf8c0946443cf91b50a0fb1458c9f2df8 100644
--- a/cpp/src/iLQR_bicopter.cpp
+++ b/cpp/src/iLQR_bicopter.cpp
@@ -6,7 +6,7 @@ Written by Julius Jankowski <julius.jankowski@idiap.ch>,
 Jérémy Maceiras <jeremy.maceiras@idiap.ch> and Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
 
 #include <iostream>
diff --git a/cpp/src/iLQR_bimanual.cpp b/cpp/src/iLQR_bimanual.cpp
index 5c9a67d8c54dc7a44b3846ea37eff8f9d26414f9..cae43762994828aff84c240dfdf5f3e2ab18cb11 100644
--- a/cpp/src/iLQR_bimanual.cpp
+++ b/cpp/src/iLQR_bimanual.cpp
@@ -7,7 +7,7 @@ Written by Adi Niederberger <aniederberger@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
 
 #include <iostream>
diff --git a/cpp/src/iLQR_car.cpp b/cpp/src/iLQR_car.cpp
index e70be61f9ce7cdbdab74ef9dea01cd9ddea4aaad..2d6205ba39f1393ba158d2aebda818fe67adbb51 100644
--- a/cpp/src/iLQR_car.cpp
+++ b/cpp/src/iLQR_car.cpp
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
 
 #include <iostream>
diff --git a/cpp/src/iLQR_manipulator.cpp b/cpp/src/iLQR_manipulator.cpp
index 51de2163673e23e8f67a934f0822c3be5871e53d..cb1d5354175113a014ee11add3eee1bf77ba79ed 100644
--- a/cpp/src/iLQR_manipulator.cpp
+++ b/cpp/src/iLQR_manipulator.cpp
@@ -6,7 +6,7 @@ Written by Tobias Löw <tobias.low@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
 
 #include <GL/glut.h>
diff --git a/cpp/src/iLQR_manipulator_obstacle.cpp b/cpp/src/iLQR_manipulator_obstacle.cpp
index 6500df60adbc25b2657e37b30038cc30ae838867..5c4f4d52cd9d038b713e3ebcafcde706a3ac9a81 100644
--- a/cpp/src/iLQR_manipulator_obstacle.cpp
+++ b/cpp/src/iLQR_manipulator_obstacle.cpp
@@ -6,7 +6,7 @@ Written by Tobias Löw <tobias.low@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
 
 #include <GL/glut.h>
diff --git a/cpp/src/iLQR_obstacle_GPIS.cpp b/cpp/src/iLQR_obstacle_GPIS.cpp
index 6d3fae77c720b49694575cd72b2c0b0a825c0436..435427d6dc45b37b46c74e486cb269d161118abe 100644
--- a/cpp/src/iLQR_obstacle_GPIS.cpp
+++ b/cpp/src/iLQR_obstacle_GPIS.cpp
@@ -7,7 +7,7 @@ Written by Léane Donzé <leane.donze@epfl.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 */
 
 #include <Eigen/Core>
diff --git a/julia/IK.jl b/julia/IK.jl
index 44441b0d845d8509254ec7b5821b1eb82b682714..0032bf315511cba64263e4413df5950b03860239 100644
--- a/julia/IK.jl
+++ b/julia/IK.jl
@@ -4,7 +4,7 @@
 ## Written by Sylvain Calinon <https://calinon.ch>
 ## 
 ## This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-## License: MIT
+## License: GPL-3.0-only
 
 using LinearAlgebra,Plots
 
diff --git a/julia/iLQR_manipulator.jl b/julia/iLQR_manipulator.jl
index 82f906965d6d0ea70f898c51999bed879d67e9e9..1825710f0f034078628bd70b9773e2f510ef165d 100644
--- a/julia/iLQR_manipulator.jl
+++ b/julia/iLQR_manipulator.jl
@@ -5,7 +5,7 @@
 ## Sylvain Calinon <https://calinon.ch>
 ## 
 ## This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-## License: MIT
+## License: GPL-3.0-only
 
 using LinearAlgebra #,Plots
 using Parameters
diff --git a/matlab/FD.m b/matlab/FD.m
index 2974df685d0967de0084fa2d634a8c93a139e25e..614d8605f5b6bd9d6b6fd6b866569dcd7896bc38 100644
--- a/matlab/FD.m
+++ b/matlab/FD.m
@@ -5,7 +5,7 @@
 %% Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function FD
 
diff --git a/matlab/IK_manipulator.m b/matlab/IK_manipulator.m
index 2554d91603f476cb61fe262194f3e62dc64d75ce..5f2492cf1cbdd2d723405ea88b6de58c5de87525 100644
--- a/matlab/IK_manipulator.m
+++ b/matlab/IK_manipulator.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function IK
 
diff --git a/matlab/IK_nullspace.m b/matlab/IK_nullspace.m
index 125d08e67cdda4d3da0c8f4971b79c781ee1eeaf..4e2a478b4d5b715e470126dc3c81e082f110b8fd 100644
--- a/matlab/IK_nullspace.m
+++ b/matlab/IK_nullspace.m
@@ -6,7 +6,7 @@
 %% Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function IK_nullspace
 
diff --git a/matlab/IK_num.m b/matlab/IK_num.m
index 9c1f6f1a1c134361a10cbab9891ed55e639460cc..4eb551973cbd214c4d4cdadcd714c8c5e060d161 100644
--- a/matlab/IK_num.m
+++ b/matlab/IK_num.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function IK_num
 
diff --git a/matlab/LQR_infHor.m b/matlab/LQR_infHor.m
index b980493f61e05f728c032743a48bdb1e2e00c386..6604df34f29a7895993116cd5d8cc1f324f0158a 100644
--- a/matlab/LQR_infHor.m
+++ b/matlab/LQR_infHor.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQR_infHor
 
diff --git a/matlab/LQT.m b/matlab/LQT.m
index fa438714593097ece30872373930a2b8d286f321..8f56e6e67b2cf7f418c5a59bd816184b4f9fb79c 100644
--- a/matlab/LQT.m
+++ b/matlab/LQT.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQT
 
diff --git a/matlab/LQT_CP.m b/matlab/LQT_CP.m
index b088538505564bfbabf5fad653b8c0f202706b99..9dac5cd88232cd87943ad42032969616bf6aa7c5 100644
--- a/matlab/LQT_CP.m
+++ b/matlab/LQT_CP.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQT_CP
 
diff --git a/matlab/LQT_CP_DMP.m b/matlab/LQT_CP_DMP.m
index 1866455c5140bf46e75a5ef91e8e9a9549ed22c1..4610d22f8d08002c6480eeb549c00c97cc7d66a5 100644
--- a/matlab/LQT_CP_DMP.m
+++ b/matlab/LQT_CP_DMP.m
@@ -6,7 +6,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQT_CP_DMP
 
diff --git a/matlab/LQT_nullspace.m b/matlab/LQT_nullspace.m
index c98be1e621c7ee3805e6e966b4fc0c11e7ff18ea..30621ad62f2c4d90f2d4b87b577b70df179b6313 100644
--- a/matlab/LQT_nullspace.m
+++ b/matlab/LQT_nullspace.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQT_nullspace
 
diff --git a/matlab/LQT_recursive.m b/matlab/LQT_recursive.m
index 9f2ef3e4c22bd8dc0103dfca06e537f48c179c0f..0eaf800a7b0322f61190bc2a7de9458b66dbf516 100644
--- a/matlab/LQT_recursive.m
+++ b/matlab/LQT_recursive.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQT_recursive
 
diff --git a/matlab/LQT_recursive_LS.m b/matlab/LQT_recursive_LS.m
index ebd8993fcef9b2eaec1d0bd14ef46f8d99b952c5..10aa4230c2aec5d8e23e6d59bc6939a24ef584b9 100644
--- a/matlab/LQT_recursive_LS.m
+++ b/matlab/LQT_recursive_LS.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQT_recursive_LS
 
diff --git a/matlab/LQT_recursive_LS_multiAgents.m b/matlab/LQT_recursive_LS_multiAgents.m
index 914fa47372dc070295b6d4d18d8e57311ec6acb0..b0d53f684d4b5da277c8c86e674144852bf6719b 100644
--- a/matlab/LQT_recursive_LS_multiAgents.m
+++ b/matlab/LQT_recursive_LS_multiAgents.m
@@ -7,7 +7,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQT_recursive_LS_multiAgents
 
diff --git a/matlab/LQT_tennisServe.m b/matlab/LQT_tennisServe.m
index 5c2a51a1a61fcdcd2db4786d5b9dd4ed16723a61..de716b29eaf60ae8d36739099aebb463cdb78f4b 100644
--- a/matlab/LQT_tennisServe.m
+++ b/matlab/LQT_tennisServe.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function LQT_tennisServe
 
diff --git a/matlab/MP.m b/matlab/MP.m
index 8ae061501e2b95899104541f6131699f941d4bfe..8d83b5d9e3fe3b40c0b6dfe9f91caeeb8b3286fc 100644
--- a/matlab/MP.m
+++ b/matlab/MP.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function MP
 
diff --git a/matlab/ergodic_control_SMC_2D.m b/matlab/ergodic_control_SMC_2D.m
index d2efb7bc6a9d40aea68de90bf03ec3f9d4d9c2ea..4dd7ff8dcc2c3864282570e897187d0250abb591 100644
--- a/matlab/ergodic_control_SMC_2D.m
+++ b/matlab/ergodic_control_SMC_2D.m
@@ -6,7 +6,7 @@ function ergodic_control_SMC_2D
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://rcfs.ch>
-%% License: MIT
+%% License: GPL-3.0-only
 
 
 %% Parameters
diff --git a/matlab/ergodic_control_SMC_DDP_1D.m b/matlab/ergodic_control_SMC_DDP_1D.m
index 4e56ec89361cdd47f283cef01cebe2a42580cd69..970f0e49e7d44ee6156f43fa34b521ff36bd2c03 100644
--- a/matlab/ergodic_control_SMC_DDP_1D.m
+++ b/matlab/ergodic_control_SMC_DDP_1D.m
@@ -3,7 +3,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://rcfs.ch>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function ergodic_control_SMC_DDP_1D
 
diff --git a/matlab/ergodic_control_SMC_DDP_2D.m b/matlab/ergodic_control_SMC_DDP_2D.m
index 8651e2b040a757f0db34b3cac0e92e42f4a6d402..baba4a89772a5a301826d59c8b3f541eb205db30 100644
--- a/matlab/ergodic_control_SMC_DDP_2D.m
+++ b/matlab/ergodic_control_SMC_DDP_2D.m
@@ -3,7 +3,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://rcfs.ch>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function ergodic_control_SMC_DDP_2D
 
diff --git a/matlab/iLQR_bicopter.m b/matlab/iLQR_bicopter.m
index 3f50147b19494d0620aca3aa948beec1941d3be9..005e6310a66043c4072eddb7c1a64e22c366884a 100644
--- a/matlab/iLQR_bicopter.m
+++ b/matlab/iLQR_bicopter.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_bicopter
 
diff --git a/matlab/iLQR_bimanual.m b/matlab/iLQR_bimanual.m
index 07604db0375e9edc2d2b63411721319a7316a185..9ec63e82f57580fb512cf1d6bb05ae1d86fce930 100644
--- a/matlab/iLQR_bimanual.m
+++ b/matlab/iLQR_bimanual.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_bimanual
 
diff --git a/matlab/iLQR_bimanual_manipulability.m b/matlab/iLQR_bimanual_manipulability.m
index 1ed2a19fb4b8940d4eb3110d28bf9ebb8868a59d..5b6507ee84c4164f82f6049b394d3a8f124662fc 100644
--- a/matlab/iLQR_bimanual_manipulability.m
+++ b/matlab/iLQR_bimanual_manipulability.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_bimanual_manipulability
 
diff --git a/matlab/iLQR_car.m b/matlab/iLQR_car.m
index 5b9a51a7a9d937f0d7b8b9706bbfaf0285f3e787..ca61eeee8f3261a958d064dad748bc5a14497ae5 100644
--- a/matlab/iLQR_car.m
+++ b/matlab/iLQR_car.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_car
 
diff --git a/matlab/iLQR_distMaintenance.m b/matlab/iLQR_distMaintenance.m
index 6c01e1582ffb4b38443d088d4c542e4ddcfc5858..dee8be9c27b91872b2278333d86341f5b44ac672 100644
--- a/matlab/iLQR_distMaintenance.m
+++ b/matlab/iLQR_distMaintenance.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_distMaintenance
 
diff --git a/matlab/iLQR_manipulator.m b/matlab/iLQR_manipulator.m
index 3768ce0c292ec441b36ed46d19c7eb1bb7243e0d..47c5bc9629b6a37f83e34f261cb59a6911a3b575 100644
--- a/matlab/iLQR_manipulator.m
+++ b/matlab/iLQR_manipulator.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://rcfs.ch>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_manipulator
 
diff --git a/matlab/iLQR_manipulator3D.m b/matlab/iLQR_manipulator3D.m
index e27729ea9dc4c6e9f6bc8e10bbdabc49279bc95b..175e633e0d7ecfdfe467941e0a0e83fb5e6528f5 100644
--- a/matlab/iLQR_manipulator3D.m
+++ b/matlab/iLQR_manipulator3D.m
@@ -4,7 +4,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://rcfs.ch>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_manipulator3D
 
diff --git a/matlab/iLQR_manipulator_CP.m b/matlab/iLQR_manipulator_CP.m
index f71fb65828338827990a664280ea33d46a63cc6d..36a3106be21b9bb44bb1602121288bbb8b856eb8 100644
--- a/matlab/iLQR_manipulator_CP.m
+++ b/matlab/iLQR_manipulator_CP.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_manipulator_CP
 
diff --git a/matlab/iLQR_manipulator_CoM.m b/matlab/iLQR_manipulator_CoM.m
index d1189d588820911c69c76f8e88f66bbb09da8b4f..6d1791be44cabf6e98b29571ce4c4b32b2221472 100644
--- a/matlab/iLQR_manipulator_CoM.m
+++ b/matlab/iLQR_manipulator_CoM.m
@@ -6,7 +6,7 @@
 %% Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_manipulator_CoM
 
diff --git a/matlab/iLQR_manipulator_dynamics.m b/matlab/iLQR_manipulator_dynamics.m
index 2ae4b1953ea7ebdc16a2f7ddec3fccbb249c7dc0..d15bd3fddd58a31b7bf79510f1b81984307c1abe 100644
--- a/matlab/iLQR_manipulator_dynamics.m
+++ b/matlab/iLQR_manipulator_dynamics.m
@@ -5,7 +5,7 @@
 %% Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://rcfs.ch>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_manipulator_dynamics
 
diff --git a/matlab/iLQR_manipulator_initStateOptim.m b/matlab/iLQR_manipulator_initStateOptim.m
index eb4a89fa4f9221b60b90d7227cc9911fb6aca75a..313b2f7b65fc5ab5b08e4c6988429d5afe137307 100644
--- a/matlab/iLQR_manipulator_initStateOptim.m
+++ b/matlab/iLQR_manipulator_initStateOptim.m
@@ -6,7 +6,7 @@ function iLQR_manipulator_initStateOptim
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://rcfs.ch>
-%% License: MIT
+%% License: GPL-3.0-only
 
 
 %% Parameters
diff --git a/matlab/iLQR_manipulator_object_affordance.m b/matlab/iLQR_manipulator_object_affordance.m
index 0076c3735e4302f704d974a1336bbb42422b0ed7..0d49f8b97fad475c746eb8d560b4125069c2cb1c 100644
--- a/matlab/iLQR_manipulator_object_affordance.m
+++ b/matlab/iLQR_manipulator_object_affordance.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_manipulator_object_affordance
 
diff --git a/matlab/iLQR_manipulator_obstacle.m b/matlab/iLQR_manipulator_obstacle.m
index 45aae7ac70e89e07ba38632f09f9a9a91eec2c8e..2db88bbcd7a1a0cd67aa1a7091a9cb96b292eeb8 100644
--- a/matlab/iLQR_manipulator_obstacle.m
+++ b/matlab/iLQR_manipulator_obstacle.m
@@ -6,7 +6,7 @@
 %% Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_manipulator_obstacle
 
diff --git a/matlab/iLQR_manipulator_recursive.m b/matlab/iLQR_manipulator_recursive.m
index 650978a2f7c0800b7de3bc42c62602c5bc6206cd..544ad1ba75102676f201bda00ee096aacfdfa257 100644
--- a/matlab/iLQR_manipulator_recursive.m
+++ b/matlab/iLQR_manipulator_recursive.m
@@ -5,7 +5,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_manipulator_recursive
 
diff --git a/matlab/iLQR_obstacle.m b/matlab/iLQR_obstacle.m
index d8365c2f36db8106b79c81d4ce141dc0c8e5a1e5..a4e9bafe04c8303595ab33e013ff287cda1dcf15 100644
--- a/matlab/iLQR_obstacle.m
+++ b/matlab/iLQR_obstacle.m
@@ -7,7 +7,7 @@
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 function iLQR_obstacle
 
diff --git a/matlab/spline1D.m b/matlab/spline1D.m
index 5e82a9e36a2fe735204d7707d4a73361790e5ad2..d086fc739a2398ba1a76767fb52f1149c285f54f 100644
--- a/matlab/spline1D.m
+++ b/matlab/spline1D.m
@@ -6,7 +6,7 @@ function spline1D
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 
 %% Parameters
diff --git a/matlab/spline2D.m b/matlab/spline2D.m
index 2c746e967af162c3dbeb1ef803f6cf1e2ffb2325..fe9435bbea28594c4c2ede3842a8e9bdef13bd29 100644
--- a/matlab/spline2D.m
+++ b/matlab/spline2D.m
@@ -6,7 +6,7 @@ function spline2D
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 
 %% Parameters
diff --git a/matlab/spline2D_eikonal.m b/matlab/spline2D_eikonal.m
index 5330fc44d972b8cd5220b4f2af2355a0a1e4fc2f..84f1bd374defeca16919450c160aadbc1a550014 100644
--- a/matlab/spline2D_eikonal.m
+++ b/matlab/spline2D_eikonal.m
@@ -7,7 +7,7 @@ function spline2D_eikonal
 %% Written by Sylvain Calinon <https://calinon.ch>
 %% 
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-%% License: MIT
+%% License: GPL-3.0-only
 
 
 %% Parameters
diff --git a/python/FD.py b/python/FD.py
index ae094ee348efd2439597b0bf0e15530df95ba926..60adc957963579c3b55a67f9159b8a7ee688f9ab 100644
--- a/python/FD.py
+++ b/python/FD.py
@@ -6,7 +6,7 @@ Written by Amirreza Razmjoo <amirreza.razmjoo@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/GPIS.py b/python/GPIS.py
index 3cc921291c290c8d5bb831d123bd3a3e00511ee4..afbfdc8c8262193559051a9537a35903b3df051f 100644
--- a/python/GPIS.py
+++ b/python/GPIS.py
@@ -6,7 +6,7 @@ Written by Cem Bilaloglu <cem.bilaloglu@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/IK_bimanual.py b/python/IK_bimanual.py
index b5ca0ea42a377218f63c36245cd5f90ca026d11c..f2a02c39f90f7ff2ec845b5776859a25e78109bf 100644
--- a/python/IK_bimanual.py
+++ b/python/IK_bimanual.py
@@ -6,7 +6,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/IK_manipulator.py b/python/IK_manipulator.py
index 9985001dea21284c789fe7829344b96470cbcc99..7e955be7467228df7964c778af9ec52fb4a08107 100644
--- a/python/IK_manipulator.py
+++ b/python/IK_manipulator.py
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/IK_manipulator3D.py b/python/IK_manipulator3D.py
index 7240e6382adf25e33da0e59cf0e4317aada3ea01..3f00d657564c21225fda270e308ab98d39a4a737 100644
--- a/python/IK_manipulator3D.py
+++ b/python/IK_manipulator3D.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch>
-License: MIT
+License: GPL-3.0-only
 '''
 import copy
 import numpy as np
diff --git a/python/IK_nullspace.py b/python/IK_nullspace.py
index 913427c0962540de49e6cd5571f6f82a4322df6f..9d764cdf20298bcd627cfe237c6a4d46926dce1b 100644
--- a/python/IK_nullspace.py
+++ b/python/IK_nullspace.py
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/IK_num.py b/python/IK_num.py
index f493ac48a177e07beddbcddf17b9bbe4d8722302..e11fda6cee94535d2b7f98e8362af725ee14acc7 100644
--- a/python/IK_num.py
+++ b/python/IK_num.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/LQR_infHor.py b/python/LQR_infHor.py
index 5dc9f38134638bbeb2958ff60c148c0fd7ade861..4ea88c1196d2ec66dfa2095c1a0ca9c950530e68 100644
--- a/python/LQR_infHor.py
+++ b/python/LQR_infHor.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/LQT.py b/python/LQT.py
index ef99ce82f10a31e0f497ef1b247b4426078dd7dd..20f3986c0041ec6fea736efdb2efc0ec7fbe9f1b 100644
--- a/python/LQT.py
+++ b/python/LQT.py
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/LQT_CP.py b/python/LQT_CP.py
index d66dceb589c36c25c3f72db2f7effd2f5daf1b18..2519eb2c7e115a53869b6eeb3d5943c9aac76579 100644
--- a/python/LQT_CP.py
+++ b/python/LQT_CP.py
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/LQT_CP_DMP.py b/python/LQT_CP_DMP.py
index e63e6588ca85aec90553134111fb7d9b3af0eadf..ef969acfc0d2751fb12481b9c8c2e72f860c8bf0 100644
--- a/python/LQT_CP_DMP.py
+++ b/python/LQT_CP_DMP.py
@@ -8,7 +8,7 @@ Written by Boyang Ti <https://www.idiap.ch/~bti/> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import os 
diff --git a/python/LQT_nullspace.py b/python/LQT_nullspace.py
index 6dfb07a05341bed647f913600c96b50846c56593..d5564a99b0ab1548c7bb2ef6411ada346de2b6d0 100644
--- a/python/LQT_nullspace.py
+++ b/python/LQT_nullspace.py
@@ -6,7 +6,7 @@ Written by Hakan Girgin <hakan.girgin@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/LQT_recursive.py b/python/LQT_recursive.py
index 0b8e8c97688501c1ca86c43e0a34cd962212c6b0..bb10eedb80bb1ed8e009e77b0410f7a6bc633a70 100644
--- a/python/LQT_recursive.py
+++ b/python/LQT_recursive.py
@@ -6,7 +6,7 @@ Written by Adi Niederberger <aniederberger@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/LQT_recursive_LS.py b/python/LQT_recursive_LS.py
index 0ddec6cac0879954630bac89ec5befd031e13678..9e007503268fd38187a3e8a92f8d9d773cf597fc 100644
--- a/python/LQT_recursive_LS.py
+++ b/python/LQT_recursive_LS.py
@@ -6,7 +6,7 @@ Written by Julius Jankowski <julius.jankowski@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/LQT_recursive_LS_multiAgents.py b/python/LQT_recursive_LS_multiAgents.py
index 3c0b53bcbb9a92bc07eb1d81765d72e346e77796..24903d71943cfc8031c7545b5a457ff5f300337a 100644
--- a/python/LQT_recursive_LS_multiAgents.py
+++ b/python/LQT_recursive_LS_multiAgents.py
@@ -6,7 +6,7 @@ Written by Julius Jankowski <julius.jankowski@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/LQT_tennisServe.py b/python/LQT_tennisServe.py
index 94f736003aa6fa0797af4c88f43d037a012e68c4..e3eec370d25fa647f25f2a414152938f867715cb 100644
--- a/python/LQT_tennisServe.py
+++ b/python/LQT_tennisServe.py
@@ -6,7 +6,7 @@ Written by Yiming Li <yiming.li@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/MP.py b/python/MP.py
index 15befbeb8c6d45c7f6d63edf8361dc956418694b..9cbdfb6aba22ec90c186d896237095c11510d58d 100644
--- a/python/MP.py
+++ b/python/MP.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/ergodic_control_HEDAC_1D.py b/python/ergodic_control_HEDAC_1D.py
index dd61781b830840da89a5b02b60ac52f1e21214a7..b280b31fe088b3f913cdd79607eb4b1de3e6696f 100644
--- a/python/ergodic_control_HEDAC_1D.py
+++ b/python/ergodic_control_HEDAC_1D.py
@@ -7,7 +7,7 @@ Written by Philip Abbet <philip.abbet@idiap.ch> and
 Cem Bilaloglu <cem.bilaloglu@idiap.ch>
 
 This file is part of RCFS <https://rcfs.ch>
-License: MIT
+License: GPLv3
 """
 
 import numpy as np
diff --git a/python/ergodic_control_HEDAC_2D.py b/python/ergodic_control_HEDAC_2D.py
index d5988122c01a25a1a0e8a9bf6c3d4416e74100db..05ed2bc866a3a62ae85eaede574d119e1fc45ce2 100644
--- a/python/ergodic_control_HEDAC_2D.py
+++ b/python/ergodic_control_HEDAC_2D.py
@@ -6,7 +6,7 @@
     Written by Cem Bilaloglu <cem.bilaloglu@idiap.ch>
 
     This file is part of RCFS <https://rcfs.ch>
-    License: MIT
+    License: GPL-3.0-only
 """
 
 import numpy as np
diff --git a/python/ergodic_control_SMC_1D copy.py b/python/ergodic_control_SMC_1D copy.py
new file mode 100644
index 0000000000000000000000000000000000000000..9f2692041dcf79a68c8bf7ef55fc8c298c08842e
--- /dev/null
+++ b/python/ergodic_control_SMC_1D copy.py	
@@ -0,0 +1,140 @@
+"""
+2D ergodic control formulated as Spectral Multiscale Coverage (SMC) objective,
+with a spatial distribution described as a mixture of Gaussians.
+
+Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch>
+Written by Cem Bilaloglu <cem.bilaloglu@idiap.ch> and
+Sylvain Calinon <https://calinon.ch>
+
+This file is part of RCFS <https://rcfs.ch>
+License: GPL-3.0-only
+"""
+
+import numpy as np
+import matplotlib.pyplot as plt
+
+
+# Parameters
+# ===============================
+nbData = 2000  # Number of datapoints
+nbFct = 10  # Number of basis functions
+nbGaussian = 1  # Number of Gaussians to represent the spatial distribution
+dt = 1e-2  # Time step
+xlim = [0, 1] # Domain limit for each dimension (considered to be 1 for each dimension in this implementation)
+L = (xlim[1] - xlim[0]) * 2  # Size of [-xlim(2),xlim(2)]
+om = 2 * np.pi / L # omega
+u_max = 1e-0  # Maximum speed allowed
+
+# Initial point
+x0 = 0.1
+
+# Desired spatial distribution represented as a mixture of Gaussians (GMM)
+# gaussian centers
+Mu = np.array([
+    0.7,
+])
+
+# Gaussian covariances
+Sigma = np.ones((1, 1, nbGaussian)) * 0.01
+
+# Mixing coefficients
+Priors = np.ones(nbGaussian) / nbGaussian
+
+
+# Compute Fourier series coefficients w_hat of desired spatial distribution
+# ===============================
+rg = np.arange(nbFct, dtype=float).reshape((nbFct, 1))
+kk = rg * om
+Lambda = (rg**2 + 1) ** -1 # Weighting vector (Eq.(15)
+
+# Explicit description of w_hat by exploiting the Fourier transform
+# properties of Gaussians (optimized version by exploiting symmetries)
+w_hat = np.zeros((nbFct, 1))
+for j in range(nbGaussian):
+    w_hat = w_hat + Priors[j] * np.cos(kk * Mu[j]) * np.exp(-.5 * kk**2 * Sigma[:,:,j]) # Eq.(22)
+
+w_hat = w_hat / L
+
+
+# Fourier basis functions (for a discretized map)
+# ===============================
+nbRes = 200
+xm = np.linspace(xlim[0], xlim[1], nbRes).reshape((1, nbRes))  # Spatial range for 1D
+phim = np.cos(kk @ xm) * 2  # Fourier basis functions
+phim[1:,:] = phim[1:,:] * 2
+
+# Desired spatial distribution
+g = w_hat.T @ phim
+
+
+# Ergodic control
+# ===============================
+x = x0  # Initial position
+
+wt = np.zeros((nbFct, 1))
+r_x = np.zeros((nbData))
+r_g = np.zeros((nbRes, nbData))
+# r_w = np.zeros((nbFct, nbData))
+# r_e = np.zeros((nbData))
+
+for t in range(nbData):
+    r_x[t] = x
+
+    # Fourier basis functions and derivatives for each dimension
+    # (only cosine part on [0,L/2] is computed since the signal
+    # is even and real by construction)
+    phi = np.cos(x * kk)  # Eq.(18)
+
+    # Gradient of basis functions
+    dphi = -np.sin(x * kk) * kk
+
+    # wt/t are the Fourier series coefficients along trajectory (Eq.(17))
+    wt = wt + phi / L
+
+    # Controller with constrained velocity norm
+    u = -dphi.T @ (Lambda * (wt / (t + 1) - w_hat))  # Eq.(24)
+    u = u * u_max / (np.linalg.norm(u) + 1e-2)  # Velocity command
+
+    # Update of position
+    x = x + (u * dt)
+
+    # Log data
+    r_x[t] = x
+    r_g[:,t] = (wt / (t+1)).T @ phim # Reconstructed spatial distribution (for visualization)
+
+
+# Plot
+# ===============================
+def gdf(x, mu, sigma):
+    return 1. / (np.sqrt(2. * np.pi) * sigma) * np.exp(-np.power((x - mu) / sigma, 2.) / 2)
+
+
+fig, ax = plt.subplots(4, 1, figsize=(16, 12), gridspec_kw={'height_ratios': [3, 3, 1, 1]})
+
+xx = xm.reshape((nbRes))
+for j in range(nbGaussian):
+    yy = gdf(xx, Mu[j], Sigma[0,0,j] * 4)
+    ax[0].plot(xx, yy)
+    ax[0].fill_between(xx, yy, alpha=0.2)
+
+ax[0].set_xlim(xlim[0], xlim[1])
+ax[0].set_ylim(0.0)
+ax[0].title.set_text('gaussians')
+ax[0].set_yticks([])
+
+ax[1].plot(r_x[:], np.arange(nbData), linestyle="-", color="black")
+ax[1].plot(r_x[0], [0], marker=".", color="black", markersize=10)
+ax[1].set_xlim(xlim[0], xlim[1])
+ax[1].set_ylim(0, nbData)
+ax[1].title.set_text('trajectory')
+ax[1].set_ylabel('$t$')
+
+ax[2].set_title(r"$w$")
+ax[2].imshow(np.reshape(wt / nbData, [1, nbFct]), cmap="gray_r")
+ax[2].set_yticks([])
+
+ax[3].set_title(r"$\hat{w}$")
+ax[3].imshow(np.reshape(w_hat / nbData, [1, nbFct]), cmap="gray_r")
+ax[3].set_yticks([])
+
+plt.show()
diff --git a/python/ergodic_control_SMC_1D.py b/python/ergodic_control_SMC_1D.py
index bb338f6a105b28946d31586abc48d9b5a47dd33e..4d899b5d5d7c6cdbee56af87a1e8e5bb981ffcd3 100644
--- a/python/ergodic_control_SMC_1D.py
+++ b/python/ergodic_control_SMC_1D.py
@@ -7,7 +7,7 @@ Written by Philip Abbet <philip.abbet@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch>
-License: MIT
+License: GPL-3.0-only
 """
 
 import numpy as np
diff --git a/python/ergodic_control_SMC_2D.py b/python/ergodic_control_SMC_2D.py
index cdde7e0518e4d6173aef65fcae25673710f584e3..68a896e4936046e4cdc6ead63608f7a60094c484 100644
--- a/python/ergodic_control_SMC_2D.py
+++ b/python/ergodic_control_SMC_2D.py
@@ -7,7 +7,7 @@ Written by Philip Abbet <philip.abbet@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch>
-License: MIT
+License: GPL-3.0-only
 """
 
 import numpy as np
diff --git a/python/ergodic_control_SMC_DDP_1D.py b/python/ergodic_control_SMC_DDP_1D.py
index ae44cd700f884e6780641511257c3237aea73b2e..31339fa14c29b0080b33c62c4846d4d9963abd85 100644
--- a/python/ergodic_control_SMC_DDP_1D.py
+++ b/python/ergodic_control_SMC_DDP_1D.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy.matlib
diff --git a/python/ergodic_control_SMC_DDP_2D.py b/python/ergodic_control_SMC_DDP_2D.py
index 0bbec054ee17e9541d70caa4ca3a3abfd693bf22..599e455525c7ef317b14c5886a8d51ab6537cd56 100644
--- a/python/ergodic_control_SMC_DDP_2D.py
+++ b/python/ergodic_control_SMC_DDP_2D.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy.matlib
diff --git a/python/header.txt b/python/header.txt
index cb673066025464a4c2f90ccfee38a8f476236310..1f5fc921ec68f2acf2d97af3d9c1a1ff1d549dc0 100644
--- a/python/header.txt
+++ b/python/header.txt
@@ -6,5 +6,5 @@ Written by John Doe <john.doe@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
diff --git a/python/iLQR_bicopter.py b/python/iLQR_bicopter.py
index df043e32ee03f3ea5cfa48839d91acd5e6e83746..cce4181b58c3827fffa6e913e12db0e1864f825d 100644
--- a/python/iLQR_bicopter.py
+++ b/python/iLQR_bicopter.py
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_bimanual.py b/python/iLQR_bimanual.py
index 1202c70f18cbe4e2b1c52cfef1a3d9fe6cfed135..0983da0c5ab714cfad35d5baeacf498feac90f36 100644
--- a/python/iLQR_bimanual.py
+++ b/python/iLQR_bimanual.py
@@ -6,7 +6,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_bimanual_manipulability.py b/python/iLQR_bimanual_manipulability.py
index aa9d66a84fe77bc90ccba7cd7260a153cfe0d3dc..cab68cddcbf7116e1b9f840a7d43ac30a74d7dc1 100644
--- a/python/iLQR_bimanual_manipulability.py
+++ b/python/iLQR_bimanual_manipulability.py
@@ -7,7 +7,7 @@ Written by Boyang Ti <https://tiboy.co/> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_car.py b/python/iLQR_car.py
index ef22a34d3d9397562df2c5d913bb7b3ca5b2a53d..cc32c3554ecb9ef76c9eea6153c78c06b04870d2 100644
--- a/python/iLQR_car.py
+++ b/python/iLQR_car.py
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_distMaintenance.py b/python/iLQR_distMaintenance.py
index 863e91b5243ccbf2b12565de985bc8a7a457af7c..b0b8bfa8705007fd5d5de0f058b3766126fba2ae 100644
--- a/python/iLQR_distMaintenance.py
+++ b/python/iLQR_distMaintenance.py
@@ -6,7 +6,7 @@ Written by Maximilien Dufau <maximilien.dufau@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_manipulator.py b/python/iLQR_manipulator.py
index d83720f6a4b136c39786081c1f101418a698de0b..be03c02e3f43dd2f82c591a964019d69d0b949fc 100644
--- a/python/iLQR_manipulator.py
+++ b/python/iLQR_manipulator.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_manipulator3D.py b/python/iLQR_manipulator3D.py
index 00e87a2ed717a314028e04c58a805e0734e60a0c..8e73e6f0fef1d944cc534a789f231634553b7647 100644
--- a/python/iLQR_manipulator3D.py
+++ b/python/iLQR_manipulator3D.py
@@ -7,7 +7,7 @@ Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_manipulator_CP.py b/python/iLQR_manipulator_CP.py
index bd0cdadcce1cf50b3ce23d33bf24de8ee767996b..ec1c37a1439bd97faff1e0663e93e3c469176326 100644
--- a/python/iLQR_manipulator_CP.py
+++ b/python/iLQR_manipulator_CP.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_manipulator_CoM.py b/python/iLQR_manipulator_CoM.py
index 56adcd5e3d31288009578c7b8539a411b5bf56af..98dfa0eba9cb37edb2ec867aaef35c3ba091300f 100644
--- a/python/iLQR_manipulator_CoM.py
+++ b/python/iLQR_manipulator_CoM.py
@@ -7,7 +7,7 @@ Written by Teng Xue <teng.xue@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_manipulator_dynamics.py b/python/iLQR_manipulator_dynamics.py
index 225c58533ebecda1671da94bf9f277675466b49e..e02caba6bf6410be734d64f6155d21d30e0c84d6 100644
--- a/python/iLQR_manipulator_dynamics.py
+++ b/python/iLQR_manipulator_dynamics.py
@@ -6,7 +6,7 @@ Written by Amirreza Razmjoo <amirreza.razmjoo@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_manipulator_initStateOptim.py b/python/iLQR_manipulator_initStateOptim.py
index e19e7ab4f7ae778890ed0c6818470ac7081caae6..d020483e95c99a3f179c536a1d73dc7de46d8f5c 100644
--- a/python/iLQR_manipulator_initStateOptim.py
+++ b/python/iLQR_manipulator_initStateOptim.py
@@ -7,7 +7,7 @@ Written by Yan Zhang <yan.zhang@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_manipulator_object_affordance.py b/python/iLQR_manipulator_object_affordance.py
index f30b1ae13f81cf3e59cdecc158cad8c1d5f5c47d..6499109203e0a4298befc7383fdea24e2399a80d 100644
--- a/python/iLQR_manipulator_object_affordance.py
+++ b/python/iLQR_manipulator_object_affordance.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import copy
diff --git a/python/iLQR_manipulator_obstacle.py b/python/iLQR_manipulator_obstacle.py
index 0e673b32808cc2677fe18979b33bc2a3c91270df..f35e3f182cd8c4dbd67191802f8585b1f151b3d0 100644
--- a/python/iLQR_manipulator_obstacle.py
+++ b/python/iLQR_manipulator_obstacle.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch>,
 Teguh Lembono <teguh.lembono@idiap.ch> and Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_manipulator_recursive.py b/python/iLQR_manipulator_recursive.py
index 247e2f251454f13b086f7b2983b5a8169a8b1dd5..0161dd5ba4888a9b629aeffaffd8ec67a5fe392a 100644
--- a/python/iLQR_manipulator_recursive.py
+++ b/python/iLQR_manipulator_recursive.py
@@ -5,7 +5,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_obstacle.py b/python/iLQR_obstacle.py
index f321df489e365bcb9dddbaf54ca43134df987742..03925991fd61c8387d2ccec56881670027bc842d 100644
--- a/python/iLQR_obstacle.py
+++ b/python/iLQR_obstacle.py
@@ -6,7 +6,7 @@ Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_obstacle_GPIS.py b/python/iLQR_obstacle_GPIS.py
index ec2f9ba505654ccf10cd8d5b6fdc7e7414c8daa0..8215d9c3f9e9977f13d67a805575859db89a5140 100644
--- a/python/iLQR_obstacle_GPIS.py
+++ b/python/iLQR_obstacle_GPIS.py
@@ -7,7 +7,7 @@ Written by Yan Zhang <yan.zhang@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/iLQR_spacetime.py b/python/iLQR_spacetime.py
index dad6cc1ce8255ba72b49ab17d6d941a4538d9e0f..13475cbd87769c4c6c29302a3675832a41bb2fd6 100644
--- a/python/iLQR_spacetime.py
+++ b/python/iLQR_spacetime.py
@@ -6,7 +6,7 @@ Written by Yifei Dong <ydong@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/impedance_control.py b/python/impedance_control.py
index b97d3bf8ca49d898c40d0f00c244294da0bd7f18..d794b8ae5785c46a12b77c5b4f71aaf71b269222 100644
--- a/python/impedance_control.py
+++ b/python/impedance_control.py
@@ -6,7 +6,7 @@ Written by Sylvain Calinon <https://calinon.ch> and
 Amirreza Razmjoo <amirreza.razmjoo@idiap.ch>
 
 This file is part of RCFS <https://rcfs.ch/>
-License: MIT
+License: GPL-3.0-only
 '''
 
 import numpy as np
diff --git a/python/spline1D.py b/python/spline1D.py
index a60720aacc433064ca873a7e3b7dedcea72c2d31..e6ab9b0a70373c1858bf317d3f02f3592ce15ea1 100644
--- a/python/spline1D.py
+++ b/python/spline1D.py
@@ -5,7 +5,7 @@ Copyright (c) 2024 Idiap Research Institute <https://www.idiap.ch>
 Written by Guillaume Clivaz <guillaume.clivaz@idiap.ch> and Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch>
-License: MIT
+License: GPL-3.0-only
 """
 
 import numpy as np
diff --git a/python/spline1D_SDF.py b/python/spline1D_SDF.py
index 0da60b99a9669ea0e292145a0fd535b189841720..79ec71a9001c0f8d8047e926483d722c73ae0063 100644
--- a/python/spline1D_SDF.py
+++ b/python/spline1D_SDF.py
@@ -7,7 +7,7 @@ Copyright (c) 2024 Idiap Research Institute <https://www.idiap.ch>
 Written by Guillaume Clivaz <guillaume.clivaz@idiap.ch> and Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://rcfs.ch>
-License: MIT
+License: GPL-3.0-only
 """
 
 import numpy as np
diff --git a/python/spline2D.py b/python/spline2D.py
index 2ff475d48187513e454f42783a7465c361d620cb..2f93ff03734404b1f155ec09bcb3d2a8aee4f64d 100644
--- a/python/spline2D.py
+++ b/python/spline2D.py
@@ -7,7 +7,7 @@ Written by Yiming Li <yiming.li@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 """
 
 import numpy as np
diff --git a/python/spline2D_eikonal.py b/python/spline2D_eikonal.py
index 7d1e5c7cfc52ffc341d4a074a91cbc0ed6d3030b..d3852d2a196179c72fb1dd56d9e9dd5ae4b90e8c 100644
--- a/python/spline2D_eikonal.py
+++ b/python/spline2D_eikonal.py
@@ -7,7 +7,7 @@ Copyright (c) 2023 Idiap Research Institute <https://www.idiap.ch/>
 Written by Guillaume Clivaz <guillaume.clivaz@idiap.ch> and Sylvain Calinon <https://calinon.ch>
 
 This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
-License: MIT
+License: GPL-3.0-only
 """
 
 import numpy as np