From 86533a459c114751e9bc575870b1ddf390a1392a Mon Sep 17 00:00:00 2001
From: Ben Axelrod <baxelrod@theaiinstitute.com>
Date: Wed, 5 Nov 2025 13:40:59 -0500
Subject: [PATCH 1/3] Change to new RAI Institute copyright

---
 .github/svg/sm_powered.min.svg | 2 +-
 .github/svg/sm_powered.svg     | 2 +-
 .github/workflows/master.yml   | 2 +-
 README.md                      | 2 ++
 pyproject.toml                 | 5 +++++
 spatialmath/spline.py          | 2 +-
 6 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/.github/svg/sm_powered.min.svg b/.github/svg/sm_powered.min.svg
index 0e6152e2..7c723fff 100644
--- a/.github/svg/sm_powered.min.svg
+++ b/.github/svg/sm_powered.min.svg
@@ -1 +1 @@
-<svg xmlns="http://www.w3.org/2000/svg" width="182" height="20"><clipPath id="prefix__a"><rect width="182" height="20" rx="3" fill="#fff"/></clipPath><g clip-path="url(#prefix__a)"><path fill="#555" d="M0 0h76v20H0z"/><path fill="#86c440" d="M76 0h106v20H76z"/></g><g fill="#fff" text-anchor="middle" font-family="Verdana,Geneva,DejaVu Sans,sans-serif" text-rendering="geometricPrecision" font-size="110"><text x="385" y="140" textLength="630" transform="scale(.1)">powered by</text><text x="1180" y="140" fill="#222" textLength="730" transform="scale(.1)">spatial maths</text></g><g data-name="Layer 2"><g data-name="Layer 1"><path class="prefix__cls-6" fill="#222" stroke="#222" fill-opacity=".32" stroke-miterlimit="10" d="M165.06 12.21l3.83 1-3.25 2.36-4.14-1.23z"/><path class="prefix__cls-7" fill="#222" stroke="#222" stroke-width=".77" stroke-opacity=".18" d="M161.59 14.33l3.48-2.09 3.75 1-3.18 2.31z"/><path class="prefix__cls-6" fill="#222" stroke="#222" d="M165.06 12.21l3.83 1-3.25 2.37-4.14-1.24z"/><path class="prefix__cls-8" fill="#222" stroke="#222" stroke-width="1.55" stroke-opacity=".18" d="M161.67 14.32l3.4-2.05 3.67.94-3.11 2.27z"/><path class="prefix__cls-9" fill="#222" stroke="#222" stroke-linecap="round" stroke-width="1.2" d="M171.71 8.32l-.59.45c-.7.53 0 .38-1 1.12l-.28.2-4.64 3.52"/><path class="prefix__cls-9" fill="#222" stroke="#222" stroke-linecap="round" stroke-width="1.2" d="M164.94 3.65v.75c0 .87.3.22.3 1.44v7.79M174.89 15.87l-.72-.18c-.84-.22-.29.24-1.47-.07l-.26-.07-7.22-1.9"/></g></g></svg>
\ No newline at end of file
+<svg xmlns="http://www.w3.org/2000/svg" width="182" height="20"><clipPath id="prefix__a"><rect width="182" height="20" rx="3" fill="#fff"/></clipPath><g clip-path="url(#prefix__a)"><path fill="#555" d="M0 0h76v20H0z"/><path fill="#86c440" d="M76 0h106v20H76z"/></g><g fill="#fff" text-anchor="middle" font-family="Verdana,Geneva,DejaVu Sans,sans-serif" text-rendering="geometricPrecision" font-size="110"><text x="385" y="140" textLength="630" transform="scale(.1)">powered by</text><text x="1180" y="140" fill="#222" textLength="730" transform="scale(.1)">spatial maths</text></g><g data-name="Layer 2"><g data-name="Layer 1"><path class="prefix__cls-6" fill="#222" stroke="#222" fill-opacity=".32" stroke-miterlimit="10" d="M165.06 12.21l3.83 1-3.25 2.36-4.14-1.23z"/><path class="prefix__cls-7" fill="#222" stroke="#222" stroke-width=".77" stroke-opacity=".18" d="M161.59 14.33l3.48-2.09 3.75 1-3.18 2.31z"/><path class="prefix__cls-6" fill="#222" stroke="#222" d="M165.06 12.21l3.83 1-3.25 2.37-4.14-1.24z"/><path class="prefix__cls-8" fill="#222" stroke="#222" stroke-width="1.55" stroke-opacity=".18" d="M161.67 14.32l3.4-2.05 3.67.94-3.11 2.27z"/><path class="prefix__cls-9" fill="#222" stroke="#222" stroke-linecap="round" stroke-width="1.2" d="M171.71 8.32l-.59.45c-.7.53 0 .38-1 1.12l-.28.2-4.64 3.52"/><path class="prefix__cls-9" fill="#222" stroke="#222" stroke-linecap="round" stroke-width="1.2" d="M164.94 3.65v.75c0 .87.3.22.3 1.44v7.79M174.89 15.87l-.72-.18c-.84-.22-.29.24-1.47-.07l-.26-.07-7.22-1.9"/></g></g></svg>
diff --git a/.github/svg/sm_powered.svg b/.github/svg/sm_powered.svg
index 6d207b11..2b3674b8 100755
--- a/.github/svg/sm_powered.svg
+++ b/.github/svg/sm_powered.svg
@@ -36,4 +36,4 @@
     </g>
 
 
-</svg>
\ No newline at end of file
+</svg>
diff --git a/.github/workflows/master.yml b/.github/workflows/master.yml
index 23deebe9..ba19634b 100644
--- a/.github/workflows/master.yml
+++ b/.github/workflows/master.yml
@@ -59,7 +59,7 @@ jobs:
       run: |
         coverage run --omit='tests/*.py,tests/base/*.py' -m pytest
         coverage report
-        coverage xml 
+        coverage xml
     - name: upload coverage to Codecov
       uses: codecov/codecov-action@v3
       with:
diff --git a/README.md b/README.md
index 738395e7..8c47796c 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,5 @@
+<!-- Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved. -->
+
 # Spatial Maths for Python
 
 [![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/master/.github/svg/py_collection.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
diff --git a/pyproject.toml b/pyproject.toml
index 54fc237c..9b81cb82 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -92,3 +92,8 @@ required-version = "23.10.0"
 line-length = 88
 target-version = ['py38']
 exclude = "camera_derivatives.py"
+
+[tool.pytest.ini_options]
+filterwarnings = [
+    "ignore:invalid escape sequence:DeprecationWarning",
+]
diff --git a/spatialmath/spline.py b/spatialmath/spline.py
index 7f849442..c2da982e 100644
--- a/spatialmath/spline.py
+++ b/spatialmath/spline.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute.
 # MIT Licence, see details in top-level file: LICENCE
 
 """

From 8e02350945c24d02dda12bba80661c3613bc9a67 Mon Sep 17 00:00:00 2001
From: Ben Axelrod <baxelrod@theaiinstitute.com>
Date: Thu, 6 Nov 2025 13:42:04 -0500
Subject: [PATCH 2/3] revert

---
 README.md      | 2 --
 pyproject.toml | 5 -----
 2 files changed, 7 deletions(-)

diff --git a/README.md b/README.md
index 8c47796c..738395e7 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,3 @@
-<!-- Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved. -->
-
 # Spatial Maths for Python
 
 [![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/master/.github/svg/py_collection.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
diff --git a/pyproject.toml b/pyproject.toml
index e00a41ae..b6070611 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -92,8 +92,3 @@ required-version = "23.10.0"
 line-length = 88
 target-version = ['py38']
 exclude = "camera_derivatives.py"
-
-[tool.pytest.ini_options]
-filterwarnings = [
-    "ignore:invalid escape sequence:DeprecationWarning",
-]

From e20133bb6d73186a455024a4ffe8806746c4b965 Mon Sep 17 00:00:00 2001
From: Ben Axelrod <baxelrod@theaiinstitute.com>
Date: Thu, 6 Nov 2025 13:42:35 -0500
Subject: [PATCH 3/3] revert

---
 .github/svg/sm_powered.min.svg | 2 +-
 .github/svg/sm_powered.svg     | 2 +-
 .github/workflows/master.yml   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/svg/sm_powered.min.svg b/.github/svg/sm_powered.min.svg
index 7c723fff..0e6152e2 100644
--- a/.github/svg/sm_powered.min.svg
+++ b/.github/svg/sm_powered.min.svg
@@ -1 +1 @@
-<svg xmlns="http://www.w3.org/2000/svg" width="182" height="20"><clipPath id="prefix__a"><rect width="182" height="20" rx="3" fill="#fff"/></clipPath><g clip-path="url(#prefix__a)"><path fill="#555" d="M0 0h76v20H0z"/><path fill="#86c440" d="M76 0h106v20H76z"/></g><g fill="#fff" text-anchor="middle" font-family="Verdana,Geneva,DejaVu Sans,sans-serif" text-rendering="geometricPrecision" font-size="110"><text x="385" y="140" textLength="630" transform="scale(.1)">powered by</text><text x="1180" y="140" fill="#222" textLength="730" transform="scale(.1)">spatial maths</text></g><g data-name="Layer 2"><g data-name="Layer 1"><path class="prefix__cls-6" fill="#222" stroke="#222" fill-opacity=".32" stroke-miterlimit="10" d="M165.06 12.21l3.83 1-3.25 2.36-4.14-1.23z"/><path class="prefix__cls-7" fill="#222" stroke="#222" stroke-width=".77" stroke-opacity=".18" d="M161.59 14.33l3.48-2.09 3.75 1-3.18 2.31z"/><path class="prefix__cls-6" fill="#222" stroke="#222" d="M165.06 12.21l3.83 1-3.25 2.37-4.14-1.24z"/><path class="prefix__cls-8" fill="#222" stroke="#222" stroke-width="1.55" stroke-opacity=".18" d="M161.67 14.32l3.4-2.05 3.67.94-3.11 2.27z"/><path class="prefix__cls-9" fill="#222" stroke="#222" stroke-linecap="round" stroke-width="1.2" d="M171.71 8.32l-.59.45c-.7.53 0 .38-1 1.12l-.28.2-4.64 3.52"/><path class="prefix__cls-9" fill="#222" stroke="#222" stroke-linecap="round" stroke-width="1.2" d="M164.94 3.65v.75c0 .87.3.22.3 1.44v7.79M174.89 15.87l-.72-.18c-.84-.22-.29.24-1.47-.07l-.26-.07-7.22-1.9"/></g></g></svg>
+<svg xmlns="http://www.w3.org/2000/svg" width="182" height="20"><clipPath id="prefix__a"><rect width="182" height="20" rx="3" fill="#fff"/></clipPath><g clip-path="url(#prefix__a)"><path fill="#555" d="M0 0h76v20H0z"/><path fill="#86c440" d="M76 0h106v20H76z"/></g><g fill="#fff" text-anchor="middle" font-family="Verdana,Geneva,DejaVu Sans,sans-serif" text-rendering="geometricPrecision" font-size="110"><text x="385" y="140" textLength="630" transform="scale(.1)">powered by</text><text x="1180" y="140" fill="#222" textLength="730" transform="scale(.1)">spatial maths</text></g><g data-name="Layer 2"><g data-name="Layer 1"><path class="prefix__cls-6" fill="#222" stroke="#222" fill-opacity=".32" stroke-miterlimit="10" d="M165.06 12.21l3.83 1-3.25 2.36-4.14-1.23z"/><path class="prefix__cls-7" fill="#222" stroke="#222" stroke-width=".77" stroke-opacity=".18" d="M161.59 14.33l3.48-2.09 3.75 1-3.18 2.31z"/><path class="prefix__cls-6" fill="#222" stroke="#222" d="M165.06 12.21l3.83 1-3.25 2.37-4.14-1.24z"/><path class="prefix__cls-8" fill="#222" stroke="#222" stroke-width="1.55" stroke-opacity=".18" d="M161.67 14.32l3.4-2.05 3.67.94-3.11 2.27z"/><path class="prefix__cls-9" fill="#222" stroke="#222" stroke-linecap="round" stroke-width="1.2" d="M171.71 8.32l-.59.45c-.7.53 0 .38-1 1.12l-.28.2-4.64 3.52"/><path class="prefix__cls-9" fill="#222" stroke="#222" stroke-linecap="round" stroke-width="1.2" d="M164.94 3.65v.75c0 .87.3.22.3 1.44v7.79M174.89 15.87l-.72-.18c-.84-.22-.29.24-1.47-.07l-.26-.07-7.22-1.9"/></g></g></svg>
\ No newline at end of file
diff --git a/.github/svg/sm_powered.svg b/.github/svg/sm_powered.svg
index 2b3674b8..6d207b11 100755
--- a/.github/svg/sm_powered.svg
+++ b/.github/svg/sm_powered.svg
@@ -36,4 +36,4 @@
     </g>
 
 
-</svg>
+</svg>
\ No newline at end of file
diff --git a/.github/workflows/master.yml b/.github/workflows/master.yml
index ba19634b..23deebe9 100644
--- a/.github/workflows/master.yml
+++ b/.github/workflows/master.yml
@@ -59,7 +59,7 @@ jobs:
       run: |
         coverage run --omit='tests/*.py,tests/base/*.py' -m pytest
         coverage report
-        coverage xml
+        coverage xml 
     - name: upload coverage to Codecov
       uses: codecov/codecov-action@v3
       with: