diff --git a/CHANGELOG.txt b/CHANGELOG.txt
new file mode 100644
index 0000000..29a6fd4
--- /dev/null
+++ b/CHANGELOG.txt
@@ -0,0 +1,2 @@
+# Version 1.0
+Initial version
diff --git a/COPYRIGHT b/COPYRIGHT
new file mode 100644
index 0000000..ed96749
--- /dev/null
+++ b/COPYRIGHT
@@ -0,0 +1,18 @@
+PyRoboLearn: a Python framework for robot learning
+
+Copyright (c) 2018, Brian Delhaisse (brian.delhaisse@iit.it)
+
+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/>.
+
+For commercial use, please contact the author at brian.delhaisse@iit.it
diff --git a/LICENSE b/LICENSE
index c87f205..f288702 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,21 +1,674 @@
-MIT License
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
 
-Copyright (c) 2018, Brian Delhaisse (brian.delhaisse@iit.it)
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
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+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/licenses/why-not-lgpl.html>.
diff --git a/papers/openai2018learning/env.py b/papers/openai2018learning/env.py
index e7c37d6..5f78d6d 100644
--- a/papers/openai2018learning/env.py
+++ b/papers/openai2018learning/env.py
@@ -15,7 +15,7 @@ import pyrobolearn as prl
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenAI et al."]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/__init__.py b/pyrobolearn/__init__.py
index 7c3638b..e9e9824 100644
--- a/pyrobolearn/__init__.py
+++ b/pyrobolearn/__init__.py
@@ -83,7 +83,7 @@ from . import algos
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actions/action.py b/pyrobolearn/actions/action.py
index 1e9b171..757fe73 100644
--- a/pyrobolearn/actions/action.py
+++ b/pyrobolearn/actions/action.py
@@ -17,7 +17,7 @@ from pyrobolearn.utils.data_structures.orderedset import OrderedSet
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actions/basic_actions.py b/pyrobolearn/actions/basic_actions.py
index a98f924..4bd2fa4 100644
--- a/pyrobolearn/actions/basic_actions.py
+++ b/pyrobolearn/actions/basic_actions.py
@@ -12,7 +12,7 @@ from pyrobolearn.actions import Action
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actions/gym_actions.py b/pyrobolearn/actions/gym_actions.py
index 3fddd1a..5ece5e7 100644
--- a/pyrobolearn/actions/gym_actions.py
+++ b/pyrobolearn/actions/gym_actions.py
@@ -15,7 +15,7 @@ from pyrobolearn.actions.action import Action
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actions/robot_actions/actuator_actions.py b/pyrobolearn/actions/robot_actions/actuator_actions.py
index 699a118..2efe1a0 100644
--- a/pyrobolearn/actions/robot_actions/actuator_actions.py
+++ b/pyrobolearn/actions/robot_actions/actuator_actions.py
@@ -13,7 +13,7 @@ from pyrobolearn.robots.actuators.actuator import Actuator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actions/robot_actions/joint_actions.py b/pyrobolearn/actions/robot_actions/joint_actions.py
index b9d7604..e06db43 100644
--- a/pyrobolearn/actions/robot_actions/joint_actions.py
+++ b/pyrobolearn/actions/robot_actions/joint_actions.py
@@ -14,7 +14,7 @@ from pyrobolearn.actions.robot_actions.robot_actions import RobotAction
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actions/robot_actions/link_actions.py b/pyrobolearn/actions/robot_actions/link_actions.py
index 15e2416..00a7838 100644
--- a/pyrobolearn/actions/robot_actions/link_actions.py
+++ b/pyrobolearn/actions/robot_actions/link_actions.py
@@ -13,7 +13,7 @@ from pyrobolearn.actions.robot_actions.robot_actions import RobotAction
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actions/robot_actions/robot_actions.py b/pyrobolearn/actions/robot_actions/robot_actions.py
index d9d6508..e1b5004 100644
--- a/pyrobolearn/actions/robot_actions/robot_actions.py
+++ b/pyrobolearn/actions/robot_actions/robot_actions.py
@@ -18,7 +18,7 @@ from pyrobolearn.robots import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actorcritics/actorcritic.py b/pyrobolearn/actorcritics/actorcritic.py
index 6df4abf..87dbcfb 100644
--- a/pyrobolearn/actorcritics/actorcritic.py
+++ b/pyrobolearn/actorcritics/actorcritic.py
@@ -18,7 +18,7 @@ from pyrobolearn.values import Value
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actorcritics/basic_actorcritic.py b/pyrobolearn/actorcritics/basic_actorcritic.py
index 07d567d..d37cfd3 100644
--- a/pyrobolearn/actorcritics/basic_actorcritic.py
+++ b/pyrobolearn/actorcritics/basic_actorcritic.py
@@ -16,7 +16,7 @@ from pyrobolearn.actorcritics import ActorCritic, SharedActorCritic
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/actorcritics/nn_actorcritic.py b/pyrobolearn/actorcritics/nn_actorcritic.py
index 4e1d0c9..f1b320b 100644
--- a/pyrobolearn/actorcritics/nn_actorcritic.py
+++ b/pyrobolearn/actorcritics/nn_actorcritic.py
@@ -18,7 +18,7 @@ from pyrobolearn.actorcritics import ActorCritic, SharedActorCritic
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/bo.py b/pyrobolearn/algos/bo.py
index 3ce1118..8285485 100644
--- a/pyrobolearn/algos/bo.py
+++ b/pyrobolearn/algos/bo.py
@@ -15,7 +15,7 @@ from pyrobolearn.tasks import RLTask
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/cem.py b/pyrobolearn/algos/cem.py
index c45e608..fc26a89 100755
--- a/pyrobolearn/algos/cem.py
+++ b/pyrobolearn/algos/cem.py
@@ -13,7 +13,7 @@ from pyrobolearn.tasks import RLTask
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/cmaes.py b/pyrobolearn/algos/cmaes.py
index 3293efd..354796f 100755
--- a/pyrobolearn/algos/cmaes.py
+++ b/pyrobolearn/algos/cmaes.py
@@ -24,7 +24,7 @@ from pyrobolearn.tasks import RLTask
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/ddpg.py b/pyrobolearn/algos/ddpg.py
index 0a0ebcc..5e56fc7 100755
--- a/pyrobolearn/algos/ddpg.py
+++ b/pyrobolearn/algos/ddpg.py
@@ -24,7 +24,7 @@ from pyrobolearn.parameters.updater import PolyakAveraging
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "OpenAI Spinning Up (Josh Achiam)"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/dqn.py b/pyrobolearn/algos/dqn.py
index e71da8b..3aee9e9 100755
--- a/pyrobolearn/algos/dqn.py
+++ b/pyrobolearn/algos/dqn.py
@@ -27,7 +27,7 @@ from pyrobolearn.parameters.updater import PolyakAveraging  # , CopyParameter
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "PyTorch (Adam Paszke)"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/ella.py b/pyrobolearn/algos/ella.py
index d6c334e..a97aad4 100644
--- a/pyrobolearn/algos/ella.py
+++ b/pyrobolearn/algos/ella.py
@@ -23,7 +23,7 @@ from pyrobolearn.utils.torch_utils import kronecker
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "Paul Ruvolo", "Charles Dognin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/evaluator.py b/pyrobolearn/algos/evaluator.py
index e781aaf..b1fb3ab 100644
--- a/pyrobolearn/algos/evaluator.py
+++ b/pyrobolearn/algos/evaluator.py
@@ -10,7 +10,7 @@ from pyrobolearn.returns import Estimator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/explorer.py b/pyrobolearn/algos/explorer.py
index b9e5619..e16d2aa 100644
--- a/pyrobolearn/algos/explorer.py
+++ b/pyrobolearn/algos/explorer.py
@@ -25,7 +25,7 @@ from pyrobolearn import logger
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/fd.py b/pyrobolearn/algos/fd.py
index da7a22e..867e0ce 100755
--- a/pyrobolearn/algos/fd.py
+++ b/pyrobolearn/algos/fd.py
@@ -15,7 +15,7 @@ from pyrobolearn.tasks import RLTask
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/neat_algo.py b/pyrobolearn/algos/neat_algo.py
index 7342ee8..d6140b1 100755
--- a/pyrobolearn/algos/neat_algo.py
+++ b/pyrobolearn/algos/neat_algo.py
@@ -23,7 +23,7 @@ except ImportError as e:
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/power.py b/pyrobolearn/algos/power.py
index 678a5a3..0811116 100755
--- a/pyrobolearn/algos/power.py
+++ b/pyrobolearn/algos/power.py
@@ -15,7 +15,7 @@ from pyrobolearn.tasks import RLTask
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/ppo.py b/pyrobolearn/algos/ppo.py
index 2aa4620..92c6440 100755
--- a/pyrobolearn/algos/ppo.py
+++ b/pyrobolearn/algos/ppo.py
@@ -26,7 +26,7 @@ from pyrobolearn import logger
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "Ilya Kostrikov", "OpenAI Spinning Up (Josh Achiam)"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/reinforce.py b/pyrobolearn/algos/reinforce.py
index bc2a355..99e34e3 100755
--- a/pyrobolearn/algos/reinforce.py
+++ b/pyrobolearn/algos/reinforce.py
@@ -24,7 +24,7 @@ from pyrobolearn.optimizers import Adam
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/rl_algo.py b/pyrobolearn/algos/rl_algo.py
index f4f37a8..95532d3 100755
--- a/pyrobolearn/algos/rl_algo.py
+++ b/pyrobolearn/algos/rl_algo.py
@@ -19,7 +19,7 @@ from pyrobolearn.algos.updater import Updater
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/sac.py b/pyrobolearn/algos/sac.py
index c9153db..3d7faf9 100755
--- a/pyrobolearn/algos/sac.py
+++ b/pyrobolearn/algos/sac.py
@@ -26,7 +26,7 @@ from pyrobolearn.parameters.updater import PolyakAveraging
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "OpenAI Spinning Up (Josh Achiam)"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/td3.py b/pyrobolearn/algos/td3.py
index da7aea0..499830d 100755
--- a/pyrobolearn/algos/td3.py
+++ b/pyrobolearn/algos/td3.py
@@ -24,7 +24,7 @@ from pyrobolearn.parameters.updater import PolyakAveraging
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "OpenAI Spinning Up (Josh Achiam)"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/algos/updater.py b/pyrobolearn/algos/updater.py
index 6a08166..8890212 100644
--- a/pyrobolearn/algos/updater.py
+++ b/pyrobolearn/algos/updater.py
@@ -31,7 +31,7 @@ from pyrobolearn.parameters.updater import ParameterUpdater
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/approximators/approximator.py b/pyrobolearn/approximators/approximator.py
index ed241cc..b604467 100644
--- a/pyrobolearn/approximators/approximator.py
+++ b/pyrobolearn/approximators/approximator.py
@@ -24,7 +24,7 @@ from pyrobolearn.processors import Processor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/approximators/basic_approximator.py b/pyrobolearn/approximators/basic_approximator.py
index ae1d7bf..b7a0b9c 100644
--- a/pyrobolearn/approximators/basic_approximator.py
+++ b/pyrobolearn/approximators/basic_approximator.py
@@ -22,7 +22,7 @@ from pyrobolearn.models.basics.linear import Linear
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/approximators/nn_approximator.py b/pyrobolearn/approximators/nn_approximator.py
index 7644a33..d164026 100644
--- a/pyrobolearn/approximators/nn_approximator.py
+++ b/pyrobolearn/approximators/nn_approximator.py
@@ -20,7 +20,7 @@ from pyrobolearn.models.nn import NN, MLP, NEATModel
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/backends/torch_backend.py b/pyrobolearn/backends/torch_backend.py
index 7ee1b0b..e270472 100644
--- a/pyrobolearn/backends/torch_backend.py
+++ b/pyrobolearn/backends/torch_backend.py
@@ -11,7 +11,7 @@ import tensorflow as tf
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/controllers/controller.py b/pyrobolearn/controllers/controller.py
index a9efdc2..978d529 100644
--- a/pyrobolearn/controllers/controller.py
+++ b/pyrobolearn/controllers/controller.py
@@ -5,7 +5,7 @@
 __author__ = ["Brian Delhaisse"]
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/controllers/locomotion/fsm.py b/pyrobolearn/controllers/locomotion/fsm.py
index 3df5abf..7b94646 100644
--- a/pyrobolearn/controllers/locomotion/fsm.py
+++ b/pyrobolearn/controllers/locomotion/fsm.py
@@ -11,7 +11,7 @@ __author__ = ["Songyan Xin", "Brian Delhaisse"]
 # B.D. integrated it in the PRL framework, cleaned it, added the documentation, and made it more modular and flexible
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/controllers/locomotion/inverse_dynamic_controller.py b/pyrobolearn/controllers/locomotion/inverse_dynamic_controller.py
index a4184e5..a9a53b4 100755
--- a/pyrobolearn/controllers/locomotion/inverse_dynamic_controller.py
+++ b/pyrobolearn/controllers/locomotion/inverse_dynamic_controller.py
@@ -26,7 +26,7 @@ __author__ = ["Songyan Xin", "Brian Delhaisse"]
 # B.D. integrated it in the PRL framework, cleaned it, added the documentation, and made it more modular and flexible
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/controllers/locomotion/inverse_kinematic_controller.py b/pyrobolearn/controllers/locomotion/inverse_kinematic_controller.py
index 7ce2a13..cfc76b1 100755
--- a/pyrobolearn/controllers/locomotion/inverse_kinematic_controller.py
+++ b/pyrobolearn/controllers/locomotion/inverse_kinematic_controller.py
@@ -26,7 +26,7 @@ __author__ = ["Songyan Xin", "Brian Delhaisse"]
 # B.D. integrated it in the PRL framework, cleaned it, added the documentation, and made it more modular and flexible
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/controllers/locomotion/marc_raibert_controller.py b/pyrobolearn/controllers/locomotion/marc_raibert_controller.py
index b9a82c4..e7081ea 100755
--- a/pyrobolearn/controllers/locomotion/marc_raibert_controller.py
+++ b/pyrobolearn/controllers/locomotion/marc_raibert_controller.py
@@ -13,7 +13,7 @@ __author__ = ["Songyan Xin", "Brian Delhaisse"]
 # B.D. integrated it in the PRL framework, cleaned it, added the documentation, and made it more modular and flexible
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/controllers/task_controller.py b/pyrobolearn/controllers/task_controller.py
index 1ca6e99..8ff1a41 100644
--- a/pyrobolearn/controllers/task_controller.py
+++ b/pyrobolearn/controllers/task_controller.py
@@ -8,7 +8,7 @@ from pyrobolearn.priorities import TaskSolver
 __author__ = ["Brian Delhaisse"]
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/distributions/bernoulli.py b/pyrobolearn/distributions/bernoulli.py
index 2f20532..09c25d4 100644
--- a/pyrobolearn/distributions/bernoulli.py
+++ b/pyrobolearn/distributions/bernoulli.py
@@ -9,7 +9,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/distributions/categorical.py b/pyrobolearn/distributions/categorical.py
index 39d82b6..620669c 100644
--- a/pyrobolearn/distributions/categorical.py
+++ b/pyrobolearn/distributions/categorical.py
@@ -7,7 +7,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/distributions/gaussian.py b/pyrobolearn/distributions/gaussian.py
index ab0066f..b6f511e 100644
--- a/pyrobolearn/distributions/gaussian.py
+++ b/pyrobolearn/distributions/gaussian.py
@@ -18,7 +18,7 @@ import scipy
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/distributions/gmm.py b/pyrobolearn/distributions/gmm.py
index a87a9dc..b4ef667 100644
--- a/pyrobolearn/distributions/gmm.py
+++ b/pyrobolearn/distributions/gmm.py
@@ -20,7 +20,7 @@ from pyrobolearn.distributions.gaussian import Gaussian
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/distributions/modules.py b/pyrobolearn/distributions/modules.py
index a8e045e..b58b5b0 100644
--- a/pyrobolearn/distributions/modules.py
+++ b/pyrobolearn/distributions/modules.py
@@ -27,7 +27,7 @@ from pyrobolearn.distributions.gmm import GMM as GaussianMixtureDistribution
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "Ilya Kostrikov"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/dynamics/basic_dynamic.py b/pyrobolearn/dynamics/basic_dynamic.py
index e65ae02..8e89eef 100644
--- a/pyrobolearn/dynamics/basic_dynamic.py
+++ b/pyrobolearn/dynamics/basic_dynamic.py
@@ -13,7 +13,7 @@ from pyrobolearn.dynamics.dynamic import ParametrizedDynamicModel
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/dynamics/dynamic.py b/pyrobolearn/dynamics/dynamic.py
index 74be6ef..31ee57c 100644
--- a/pyrobolearn/dynamics/dynamic.py
+++ b/pyrobolearn/dynamics/dynamic.py
@@ -24,7 +24,7 @@ from pyrobolearn.approximators import Approximator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/dynamics/nn_dynamic.py b/pyrobolearn/dynamics/nn_dynamic.py
index b9d5df5..66a862f 100644
--- a/pyrobolearn/dynamics/nn_dynamic.py
+++ b/pyrobolearn/dynamics/nn_dynamic.py
@@ -12,7 +12,7 @@ from pyrobolearn.dynamics.dynamic import ParametrizedDynamicModel
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/dynamics/robot_dynamic.py b/pyrobolearn/dynamics/robot_dynamic.py
index fd19a29..7321b88 100644
--- a/pyrobolearn/dynamics/robot_dynamic.py
+++ b/pyrobolearn/dynamics/robot_dynamic.py
@@ -9,7 +9,7 @@ from pyrobolearn.dynamics.dynamic import DynamicModel
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/envs/env.py b/pyrobolearn/envs/env.py
index 3021c22..1a15d33 100644
--- a/pyrobolearn/envs/env.py
+++ b/pyrobolearn/envs/env.py
@@ -27,7 +27,7 @@ from pyrobolearn.states.generators import StateGenerator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/envs/gym_wrapper.py b/pyrobolearn/envs/gym_wrapper.py
index 10b3174..3febfdd 100644
--- a/pyrobolearn/envs/gym_wrapper.py
+++ b/pyrobolearn/envs/gym_wrapper.py
@@ -27,7 +27,7 @@ from pyrobolearn.rewards import GymReward
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/envs/locomotion_env.py b/pyrobolearn/envs/locomotion_env.py
index 9b932ef..58e0d97 100644
--- a/pyrobolearn/envs/locomotion_env.py
+++ b/pyrobolearn/envs/locomotion_env.py
@@ -14,7 +14,7 @@ from pyrobolearn.policies import Policy
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/experiments/experiment.py b/pyrobolearn/experiments/experiment.py
index a20d25d..c55b328 100644
--- a/pyrobolearn/experiments/experiment.py
+++ b/pyrobolearn/experiments/experiment.py
@@ -18,7 +18,7 @@ from abc import ABCMeta, abstractmethod
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/actions/action_exploration.py b/pyrobolearn/exploration/actions/action_exploration.py
index fc26bb2..ef4495c 100644
--- a/pyrobolearn/exploration/actions/action_exploration.py
+++ b/pyrobolearn/exploration/actions/action_exploration.py
@@ -28,7 +28,7 @@ from pyrobolearn.exploration import Exploration
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/actions/boltzmann.py b/pyrobolearn/exploration/actions/boltzmann.py
index 7c0a61c..886e3bd 100644
--- a/pyrobolearn/exploration/actions/boltzmann.py
+++ b/pyrobolearn/exploration/actions/boltzmann.py
@@ -18,7 +18,7 @@ from pyrobolearn.exploration.actions.discrete import DiscreteActionExploration
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/actions/continuous.py b/pyrobolearn/exploration/actions/continuous.py
index 456c85c..c0d08f4 100644
--- a/pyrobolearn/exploration/actions/continuous.py
+++ b/pyrobolearn/exploration/actions/continuous.py
@@ -24,7 +24,7 @@ from pyrobolearn.exploration.actions.action_exploration import ActionExploration
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/actions/discrete.py b/pyrobolearn/exploration/actions/discrete.py
index 8dad5b9..81f00c6 100644
--- a/pyrobolearn/exploration/actions/discrete.py
+++ b/pyrobolearn/exploration/actions/discrete.py
@@ -24,7 +24,7 @@ from pyrobolearn.exploration.actions.action_exploration import ActionExploration
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/actions/eps_greedy.py b/pyrobolearn/exploration/actions/eps_greedy.py
index 011562a..7cde82f 100644
--- a/pyrobolearn/exploration/actions/eps_greedy.py
+++ b/pyrobolearn/exploration/actions/eps_greedy.py
@@ -15,7 +15,7 @@ from pyrobolearn.exploration.actions.discrete import DiscreteActionExploration
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/actions/gaussian.py b/pyrobolearn/exploration/actions/gaussian.py
index 29fb61e..ab10289 100644
--- a/pyrobolearn/exploration/actions/gaussian.py
+++ b/pyrobolearn/exploration/actions/gaussian.py
@@ -14,7 +14,7 @@ from pyrobolearn.exploration.actions.continuous import ContinuousActionExplorati
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/exploration.py b/pyrobolearn/exploration/exploration.py
index 9217de7..a031144 100644
--- a/pyrobolearn/exploration/exploration.py
+++ b/pyrobolearn/exploration/exploration.py
@@ -17,7 +17,7 @@ from pyrobolearn.policies import Policy
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/parameters/gaussian.py b/pyrobolearn/exploration/parameters/gaussian.py
index 6f7bf6c..8a2f01c 100644
--- a/pyrobolearn/exploration/parameters/gaussian.py
+++ b/pyrobolearn/exploration/parameters/gaussian.py
@@ -15,7 +15,7 @@ from pyrobolearn.exploration.parameters.parameter_exploration import ParameterEx
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/exploration/parameters/parameter_exploration.py b/pyrobolearn/exploration/parameters/parameter_exploration.py
index 5da9429..e0d92f2 100644
--- a/pyrobolearn/exploration/parameters/parameter_exploration.py
+++ b/pyrobolearn/exploration/parameters/parameter_exploration.py
@@ -24,7 +24,7 @@ from pyrobolearn.exploration import Exploration
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/filters/extended_kalman_filter.py b/pyrobolearn/filters/extended_kalman_filter.py
index 0966319..c89d430 100644
--- a/pyrobolearn/filters/extended_kalman_filter.py
+++ b/pyrobolearn/filters/extended_kalman_filter.py
@@ -7,7 +7,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/filters/histogram_filter.py b/pyrobolearn/filters/histogram_filter.py
index 1412e1f..6fbe37b 100644
--- a/pyrobolearn/filters/histogram_filter.py
+++ b/pyrobolearn/filters/histogram_filter.py
@@ -7,7 +7,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/filters/kalman_filter.py b/pyrobolearn/filters/kalman_filter.py
index 3fb3514..35a478e 100644
--- a/pyrobolearn/filters/kalman_filter.py
+++ b/pyrobolearn/filters/kalman_filter.py
@@ -7,7 +7,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/filters/particle_filter.py b/pyrobolearn/filters/particle_filter.py
index af3df6d..2e7b280 100644
--- a/pyrobolearn/filters/particle_filter.py
+++ b/pyrobolearn/filters/particle_filter.py
@@ -8,7 +8,7 @@ import bisect
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/filters/unscented_kalman_filter.py b/pyrobolearn/filters/unscented_kalman_filter.py
index fa788d6..293ce4a 100644
--- a/pyrobolearn/filters/unscented_kalman_filter.py
+++ b/pyrobolearn/filters/unscented_kalman_filter.py
@@ -7,7 +7,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/losses/dynamic_losses.py b/pyrobolearn/losses/dynamic_losses.py
index 1a0b8d4..c2ead3f 100644
--- a/pyrobolearn/losses/dynamic_losses.py
+++ b/pyrobolearn/losses/dynamic_losses.py
@@ -13,7 +13,7 @@ from pyrobolearn.dynamics import DynamicModel
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/losses/loss.py b/pyrobolearn/losses/loss.py
index 5ff905a..4834db1 100644
--- a/pyrobolearn/losses/loss.py
+++ b/pyrobolearn/losses/loss.py
@@ -17,7 +17,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/losses/losses.py b/pyrobolearn/losses/losses.py
index 7230f2d..013d4d4 100644
--- a/pyrobolearn/losses/losses.py
+++ b/pyrobolearn/losses/losses.py
@@ -13,7 +13,7 @@ from pyrobolearn.storages import Batch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/losses/policy_losses.py b/pyrobolearn/losses/policy_losses.py
index d3673b4..ccf2389 100644
--- a/pyrobolearn/losses/policy_losses.py
+++ b/pyrobolearn/losses/policy_losses.py
@@ -11,7 +11,7 @@ from pyrobolearn.returns.estimators import Estimator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/losses/value_losses.py b/pyrobolearn/losses/value_losses.py
index 9c7aa43..7e6c021 100644
--- a/pyrobolearn/losses/value_losses.py
+++ b/pyrobolearn/losses/value_losses.py
@@ -13,7 +13,7 @@ from pyrobolearn.returns import TDReturn, Estimator, Return
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/metrics/il_metrics.py b/pyrobolearn/metrics/il_metrics.py
index 8f0c744..480dc07 100644
--- a/pyrobolearn/metrics/il_metrics.py
+++ b/pyrobolearn/metrics/il_metrics.py
@@ -10,7 +10,7 @@ from pyrobolearn.metrics import Metric
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/metrics/metric.py b/pyrobolearn/metrics/metric.py
index ad8935e..e187d6d 100644
--- a/pyrobolearn/metrics/metric.py
+++ b/pyrobolearn/metrics/metric.py
@@ -12,7 +12,7 @@ import matplotlib.pyplot as plt
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/metrics/rl_metrics.py b/pyrobolearn/metrics/rl_metrics.py
index 463e69a..040d2e9 100644
--- a/pyrobolearn/metrics/rl_metrics.py
+++ b/pyrobolearn/metrics/rl_metrics.py
@@ -11,7 +11,7 @@ from pyrobolearn.metrics import Metric
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/metrics/tl_metrics.py b/pyrobolearn/metrics/tl_metrics.py
index 2d927d1..d8d51c6 100644
--- a/pyrobolearn/metrics/tl_metrics.py
+++ b/pyrobolearn/metrics/tl_metrics.py
@@ -10,7 +10,7 @@ from pyrobolearn.metrics import Metric
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/basics/linear.py b/pyrobolearn/models/basics/linear.py
index 669f241..ea06d72 100644
--- a/pyrobolearn/models/basics/linear.py
+++ b/pyrobolearn/models/basics/linear.py
@@ -21,7 +21,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/basics/pca.py b/pyrobolearn/models/basics/pca.py
index a5af796..11b0d04 100644
--- a/pyrobolearn/models/basics/pca.py
+++ b/pyrobolearn/models/basics/pca.py
@@ -9,7 +9,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/basics/polynomial.py b/pyrobolearn/models/basics/polynomial.py
index 14f49b4..9f4cf68 100644
--- a/pyrobolearn/models/basics/polynomial.py
+++ b/pyrobolearn/models/basics/polynomial.py
@@ -16,7 +16,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/cpg/cpg.py b/pyrobolearn/models/cpg/cpg.py
index 212d805..c9d0278 100644
--- a/pyrobolearn/models/cpg/cpg.py
+++ b/pyrobolearn/models/cpg/cpg.py
@@ -17,7 +17,7 @@ from matplotlib.animation import FuncAnimation
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/basis_functions.py b/pyrobolearn/models/dmp/basis_functions.py
index 9cf9735..c543e86 100644
--- a/pyrobolearn/models/dmp/basis_functions.py
+++ b/pyrobolearn/models/dmp/basis_functions.py
@@ -12,7 +12,7 @@ import scipy.interpolate
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/biodiscrete_dmp.py b/pyrobolearn/models/dmp/biodiscrete_dmp.py
index 9996607..fd144f4 100644
--- a/pyrobolearn/models/dmp/biodiscrete_dmp.py
+++ b/pyrobolearn/models/dmp/biodiscrete_dmp.py
@@ -14,7 +14,7 @@ from pyrobolearn.models.dmp.discrete_dmp import DiscreteDMP
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/canonical_systems.py b/pyrobolearn/models/dmp/canonical_systems.py
index 21c365b..d0c184e 100644
--- a/pyrobolearn/models/dmp/canonical_systems.py
+++ b/pyrobolearn/models/dmp/canonical_systems.py
@@ -11,7 +11,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/discrete_dmp.py b/pyrobolearn/models/dmp/discrete_dmp.py
index cc8b00f..f6f0a94 100644
--- a/pyrobolearn/models/dmp/discrete_dmp.py
+++ b/pyrobolearn/models/dmp/discrete_dmp.py
@@ -11,7 +11,7 @@ from pyrobolearn.models.dmp.dmp import DMP
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmp.py b/pyrobolearn/models/dmp/dmp.py
index 7062cfe..e23722c 100644
--- a/pyrobolearn/models/dmp/dmp.py
+++ b/pyrobolearn/models/dmp/dmp.py
@@ -15,7 +15,7 @@ from pyrobolearn.models.dmp.forcing_terms import ForcingTerm
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmpytorch/basis_functions.py b/pyrobolearn/models/dmp/dmpytorch/basis_functions.py
index a2e6bc1..c7734cc 100644
--- a/pyrobolearn/models/dmp/dmpytorch/basis_functions.py
+++ b/pyrobolearn/models/dmp/dmpytorch/basis_functions.py
@@ -10,7 +10,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmpytorch/biodiscrete_dmp.py b/pyrobolearn/models/dmp/dmpytorch/biodiscrete_dmp.py
index 68945cb..3dc938a 100644
--- a/pyrobolearn/models/dmp/dmpytorch/biodiscrete_dmp.py
+++ b/pyrobolearn/models/dmp/dmpytorch/biodiscrete_dmp.py
@@ -15,7 +15,7 @@ from pyrobolearn.models.dmp.dmpytorch.discrete_dmp import DiscreteDMP
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmpytorch/canonical_systems.py b/pyrobolearn/models/dmp/dmpytorch/canonical_systems.py
index 31057d9..e45e6f3 100644
--- a/pyrobolearn/models/dmp/dmpytorch/canonical_systems.py
+++ b/pyrobolearn/models/dmp/dmpytorch/canonical_systems.py
@@ -12,7 +12,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmpytorch/discrete_dmp.py b/pyrobolearn/models/dmp/dmpytorch/discrete_dmp.py
index b2843b5..c732396 100644
--- a/pyrobolearn/models/dmp/dmpytorch/discrete_dmp.py
+++ b/pyrobolearn/models/dmp/dmpytorch/discrete_dmp.py
@@ -12,7 +12,7 @@ from pyrobolearn.models.dmp.dmpytorch.dmp import DMP
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmpytorch/dmp.py b/pyrobolearn/models/dmp/dmpytorch/dmp.py
index 285d878..004c68a 100644
--- a/pyrobolearn/models/dmp/dmpytorch/dmp.py
+++ b/pyrobolearn/models/dmp/dmpytorch/dmp.py
@@ -16,7 +16,7 @@ from pyrobolearn.models.dmp.dmpytorch.forcing_terms import ForcingTerm
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "Travis DeWolf"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmpytorch/forcing_terms.py b/pyrobolearn/models/dmp/dmpytorch/forcing_terms.py
index 39ac422..8507326 100644
--- a/pyrobolearn/models/dmp/dmpytorch/forcing_terms.py
+++ b/pyrobolearn/models/dmp/dmpytorch/forcing_terms.py
@@ -14,7 +14,7 @@ from pyrobolearn.models.dmp.dmpytorch.weight import WeightModule
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmpytorch/rhythmic_dmp.py b/pyrobolearn/models/dmp/dmpytorch/rhythmic_dmp.py
index 1bba9c7..0dd8a17 100644
--- a/pyrobolearn/models/dmp/dmpytorch/rhythmic_dmp.py
+++ b/pyrobolearn/models/dmp/dmpytorch/rhythmic_dmp.py
@@ -12,7 +12,7 @@ from pyrobolearn.models.dmp.dmpytorch.dmp import DMP
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/dmpytorch/weight.py b/pyrobolearn/models/dmp/dmpytorch/weight.py
index 460f1ca..a07ca67 100644
--- a/pyrobolearn/models/dmp/dmpytorch/weight.py
+++ b/pyrobolearn/models/dmp/dmpytorch/weight.py
@@ -7,7 +7,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/forcing_terms.py b/pyrobolearn/models/dmp/forcing_terms.py
index 759f537..639db1b 100644
--- a/pyrobolearn/models/dmp/forcing_terms.py
+++ b/pyrobolearn/models/dmp/forcing_terms.py
@@ -14,7 +14,7 @@ from pyrobolearn.models.dmp.basis_functions import *
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/dmp/rhythmic_dmp.py b/pyrobolearn/models/dmp/rhythmic_dmp.py
index 0dbd960..90873ee 100644
--- a/pyrobolearn/models/dmp/rhythmic_dmp.py
+++ b/pyrobolearn/models/dmp/rhythmic_dmp.py
@@ -11,7 +11,7 @@ from pyrobolearn.models.dmp.dmp import DMP
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/gaussian.py b/pyrobolearn/models/gaussian.py
index cca0d57..ce5fff8 100755
--- a/pyrobolearn/models/gaussian.py
+++ b/pyrobolearn/models/gaussian.py
@@ -23,7 +23,7 @@ from matplotlib.patches import Ellipse
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/gmm/gmm.py b/pyrobolearn/models/gmm/gmm.py
index 425bd08..e9c7538 100755
--- a/pyrobolearn/models/gmm/gmm.py
+++ b/pyrobolearn/models/gmm/gmm.py
@@ -20,7 +20,7 @@ from pyrobolearn.models.gaussian import Gaussian
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/gp/gp.py b/pyrobolearn/models/gp/gp.py
index 1ea29c4..dbb1d9c 100644
--- a/pyrobolearn/models/gp/gp.py
+++ b/pyrobolearn/models/gp/gp.py
@@ -25,7 +25,7 @@ import gpytorch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/gp/gplvm.py b/pyrobolearn/models/gp/gplvm.py
index 6257da6..cd448c2 100644
--- a/pyrobolearn/models/gp/gplvm.py
+++ b/pyrobolearn/models/gp/gplvm.py
@@ -13,7 +13,7 @@ from pyrobolearn.models.gp.gp import GPR
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/kmp/kmp.py b/pyrobolearn/models/kmp/kmp.py
index f67bdc4..446033d 100644
--- a/pyrobolearn/models/kmp/kmp.py
+++ b/pyrobolearn/models/kmp/kmp.py
@@ -16,7 +16,7 @@ from pyrobolearn.models.gmm import GMM, Gaussian
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/model.py b/pyrobolearn/models/model.py
index 8c20d81..3e9f34c 100644
--- a/pyrobolearn/models/model.py
+++ b/pyrobolearn/models/model.py
@@ -11,7 +11,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/ae.py b/pyrobolearn/models/nn/ae.py
index bed9113..c94b8d8 100644
--- a/pyrobolearn/models/nn/ae.py
+++ b/pyrobolearn/models/nn/ae.py
@@ -25,7 +25,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/bnn.py b/pyrobolearn/models/nn/bnn.py
index 7592324..4c51c54 100644
--- a/pyrobolearn/models/nn/bnn.py
+++ b/pyrobolearn/models/nn/bnn.py
@@ -43,7 +43,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/capsule.py b/pyrobolearn/models/nn/capsule.py
index 15f020a..5229475 100644
--- a/pyrobolearn/models/nn/capsule.py
+++ b/pyrobolearn/models/nn/capsule.py
@@ -21,7 +21,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/cnn.py b/pyrobolearn/models/nn/cnn.py
index 714fa81..481bc8f 100644
--- a/pyrobolearn/models/nn/cnn.py
+++ b/pyrobolearn/models/nn/cnn.py
@@ -27,7 +27,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/dnn.py b/pyrobolearn/models/nn/dnn.py
index 1d91461..ac9b436 100644
--- a/pyrobolearn/models/nn/dnn.py
+++ b/pyrobolearn/models/nn/dnn.py
@@ -28,7 +28,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/gan.py b/pyrobolearn/models/nn/gan.py
index 006cde2..a7e8c0f 100644
--- a/pyrobolearn/models/nn/gan.py
+++ b/pyrobolearn/models/nn/gan.py
@@ -28,7 +28,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/mann.py b/pyrobolearn/models/nn/mann.py
index dddec53..689c28d 100644
--- a/pyrobolearn/models/nn/mann.py
+++ b/pyrobolearn/models/nn/mann.py
@@ -32,7 +32,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/mlp.py b/pyrobolearn/models/nn/mlp.py
index b40845d..27c11ea 100644
--- a/pyrobolearn/models/nn/mlp.py
+++ b/pyrobolearn/models/nn/mlp.py
@@ -24,7 +24,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/neat_model.py b/pyrobolearn/models/nn/neat_model.py
index 74f8490..ffdae25 100644
--- a/pyrobolearn/models/nn/neat_model.py
+++ b/pyrobolearn/models/nn/neat_model.py
@@ -22,7 +22,7 @@ except ImportError as e:
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/rcnn.py b/pyrobolearn/models/nn/rcnn.py
index 07fb243..cb062be 100644
--- a/pyrobolearn/models/nn/rcnn.py
+++ b/pyrobolearn/models/nn/rcnn.py
@@ -26,7 +26,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/rnn.py b/pyrobolearn/models/nn/rnn.py
index 75c29c1..e4c1ac9 100644
--- a/pyrobolearn/models/nn/rnn.py
+++ b/pyrobolearn/models/nn/rnn.py
@@ -25,7 +25,7 @@ from pyrobolearn.models.nn.dnn import NN
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/nn/vae.py b/pyrobolearn/models/nn/vae.py
index 8fba9b5..0bda7a8 100644
--- a/pyrobolearn/models/nn/vae.py
+++ b/pyrobolearn/models/nn/vae.py
@@ -27,7 +27,7 @@ from pyrobolearn.models.nn.ae import AE
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/models/promp/promp.py b/pyrobolearn/models/promp/promp.py
index a76e78b..7a5d0de 100755
--- a/pyrobolearn/models/promp/promp.py
+++ b/pyrobolearn/models/promp/promp.py
@@ -17,7 +17,7 @@ from pyrobolearn.models.gaussian import Gaussian
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/bound.py b/pyrobolearn/optimizers/bound.py
index f6fac26..6560fac 100644
--- a/pyrobolearn/optimizers/bound.py
+++ b/pyrobolearn/optimizers/bound.py
@@ -27,7 +27,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/cma_optimizer.py b/pyrobolearn/optimizers/cma_optimizer.py
index a5fbd61..947ee75 100644
--- a/pyrobolearn/optimizers/cma_optimizer.py
+++ b/pyrobolearn/optimizers/cma_optimizer.py
@@ -21,7 +21,7 @@ from pyrobolearn.optimizers import Optimizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/constraint.py b/pyrobolearn/optimizers/constraint.py
index 9544224..311c06d 100644
--- a/pyrobolearn/optimizers/constraint.py
+++ b/pyrobolearn/optimizers/constraint.py
@@ -27,7 +27,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/gpyopt_optimizer.py b/pyrobolearn/optimizers/gpyopt_optimizer.py
index 0a20806..dbd73e4 100644
--- a/pyrobolearn/optimizers/gpyopt_optimizer.py
+++ b/pyrobolearn/optimizers/gpyopt_optimizer.py
@@ -22,7 +22,7 @@ from pyrobolearn.optimizers import Optimizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/ipopt_optimizer.py b/pyrobolearn/optimizers/ipopt_optimizer.py
index d98bd3b..8078a9c 100644
--- a/pyrobolearn/optimizers/ipopt_optimizer.py
+++ b/pyrobolearn/optimizers/ipopt_optimizer.py
@@ -21,7 +21,7 @@ from pyrobolearn.optimizers import Optimizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/nlopt_optimizer.py b/pyrobolearn/optimizers/nlopt_optimizer.py
index 9a5f5a2..4d2d5b8 100644
--- a/pyrobolearn/optimizers/nlopt_optimizer.py
+++ b/pyrobolearn/optimizers/nlopt_optimizer.py
@@ -21,7 +21,7 @@ from pyrobolearn.optimizers import Optimizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/objective.py b/pyrobolearn/optimizers/objective.py
index 94c19b8..777282d 100644
--- a/pyrobolearn/optimizers/objective.py
+++ b/pyrobolearn/optimizers/objective.py
@@ -27,7 +27,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/optimization_problem.py b/pyrobolearn/optimizers/optimization_problem.py
index 34d2e2d..a23e24a 100644
--- a/pyrobolearn/optimizers/optimization_problem.py
+++ b/pyrobolearn/optimizers/optimization_problem.py
@@ -30,7 +30,7 @@ from pyrobolearn.optimizers.bound import Bound
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/optimizer.py b/pyrobolearn/optimizers/optimizer.py
index 50616a0..bb97f15 100644
--- a/pyrobolearn/optimizers/optimizer.py
+++ b/pyrobolearn/optimizers/optimizer.py
@@ -33,7 +33,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/qpsolvers_optimizer.py b/pyrobolearn/optimizers/qpsolvers_optimizer.py
index 454a1bf..3d8a6e6 100644
--- a/pyrobolearn/optimizers/qpsolvers_optimizer.py
+++ b/pyrobolearn/optimizers/qpsolvers_optimizer.py
@@ -26,7 +26,7 @@ from pyrobolearn.optimizers import Optimizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/scipy_optimizer.py b/pyrobolearn/optimizers/scipy_optimizer.py
index 87d8101..2e5bf40 100644
--- a/pyrobolearn/optimizers/scipy_optimizer.py
+++ b/pyrobolearn/optimizers/scipy_optimizer.py
@@ -15,7 +15,7 @@ from pyrobolearn.optimizers import Optimizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/optimizers/torch_optimizer.py b/pyrobolearn/optimizers/torch_optimizer.py
index 714ef64..d258213 100644
--- a/pyrobolearn/optimizers/torch_optimizer.py
+++ b/pyrobolearn/optimizers/torch_optimizer.py
@@ -20,7 +20,7 @@ from pyrobolearn.optimizers.optimizer import Optimizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/parameters/updater.py b/pyrobolearn/parameters/updater.py
index 754584e..1564a00 100644
--- a/pyrobolearn/parameters/updater.py
+++ b/pyrobolearn/parameters/updater.py
@@ -12,7 +12,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/physics/body_physics_randomizer.py b/pyrobolearn/physics/body_physics_randomizer.py
index 03fc41a..4ab1212 100644
--- a/pyrobolearn/physics/body_physics_randomizer.py
+++ b/pyrobolearn/physics/body_physics_randomizer.py
@@ -12,7 +12,7 @@ from pyrobolearn.physics.physics_randomizer import PhysicsRandomizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/physics/joint_physics_randomizer.py b/pyrobolearn/physics/joint_physics_randomizer.py
index 554ff3f..95c2862 100644
--- a/pyrobolearn/physics/joint_physics_randomizer.py
+++ b/pyrobolearn/physics/joint_physics_randomizer.py
@@ -14,7 +14,7 @@ from pyrobolearn.physics.body_physics_randomizer import BodyPhysicsRandomizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/physics/link_physics_randomizer.py b/pyrobolearn/physics/link_physics_randomizer.py
index 5dabe35..7f1b02c 100644
--- a/pyrobolearn/physics/link_physics_randomizer.py
+++ b/pyrobolearn/physics/link_physics_randomizer.py
@@ -14,7 +14,7 @@ from pyrobolearn.physics.body_physics_randomizer import BodyPhysicsRandomizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/physics/physics_randomizer.py b/pyrobolearn/physics/physics_randomizer.py
index 52f5cba..942b816 100644
--- a/pyrobolearn/physics/physics_randomizer.py
+++ b/pyrobolearn/physics/physics_randomizer.py
@@ -14,7 +14,7 @@ from pyrobolearn.simulators import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/physics/robot_physics_randomizer.py b/pyrobolearn/physics/robot_physics_randomizer.py
index 4bbd59c..95a5f1a 100644
--- a/pyrobolearn/physics/robot_physics_randomizer.py
+++ b/pyrobolearn/physics/robot_physics_randomizer.py
@@ -15,7 +15,7 @@ from pyrobolearn.physics.joint_physics_randomizer import JointPhysicsRandomizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/physics/world_physics_randomizer.py b/pyrobolearn/physics/world_physics_randomizer.py
index 5d1485d..fc9d5ea 100644
--- a/pyrobolearn/physics/world_physics_randomizer.py
+++ b/pyrobolearn/physics/world_physics_randomizer.py
@@ -15,7 +15,7 @@ from pyrobolearn.physics.physics_randomizer import PhysicsRandomizer
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/policies/basic_policy.py b/pyrobolearn/policies/basic_policy.py
index ba35ab3..4a51794 100644
--- a/pyrobolearn/policies/basic_policy.py
+++ b/pyrobolearn/policies/basic_policy.py
@@ -15,7 +15,7 @@ from pyrobolearn.values.value import ParametrizedQValueOutput
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/policies/cpg_policy.py b/pyrobolearn/policies/cpg_policy.py
index 3559c00..ff3843e 100644
--- a/pyrobolearn/policies/cpg_policy.py
+++ b/pyrobolearn/policies/cpg_policy.py
@@ -16,7 +16,7 @@ from pyrobolearn.actions import JointAction, Action
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/policies/dmp_policy.py b/pyrobolearn/policies/dmp_policy.py
index e608d91..7071f73 100644
--- a/pyrobolearn/policies/dmp_policy.py
+++ b/pyrobolearn/policies/dmp_policy.py
@@ -16,7 +16,7 @@ from pyrobolearn.actions import Action, JointPositionAction, JointVelocityAction
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/policies/neat_policy.py b/pyrobolearn/policies/neat_policy.py
index 1c181ad..7ad9b2c 100644
--- a/pyrobolearn/policies/neat_policy.py
+++ b/pyrobolearn/policies/neat_policy.py
@@ -25,7 +25,7 @@ from pyrobolearn.approximators import NEATApproximator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/policies/nn_policy.py b/pyrobolearn/policies/nn_policy.py
index c8cf30a..4e96453 100644
--- a/pyrobolearn/policies/nn_policy.py
+++ b/pyrobolearn/policies/nn_policy.py
@@ -11,7 +11,7 @@ from pyrobolearn.policies.policy import Policy
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/policies/policy.py b/pyrobolearn/policies/policy.py
index 4149f88..37007a9 100644
--- a/pyrobolearn/policies/policy.py
+++ b/pyrobolearn/policies/policy.py
@@ -27,7 +27,7 @@ from pyrobolearn.approximators import Approximator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/priorities/constraints/constraint.py b/pyrobolearn/priorities/constraints/constraint.py
index afacb82..e6d2369 100644
--- a/pyrobolearn/priorities/constraints/constraint.py
+++ b/pyrobolearn/priorities/constraints/constraint.py
@@ -95,7 +95,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenSoT (Enrico Mingo Hoffman and Alessio Rocchi)", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/priorities/constraints/dynamic_constraints.py b/pyrobolearn/priorities/constraints/dynamic_constraints.py
index b1d2435..9aa3b48 100644
--- a/pyrobolearn/priorities/constraints/dynamic_constraints.py
+++ b/pyrobolearn/priorities/constraints/dynamic_constraints.py
@@ -17,7 +17,7 @@ from pyrobolearn.priorities.constraints.constraint import Constraint
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenSoT (Enrico Mingo Hoffman and Alessio Rocchi)", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/priorities/constraints/kinematic_constraints.py b/pyrobolearn/priorities/constraints/kinematic_constraints.py
index 64b29dd..c26222c 100644
--- a/pyrobolearn/priorities/constraints/kinematic_constraints.py
+++ b/pyrobolearn/priorities/constraints/kinematic_constraints.py
@@ -17,7 +17,7 @@ from pyrobolearn.priorities.constraints.constraint import Constraint
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenSoT (Enrico Mingo Hoffman and Alessio Rocchi)", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/priorities/model.py b/pyrobolearn/priorities/model.py
index 7eb8839..60e6bc8 100644
--- a/pyrobolearn/priorities/model.py
+++ b/pyrobolearn/priorities/model.py
@@ -16,7 +16,7 @@ import rbdl
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenSoT (Enrico Mingo Hoffman and Alessio Rocchi)", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/priorities/solver.py b/pyrobolearn/priorities/solver.py
index cd7bbb6..c9572ca 100644
--- a/pyrobolearn/priorities/solver.py
+++ b/pyrobolearn/priorities/solver.py
@@ -17,7 +17,7 @@ from pyrobolearn.optimizers.qpsolvers_optimizer import QP
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenSoT (Enrico Mingo Hoffman and Alessio Rocchi)", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/priorities/tasks/dynamic_tasks.py b/pyrobolearn/priorities/tasks/dynamic_tasks.py
index 0bca284..f645239 100644
--- a/pyrobolearn/priorities/tasks/dynamic_tasks.py
+++ b/pyrobolearn/priorities/tasks/dynamic_tasks.py
@@ -17,7 +17,7 @@ from pyrobolearn.priorities.tasks.task import Task
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenSoT (Enrico Mingo Hoffman and Alessio Rocchi)", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/priorities/tasks/kinematic_tasks.py b/pyrobolearn/priorities/tasks/kinematic_tasks.py
index 7237eb5..7c281a7 100644
--- a/pyrobolearn/priorities/tasks/kinematic_tasks.py
+++ b/pyrobolearn/priorities/tasks/kinematic_tasks.py
@@ -17,7 +17,7 @@ from pyrobolearn.priorities.tasks.task import Task
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenSoT (Enrico Mingo Hoffman and Alessio Rocchi)", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/priorities/tasks/task.py b/pyrobolearn/priorities/tasks/task.py
index c330c64..5aaf791 100644
--- a/pyrobolearn/priorities/tasks/task.py
+++ b/pyrobolearn/priorities/tasks/task.py
@@ -97,7 +97,7 @@ from pyrobolearn.priorities.constraints.constraint import Constraint
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["OpenSoT (Enrico Mingo Hoffman and Alessio Rocchi)", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/processors/basic_processors.py b/pyrobolearn/processors/basic_processors.py
index 948299f..57b21ce 100644
--- a/pyrobolearn/processors/basic_processors.py
+++ b/pyrobolearn/processors/basic_processors.py
@@ -13,7 +13,7 @@ from pyrobolearn.processors.processor import Processor, convert_numpy
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/processors/linear_processor.py b/pyrobolearn/processors/linear_processor.py
index 36dc9fa..70bb308 100644
--- a/pyrobolearn/processors/linear_processor.py
+++ b/pyrobolearn/processors/linear_processor.py
@@ -9,7 +9,7 @@ from pyrobolearn.processors.processor import Processor, convert_numpy
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/processors/processor.py b/pyrobolearn/processors/processor.py
index 2a1fd93..dc34f1c 100644
--- a/pyrobolearn/processors/processor.py
+++ b/pyrobolearn/processors/processor.py
@@ -12,7 +12,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/recorders/recorder.py b/pyrobolearn/recorders/recorder.py
index 1f08c52..f8f7e4e 100644
--- a/pyrobolearn/recorders/recorder.py
+++ b/pyrobolearn/recorders/recorder.py
@@ -23,7 +23,7 @@ from pyrobolearn.actions import Action
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/returns/estimators.py b/pyrobolearn/returns/estimators.py
index dd9735c..4da2667 100644
--- a/pyrobolearn/returns/estimators.py
+++ b/pyrobolearn/returns/estimators.py
@@ -20,7 +20,7 @@ from pyrobolearn.values import Value, QValue
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/returns/evaluators.py b/pyrobolearn/returns/evaluators.py
index b8dc620..4167445 100644
--- a/pyrobolearn/returns/evaluators.py
+++ b/pyrobolearn/returns/evaluators.py
@@ -22,7 +22,7 @@ from pyrobolearn.returns import Return, Estimator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/returns/returns.py b/pyrobolearn/returns/returns.py
index 5feb543..82db424 100644
--- a/pyrobolearn/returns/returns.py
+++ b/pyrobolearn/returns/returns.py
@@ -22,7 +22,7 @@ from pyrobolearn.returns.targets import ValueTarget, QValueTarget, QLearningTarg
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/returns/targets.py b/pyrobolearn/returns/targets.py
index 5f616dd..47b7c77 100644
--- a/pyrobolearn/returns/targets.py
+++ b/pyrobolearn/returns/targets.py
@@ -22,7 +22,7 @@ from pyrobolearn.exploration import Exploration
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/rewards/basic_rewards.py b/pyrobolearn/rewards/basic_rewards.py
index 96141c8..34b4797 100644
--- a/pyrobolearn/rewards/basic_rewards.py
+++ b/pyrobolearn/rewards/basic_rewards.py
@@ -16,7 +16,7 @@ from pyrobolearn.rewards.reward import Reward
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/rewards/gym_reward.py b/pyrobolearn/rewards/gym_reward.py
index fa99ef7..f7fbf49 100644
--- a/pyrobolearn/rewards/gym_reward.py
+++ b/pyrobolearn/rewards/gym_reward.py
@@ -10,7 +10,7 @@ from pyrobolearn.rewards.basic_rewards import FixedReward
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/rewards/processors/reward_processor.py b/pyrobolearn/rewards/processors/reward_processor.py
index a7ca4a0..9d907b7 100644
--- a/pyrobolearn/rewards/processors/reward_processor.py
+++ b/pyrobolearn/rewards/processors/reward_processor.py
@@ -11,7 +11,7 @@ from pyrobolearn.rewards.reward import Reward
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/rewards/reward.py b/pyrobolearn/rewards/reward.py
index 447954e..ee91e76 100644
--- a/pyrobolearn/rewards/reward.py
+++ b/pyrobolearn/rewards/reward.py
@@ -26,7 +26,7 @@ from pyrobolearn.actions import *
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/actuators/actuator.py b/pyrobolearn/robots/actuators/actuator.py
index d840f90..3649a79 100644
--- a/pyrobolearn/robots/actuators/actuator.py
+++ b/pyrobolearn/robots/actuators/actuator.py
@@ -10,7 +10,7 @@ simulation to reality.
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/actuators/joints.py b/pyrobolearn/robots/actuators/joints.py
index 066dc2a..670ad83 100644
--- a/pyrobolearn/robots/actuators/joints.py
+++ b/pyrobolearn/robots/actuators/joints.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.actuators.actuator import Actuator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/aibo.py b/pyrobolearn/robots/aibo.py
index 27b56cd..0f42237 100644
--- a/pyrobolearn/robots/aibo.py
+++ b/pyrobolearn/robots/aibo.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/allegrohand.py b/pyrobolearn/robots/allegrohand.py
index 07990a9..885aaed 100644
--- a/pyrobolearn/robots/allegrohand.py
+++ b/pyrobolearn/robots/allegrohand.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.hand import Hand
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/ant.py b/pyrobolearn/robots/ant.py
index e85ca12..620facf 100644
--- a/pyrobolearn/robots/ant.py
+++ b/pyrobolearn/robots/ant.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/anymal.py b/pyrobolearn/robots/anymal.py
index 7f5c94c..89f863b 100644
--- a/pyrobolearn/robots/anymal.py
+++ b/pyrobolearn/robots/anymal.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/atlas.py b/pyrobolearn/robots/atlas.py
index 4533138..e8b9fc7 100644
--- a/pyrobolearn/robots/atlas.py
+++ b/pyrobolearn/robots/atlas.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/ballbot.py b/pyrobolearn/robots/ballbot.py
index 9e4877d..0cf5fcf 100644
--- a/pyrobolearn/robots/ballbot.py
+++ b/pyrobolearn/robots/ballbot.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.robot import Robot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/base.py b/pyrobolearn/robots/base.py
index cab987a..b9ff59b 100644
--- a/pyrobolearn/robots/base.py
+++ b/pyrobolearn/robots/base.py
@@ -20,7 +20,7 @@ if int(sys.version[0]) == 3:
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/baxter.py b/pyrobolearn/robots/baxter.py
index ad08587..a1fad21 100644
--- a/pyrobolearn/robots/baxter.py
+++ b/pyrobolearn/robots/baxter.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/bb8.py b/pyrobolearn/robots/bb8.py
index f2b3731..c69fbec 100644
--- a/pyrobolearn/robots/bb8.py
+++ b/pyrobolearn/robots/bb8.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.robot import Robot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/blackbird.py b/pyrobolearn/robots/blackbird.py
index 53c5f24..09c9a8b 100644
--- a/pyrobolearn/robots/blackbird.py
+++ b/pyrobolearn/robots/blackbird.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.legged_robot import BipedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/cartpole.py b/pyrobolearn/robots/cartpole.py
index 0a3183d..8c57745 100644
--- a/pyrobolearn/robots/cartpole.py
+++ b/pyrobolearn/robots/cartpole.py
@@ -13,7 +13,7 @@ from pyrobolearn.utils.transformation import get_symbolic_matrix_from_axis_angle
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/cassie.py b/pyrobolearn/robots/cassie.py
index eeb647d..56426e5 100644
--- a/pyrobolearn/robots/cassie.py
+++ b/pyrobolearn/robots/cassie.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.legged_robot import BipedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/centauro.py b/pyrobolearn/robots/centauro.py
index ec758ed..b4d833e 100644
--- a/pyrobolearn/robots/centauro.py
+++ b/pyrobolearn/robots/centauro.py
@@ -11,7 +11,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/cogimon.py b/pyrobolearn/robots/cogimon.py
index 78b71a9..0591dc0 100644
--- a/pyrobolearn/robots/cogimon.py
+++ b/pyrobolearn/robots/cogimon.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/coman.py b/pyrobolearn/robots/coman.py
index f3a1f14..e490449 100644
--- a/pyrobolearn/robots/coman.py
+++ b/pyrobolearn/robots/coman.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/crab.py b/pyrobolearn/robots/crab.py
index 54f7630..ed2c038 100644
--- a/pyrobolearn/robots/crab.py
+++ b/pyrobolearn/robots/crab.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.legged_robot import HexapodRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/cubli.py b/pyrobolearn/robots/cubli.py
index 05547ad..a31d158 100644
--- a/pyrobolearn/robots/cubli.py
+++ b/pyrobolearn/robots/cubli.py
@@ -9,7 +9,7 @@ from pyrobolearn.utils.transformation import get_rpy_from_quaternion
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/darwin.py b/pyrobolearn/robots/darwin.py
index 69ab94e..40dc5bf 100644
--- a/pyrobolearn/robots/darwin.py
+++ b/pyrobolearn/robots/darwin.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/ecaa9.py b/pyrobolearn/robots/ecaa9.py
index b2d74a3..8cb8d5f 100755
--- a/pyrobolearn/robots/ecaa9.py
+++ b/pyrobolearn/robots/ecaa9.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.uuv import UUVRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/edo.py b/pyrobolearn/robots/edo.py
index 5905a51..e4d8e25 100644
--- a/pyrobolearn/robots/edo.py
+++ b/pyrobolearn/robots/edo.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/epuck.py b/pyrobolearn/robots/epuck.py
index 01c377d..d89425d 100644
--- a/pyrobolearn/robots/epuck.py
+++ b/pyrobolearn/robots/epuck.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/f10_racecar.py b/pyrobolearn/robots/f10_racecar.py
index c7970d1..6834f82 100644
--- a/pyrobolearn/robots/f10_racecar.py
+++ b/pyrobolearn/robots/f10_racecar.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.wheeled_robot import AckermannWheeledRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/fetch.py b/pyrobolearn/robots/fetch.py
index 3138843..9fe2fbd 100644
--- a/pyrobolearn/robots/fetch.py
+++ b/pyrobolearn/robots/fetch.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/flappy.py b/pyrobolearn/robots/flappy.py
index 8d55547..811db05 100644
--- a/pyrobolearn/robots/flappy.py
+++ b/pyrobolearn/robots/flappy.py
@@ -12,7 +12,7 @@ from pyrobolearn.robots.uav import FlappingWingUAV
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = "Fei et al."
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/franka.py b/pyrobolearn/robots/franka.py
index 15fdff3..0c05a38 100644
--- a/pyrobolearn/robots/franka.py
+++ b/pyrobolearn/robots/franka.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/half_cheetah.py b/pyrobolearn/robots/half_cheetah.py
index 49130ce..c7e591e 100644
--- a/pyrobolearn/robots/half_cheetah.py
+++ b/pyrobolearn/robots/half_cheetah.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.robot import Robot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/hand.py b/pyrobolearn/robots/hand.py
index 45f2857..e6de8f1 100644
--- a/pyrobolearn/robots/hand.py
+++ b/pyrobolearn/robots/hand.py
@@ -7,7 +7,7 @@ from pyrobolearn.robots.robot import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/hopper.py b/pyrobolearn/robots/hopper.py
index 82ce0b2..ca98d68 100644
--- a/pyrobolearn/robots/hopper.py
+++ b/pyrobolearn/robots/hopper.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.robot import Robot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/hubo.py b/pyrobolearn/robots/hubo.py
index c0fc8b8..6f3dfb9 100644
--- a/pyrobolearn/robots/hubo.py
+++ b/pyrobolearn/robots/hubo.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.hand import TwoHand
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/humanoid.py b/pyrobolearn/robots/humanoid.py
index e55c136..477393a 100644
--- a/pyrobolearn/robots/humanoid.py
+++ b/pyrobolearn/robots/humanoid.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/husky.py b/pyrobolearn/robots/husky.py
index 2493454..3ec9a10 100644
--- a/pyrobolearn/robots/husky.py
+++ b/pyrobolearn/robots/husky.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/hyq.py b/pyrobolearn/robots/hyq.py
index 5ffc3a4..4642da0 100644
--- a/pyrobolearn/robots/hyq.py
+++ b/pyrobolearn/robots/hyq.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/hyq2max.py b/pyrobolearn/robots/hyq2max.py
index f93f77e..3604b7f 100644
--- a/pyrobolearn/robots/hyq2max.py
+++ b/pyrobolearn/robots/hyq2max.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/icub.py b/pyrobolearn/robots/icub.py
index 300ac5f..331b9b7 100644
--- a/pyrobolearn/robots/icub.py
+++ b/pyrobolearn/robots/icub.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/jaco.py b/pyrobolearn/robots/jaco.py
index 4d6251f..6cf71d8 100644
--- a/pyrobolearn/robots/jaco.py
+++ b/pyrobolearn/robots/jaco.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/kilobot.py b/pyrobolearn/robots/kilobot.py
index a0edbe5..98fbbf5 100644
--- a/pyrobolearn/robots/kilobot.py
+++ b/pyrobolearn/robots/kilobot.py
@@ -12,7 +12,7 @@ from pyrobolearn.robots.robot import Robot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/kr5.py b/pyrobolearn/robots/kr5.py
index 3903c24..23d7cc0 100644
--- a/pyrobolearn/robots/kr5.py
+++ b/pyrobolearn/robots/kr5.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/kuka_iiwa.py b/pyrobolearn/robots/kuka_iiwa.py
index 62b3ca1..7d7e6cc 100644
--- a/pyrobolearn/robots/kuka_iiwa.py
+++ b/pyrobolearn/robots/kuka_iiwa.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/kuka_lwr.py b/pyrobolearn/robots/kuka_lwr.py
index 61bdbf4..d499131 100644
--- a/pyrobolearn/robots/kuka_lwr.py
+++ b/pyrobolearn/robots/kuka_lwr.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/laikago.py b/pyrobolearn/robots/laikago.py
index b0075a1..3697126 100644
--- a/pyrobolearn/robots/laikago.py
+++ b/pyrobolearn/robots/laikago.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/legged_robot.py b/pyrobolearn/robots/legged_robot.py
index 7db8156..ad6e3c1 100644
--- a/pyrobolearn/robots/legged_robot.py
+++ b/pyrobolearn/robots/legged_robot.py
@@ -14,7 +14,7 @@ from pyrobolearn.robots.robot import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/littledog.py b/pyrobolearn/robots/littledog.py
index 03a3c3f..b09b682 100644
--- a/pyrobolearn/robots/littledog.py
+++ b/pyrobolearn/robots/littledog.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/manipulator.py b/pyrobolearn/robots/manipulator.py
index 2ba86da..41d788f 100644
--- a/pyrobolearn/robots/manipulator.py
+++ b/pyrobolearn/robots/manipulator.py
@@ -7,7 +7,7 @@ from pyrobolearn.robots.robot import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/manipulator2d.py b/pyrobolearn/robots/manipulator2d.py
index 95e892f..197c315 100644
--- a/pyrobolearn/robots/manipulator2d.py
+++ b/pyrobolearn/robots/manipulator2d.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/minitaur.py b/pyrobolearn/robots/minitaur.py
index 9a02708..cdebc1e 100644
--- a/pyrobolearn/robots/minitaur.py
+++ b/pyrobolearn/robots/minitaur.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/mkz.py b/pyrobolearn/robots/mkz.py
index 045d90c..f3d82c5 100644
--- a/pyrobolearn/robots/mkz.py
+++ b/pyrobolearn/robots/mkz.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.wheeled_robot import AckermannWheeledRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/morphex.py b/pyrobolearn/robots/morphex.py
index c1c925c..fcabd18 100644
--- a/pyrobolearn/robots/morphex.py
+++ b/pyrobolearn/robots/morphex.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.legged_robot import HexapodRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/nao.py b/pyrobolearn/robots/nao.py
index 4dcbf07..cace6bf 100644
--- a/pyrobolearn/robots/nao.py
+++ b/pyrobolearn/robots/nao.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.hand import TwoHand
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/opendog.py b/pyrobolearn/robots/opendog.py
index 273fc7e..094e684 100644
--- a/pyrobolearn/robots/opendog.py
+++ b/pyrobolearn/robots/opendog.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/pepper.py b/pyrobolearn/robots/pepper.py
index af22af7..3afe114 100644
--- a/pyrobolearn/robots/pepper.py
+++ b/pyrobolearn/robots/pepper.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.sensors.camera import CameraSensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/phantomx.py b/pyrobolearn/robots/phantomx.py
index 0f8e1b9..2c6b62a 100644
--- a/pyrobolearn/robots/phantomx.py
+++ b/pyrobolearn/robots/phantomx.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.legged_robot import HexapodRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/pleurobot.py b/pyrobolearn/robots/pleurobot.py
index 647d597..09031b2 100644
--- a/pyrobolearn/robots/pleurobot.py
+++ b/pyrobolearn/robots/pleurobot.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.usv import USVRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/pr2.py b/pyrobolearn/robots/pr2.py
index 09226ee..22f09e9 100644
--- a/pyrobolearn/robots/pr2.py
+++ b/pyrobolearn/robots/pr2.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/quadcopter.py b/pyrobolearn/robots/quadcopter.py
index fa5008f..29402b0 100644
--- a/pyrobolearn/robots/quadcopter.py
+++ b/pyrobolearn/robots/quadcopter.py
@@ -11,7 +11,7 @@ from pyrobolearn.utils.units import inches_to_meters, rpm_to_rad_per_second
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/rhex.py b/pyrobolearn/robots/rhex.py
index 21b1a84..4f7d33f 100644
--- a/pyrobolearn/robots/rhex.py
+++ b/pyrobolearn/robots/rhex.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.legged_robot import HexapodRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/robot.py b/pyrobolearn/robots/robot.py
index 1283d95..47dc0f4 100644
--- a/pyrobolearn/robots/robot.py
+++ b/pyrobolearn/robots/robot.py
@@ -26,7 +26,7 @@ from pyrobolearn.robots.base import ControllableBody
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "Leonel Rozo", "Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/rrbot.py b/pyrobolearn/robots/rrbot.py
index c204982..d2364e8 100644
--- a/pyrobolearn/robots/rrbot.py
+++ b/pyrobolearn/robots/rrbot.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sawyer.py b/pyrobolearn/robots/sawyer.py
index a8813db..2f266bd 100644
--- a/pyrobolearn/robots/sawyer.py
+++ b/pyrobolearn/robots/sawyer.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sea_hexapod.py b/pyrobolearn/robots/sea_hexapod.py
index 729b57f..fac56ba 100644
--- a/pyrobolearn/robots/sea_hexapod.py
+++ b/pyrobolearn/robots/sea_hexapod.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.legged_robot import HexapodRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sea_snake.py b/pyrobolearn/robots/sea_snake.py
index 14da777..0efc0f7 100644
--- a/pyrobolearn/robots/sea_snake.py
+++ b/pyrobolearn/robots/sea_snake.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.robot import Robot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/camera.py b/pyrobolearn/robots/sensors/camera.py
index 6ce0f7b..afc71af 100644
--- a/pyrobolearn/robots/sensors/camera.py
+++ b/pyrobolearn/robots/sensors/camera.py
@@ -12,7 +12,7 @@ from pyrobolearn.robots.sensors.links import LinkSensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/contact.py b/pyrobolearn/robots/sensors/contact.py
index 846a7ab..32eb4ca 100644
--- a/pyrobolearn/robots/sensors/contact.py
+++ b/pyrobolearn/robots/sensors/contact.py
@@ -7,7 +7,7 @@ from pyrobolearn.robots.sensors.links import LinkSensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/force_torque.py b/pyrobolearn/robots/sensors/force_torque.py
index 40d1a0a..24bc7b0 100644
--- a/pyrobolearn/robots/sensors/force_torque.py
+++ b/pyrobolearn/robots/sensors/force_torque.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.sensors.joints import JointSensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/imu.py b/pyrobolearn/robots/sensors/imu.py
index 8a8bb82..711f3ad 100644
--- a/pyrobolearn/robots/sensors/imu.py
+++ b/pyrobolearn/robots/sensors/imu.py
@@ -11,7 +11,7 @@ from pyrobolearn.robots.sensors.links import LinkSensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/joints.py b/pyrobolearn/robots/sensors/joints.py
index 869f5e8..e4949f4 100644
--- a/pyrobolearn/robots/sensors/joints.py
+++ b/pyrobolearn/robots/sensors/joints.py
@@ -12,7 +12,7 @@ from pyrobolearn.robots.sensors.sensor import Sensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/light.py b/pyrobolearn/robots/sensors/light.py
index 4fd1d53..6770de5 100644
--- a/pyrobolearn/robots/sensors/light.py
+++ b/pyrobolearn/robots/sensors/light.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.sensors.links import LinkSensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/links.py b/pyrobolearn/robots/sensors/links.py
index fbd0a92..b1a3245 100644
--- a/pyrobolearn/robots/sensors/links.py
+++ b/pyrobolearn/robots/sensors/links.py
@@ -14,7 +14,7 @@ from pyrobolearn.robots.sensors.sensor import Sensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/misc.py b/pyrobolearn/robots/sensors/misc.py
index 20595fc..5e0b38e 100644
--- a/pyrobolearn/robots/sensors/misc.py
+++ b/pyrobolearn/robots/sensors/misc.py
@@ -7,7 +7,7 @@ from pyrobolearn.robots.sensors.links import Sensor, LinkSensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/sensors/sensor.py b/pyrobolearn/robots/sensors/sensor.py
index d0cf4a9..fef4cc3 100644
--- a/pyrobolearn/robots/sensors/sensor.py
+++ b/pyrobolearn/robots/sensors/sensor.py
@@ -17,7 +17,7 @@ from pyrobolearn.utils.transformation import get_quaternion_product
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/shadowhand.py b/pyrobolearn/robots/shadowhand.py
index b3f80c6..b02ca1b 100644
--- a/pyrobolearn/robots/shadowhand.py
+++ b/pyrobolearn/robots/shadowhand.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.hand import Hand
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/softhand.py b/pyrobolearn/robots/softhand.py
index b995f3c..90ab5b2 100644
--- a/pyrobolearn/robots/softhand.py
+++ b/pyrobolearn/robots/softhand.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.hand import Hand
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/swimmer.py b/pyrobolearn/robots/swimmer.py
index 5e8f3fa..cdcea86 100644
--- a/pyrobolearn/robots/swimmer.py
+++ b/pyrobolearn/robots/swimmer.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.robot import Robot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/techpod.py b/pyrobolearn/robots/techpod.py
index b15b4e1..2827e30 100755
--- a/pyrobolearn/robots/techpod.py
+++ b/pyrobolearn/robots/techpod.py
@@ -12,7 +12,7 @@ from pyrobolearn.utils.units import inches_to_meters
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/uav.py b/pyrobolearn/robots/uav.py
index 518be40..41ca1da 100644
--- a/pyrobolearn/robots/uav.py
+++ b/pyrobolearn/robots/uav.py
@@ -7,7 +7,7 @@ from pyrobolearn.robots.robot import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/usv.py b/pyrobolearn/robots/usv.py
index b8284a9..8b5a93d 100644
--- a/pyrobolearn/robots/usv.py
+++ b/pyrobolearn/robots/usv.py
@@ -7,7 +7,7 @@ from pyrobolearn.robots.robot import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/uuv.py b/pyrobolearn/robots/uuv.py
index 08566df..41f7d9b 100644
--- a/pyrobolearn/robots/uuv.py
+++ b/pyrobolearn/robots/uuv.py
@@ -7,7 +7,7 @@ from pyrobolearn.robots.robot import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/walker2d.py b/pyrobolearn/robots/walker2d.py
index 82267a0..fd63606 100644
--- a/pyrobolearn/robots/walker2d.py
+++ b/pyrobolearn/robots/walker2d.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.robot import Robot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/walkman.py b/pyrobolearn/robots/walkman.py
index a4cd42a..57cfdb2 100644
--- a/pyrobolearn/robots/walkman.py
+++ b/pyrobolearn/robots/walkman.py
@@ -10,7 +10,7 @@ from pyrobolearn.robots.sensors import CameraSensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/wam.py b/pyrobolearn/robots/wam.py
index d6522ea..99832fb 100644
--- a/pyrobolearn/robots/wam.py
+++ b/pyrobolearn/robots/wam.py
@@ -8,7 +8,7 @@ from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/wheeled_robot.py b/pyrobolearn/robots/wheeled_robot.py
index 11e4e6e..4d78958 100644
--- a/pyrobolearn/robots/wheeled_robot.py
+++ b/pyrobolearn/robots/wheeled_robot.py
@@ -9,7 +9,7 @@ from pyrobolearn.robots.robot import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/robots/youbot.py b/pyrobolearn/robots/youbot.py
index 5b83f2a..03e5c29 100644
--- a/pyrobolearn/robots/youbot.py
+++ b/pyrobolearn/robots/youbot.py
@@ -12,7 +12,7 @@ from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/samplers/sampler.py b/pyrobolearn/samplers/sampler.py
index b3401a4..dfe9e79 100644
--- a/pyrobolearn/samplers/sampler.py
+++ b/pyrobolearn/samplers/sampler.py
@@ -26,7 +26,7 @@ from pyrobolearn.storages import Storage
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/bullet.py b/pyrobolearn/simulators/bullet.py
index 44da439..e2c2014 100644
--- a/pyrobolearn/simulators/bullet.py
+++ b/pyrobolearn/simulators/bullet.py
@@ -36,7 +36,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/bullet_ros.py b/pyrobolearn/simulators/bullet_ros.py
index 4cddd92..b1c8722 100644
--- a/pyrobolearn/simulators/bullet_ros.py
+++ b/pyrobolearn/simulators/bullet_ros.py
@@ -34,7 +34,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/dart.py b/pyrobolearn/simulators/dart.py
index 7c4bc92..7e488b9 100644
--- a/pyrobolearn/simulators/dart.py
+++ b/pyrobolearn/simulators/dart.py
@@ -46,7 +46,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/flex.py b/pyrobolearn/simulators/flex.py
index b8797ae..c99b12a 100644
--- a/pyrobolearn/simulators/flex.py
+++ b/pyrobolearn/simulators/flex.py
@@ -24,7 +24,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/gazebo.py b/pyrobolearn/simulators/gazebo.py
index 252a2c4..32e0399 100644
--- a/pyrobolearn/simulators/gazebo.py
+++ b/pyrobolearn/simulators/gazebo.py
@@ -22,7 +22,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/gazebo_ros.py b/pyrobolearn/simulators/gazebo_ros.py
index e1f5cfa..88203ef 100644
--- a/pyrobolearn/simulators/gazebo_ros.py
+++ b/pyrobolearn/simulators/gazebo_ros.py
@@ -44,7 +44,7 @@ from pyrobolearn.simulators.ros_rbdl import ROS_RBDL
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/isaac.py b/pyrobolearn/simulators/isaac.py
index 81db76a..371957a 100644
--- a/pyrobolearn/simulators/isaac.py
+++ b/pyrobolearn/simulators/isaac.py
@@ -27,7 +27,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/mujoco.py b/pyrobolearn/simulators/mujoco.py
index 46a73d0..9022221 100644
--- a/pyrobolearn/simulators/mujoco.py
+++ b/pyrobolearn/simulators/mujoco.py
@@ -23,7 +23,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/opensim.py b/pyrobolearn/simulators/opensim.py
index 2c742d2..8112122 100644
--- a/pyrobolearn/simulators/opensim.py
+++ b/pyrobolearn/simulators/opensim.py
@@ -23,7 +23,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/raisim.py b/pyrobolearn/simulators/raisim.py
index 2384c06..ec070c6 100644
--- a/pyrobolearn/simulators/raisim.py
+++ b/pyrobolearn/simulators/raisim.py
@@ -29,7 +29,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/ros.py b/pyrobolearn/simulators/ros.py
index e64d696..3611d6f 100644
--- a/pyrobolearn/simulators/ros.py
+++ b/pyrobolearn/simulators/ros.py
@@ -26,7 +26,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/ros_rbdl.py b/pyrobolearn/simulators/ros_rbdl.py
index ed93c90..f0d7af0 100644
--- a/pyrobolearn/simulators/ros_rbdl.py
+++ b/pyrobolearn/simulators/ros_rbdl.py
@@ -26,7 +26,7 @@ from pyrobolearn.simulators.simulator import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/simulators/simulator.py b/pyrobolearn/simulators/simulator.py
index 1dee4f3..4a37bd6 100644
--- a/pyrobolearn/simulators/simulator.py
+++ b/pyrobolearn/simulators/simulator.py
@@ -21,7 +21,7 @@ References:
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/basic_states.py b/pyrobolearn/states/basic_states.py
index cf8ace5..e9d0741 100644
--- a/pyrobolearn/states/basic_states.py
+++ b/pyrobolearn/states/basic_states.py
@@ -13,7 +13,7 @@ from pyrobolearn.actions import Action
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/body_states.py b/pyrobolearn/states/body_states.py
index c5b3a31..cd0108a 100644
--- a/pyrobolearn/states/body_states.py
+++ b/pyrobolearn/states/body_states.py
@@ -19,7 +19,7 @@ if int(sys.version[0]) == 3:
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/generators/state_generator.py b/pyrobolearn/states/generators/state_generator.py
index 2240c4f..9146fcd 100644
--- a/pyrobolearn/states/generators/state_generator.py
+++ b/pyrobolearn/states/generators/state_generator.py
@@ -19,7 +19,7 @@ from pyrobolearn.states import State
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/gym_states.py b/pyrobolearn/states/gym_states.py
index eacb8cd..ad6881b 100644
--- a/pyrobolearn/states/gym_states.py
+++ b/pyrobolearn/states/gym_states.py
@@ -15,7 +15,7 @@ from pyrobolearn.states.state import State
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/interfaces/interface_state.py b/pyrobolearn/states/interfaces/interface_state.py
index 3097989..89a572f 100644
--- a/pyrobolearn/states/interfaces/interface_state.py
+++ b/pyrobolearn/states/interfaces/interface_state.py
@@ -17,7 +17,7 @@ from pyrobolearn.tools.interfaces.interface import InputInterface, InputOutputIn
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/interfaces/joystick_states.py b/pyrobolearn/states/interfaces/joystick_states.py
index 904c358..216dd05 100644
--- a/pyrobolearn/states/interfaces/joystick_states.py
+++ b/pyrobolearn/states/interfaces/joystick_states.py
@@ -11,7 +11,7 @@ import pyrobolearn.tools.interfaces.controllers as controllers
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/interfaces/mouse_keyboard_state.py b/pyrobolearn/states/interfaces/mouse_keyboard_state.py
index 15ecd97..86e4ac8 100644
--- a/pyrobolearn/states/interfaces/mouse_keyboard_state.py
+++ b/pyrobolearn/states/interfaces/mouse_keyboard_state.py
@@ -11,7 +11,7 @@ import pyrobolearn.tools.interfaces.mouse_keyboard as mouse_keyboard
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/interfaces/webcam_state.py b/pyrobolearn/states/interfaces/webcam_state.py
index d162835..0c2d3ea 100644
--- a/pyrobolearn/states/interfaces/webcam_state.py
+++ b/pyrobolearn/states/interfaces/webcam_state.py
@@ -13,7 +13,7 @@ import pyrobolearn.tools.interfaces.camera.webcam as webcam
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/processors/state_processor.py b/pyrobolearn/states/processors/state_processor.py
index a861425..66609ac 100644
--- a/pyrobolearn/states/processors/state_processor.py
+++ b/pyrobolearn/states/processors/state_processor.py
@@ -16,7 +16,7 @@ from pyrobolearn.states.state import State
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/robot_states/joint_states.py b/pyrobolearn/states/robot_states/joint_states.py
index 06b5f94..2d2bfc8 100644
--- a/pyrobolearn/states/robot_states/joint_states.py
+++ b/pyrobolearn/states/robot_states/joint_states.py
@@ -13,7 +13,7 @@ from pyrobolearn.states.robot_states.robot_states import RobotState, Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/robot_states/link_states.py b/pyrobolearn/states/robot_states/link_states.py
index f7c4be0..6b24a62 100644
--- a/pyrobolearn/states/robot_states/link_states.py
+++ b/pyrobolearn/states/robot_states/link_states.py
@@ -13,7 +13,7 @@ from pyrobolearn.states.robot_states.robot_states import RobotState, Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/robot_states/robot_states.py b/pyrobolearn/states/robot_states/robot_states.py
index b098177..2e47ad6 100644
--- a/pyrobolearn/states/robot_states/robot_states.py
+++ b/pyrobolearn/states/robot_states/robot_states.py
@@ -19,7 +19,7 @@ from pyrobolearn.robots import Robot
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/robot_states/sensor_states.py b/pyrobolearn/states/robot_states/sensor_states.py
index 6c69fca..b699e5a 100644
--- a/pyrobolearn/states/robot_states/sensor_states.py
+++ b/pyrobolearn/states/robot_states/sensor_states.py
@@ -19,7 +19,7 @@ from pyrobolearn.robots.sensors.camera import CameraSensor
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/state.py b/pyrobolearn/states/state.py
index 9272033..cb3c5c5 100644
--- a/pyrobolearn/states/state.py
+++ b/pyrobolearn/states/state.py
@@ -19,7 +19,7 @@ from pyrobolearn.utils.data_structures.queues import FIFOQueue
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/states/time_states.py b/pyrobolearn/states/time_states.py
index 15526b5..3b2e147 100644
--- a/pyrobolearn/states/time_states.py
+++ b/pyrobolearn/states/time_states.py
@@ -14,7 +14,7 @@ from pyrobolearn.states.state import State
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/storages/er.py b/pyrobolearn/storages/er.py
index a329291..07f0a02 100644
--- a/pyrobolearn/storages/er.py
+++ b/pyrobolearn/storages/er.py
@@ -16,7 +16,7 @@ from pyrobolearn.storages.storage import Storage, ListStorage, Batch, DictStorag
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/storages/her.py b/pyrobolearn/storages/her.py
index 655fa0f..0180533 100644
--- a/pyrobolearn/storages/her.py
+++ b/pyrobolearn/storages/her.py
@@ -10,7 +10,7 @@ from pyrobolearn.storages.er import ExperienceReplay
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/storages/per.py b/pyrobolearn/storages/per.py
index ca3dbce..5edfcea 100644
--- a/pyrobolearn/storages/per.py
+++ b/pyrobolearn/storages/per.py
@@ -17,7 +17,7 @@ from pyrobolearn.storages.storage import PriorityQueueStorage
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/storages/storage.py b/pyrobolearn/storages/storage.py
index 658225f..4fd8198 100644
--- a/pyrobolearn/storages/storage.py
+++ b/pyrobolearn/storages/storage.py
@@ -22,7 +22,7 @@ from pyrobolearn import logger
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/active.py b/pyrobolearn/tasks/active.py
index 270c998..a465adf 100644
--- a/pyrobolearn/tasks/active.py
+++ b/pyrobolearn/tasks/active.py
@@ -7,7 +7,7 @@ from pyrobolearn.tasks.imitation import ILTask
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/curriculum.py b/pyrobolearn/tasks/curriculum.py
index 430a639..8332d60 100644
--- a/pyrobolearn/tasks/curriculum.py
+++ b/pyrobolearn/tasks/curriculum.py
@@ -24,7 +24,7 @@ from pyrobolearn.tasks.task import Task, Env
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/distillation.py b/pyrobolearn/tasks/distillation.py
index e8112ba..e6f8319 100644
--- a/pyrobolearn/tasks/distillation.py
+++ b/pyrobolearn/tasks/distillation.py
@@ -18,7 +18,7 @@ from pyrobolearn.approximators.approximator import Approximator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/imitation.py b/pyrobolearn/tasks/imitation.py
index fc3b225..8e0529d 100644
--- a/pyrobolearn/tasks/imitation.py
+++ b/pyrobolearn/tasks/imitation.py
@@ -20,7 +20,7 @@ from pyrobolearn.tools.bridges.mouse_keyboard import BridgeMouseKeyboardImitatio
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/inverse_reinforcement.py b/pyrobolearn/tasks/inverse_reinforcement.py
index 5418f3e..eb4e0bb 100644
--- a/pyrobolearn/tasks/inverse_reinforcement.py
+++ b/pyrobolearn/tasks/inverse_reinforcement.py
@@ -7,7 +7,7 @@ from pyrobolearn.tasks.imitation import ILTask
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/misc.py b/pyrobolearn/tasks/misc.py
index d975a71..1f0fdf4 100644
--- a/pyrobolearn/tasks/misc.py
+++ b/pyrobolearn/tasks/misc.py
@@ -7,7 +7,7 @@ from pyrobolearn.tasks import Task, ILTask, RLTask
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/reinforcement.py b/pyrobolearn/tasks/reinforcement.py
index 291c5a6..91669f2 100644
--- a/pyrobolearn/tasks/reinforcement.py
+++ b/pyrobolearn/tasks/reinforcement.py
@@ -7,7 +7,7 @@ from pyrobolearn.tasks.task import Task
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/scheduler.py b/pyrobolearn/tasks/scheduler.py
index 038f850..b1cb187 100644
--- a/pyrobolearn/tasks/scheduler.py
+++ b/pyrobolearn/tasks/scheduler.py
@@ -14,7 +14,7 @@ from pyrobolearn.tasks.task import Task
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/task.py b/pyrobolearn/tasks/task.py
index 3a2994c..d2c049c 100644
--- a/pyrobolearn/tasks/task.py
+++ b/pyrobolearn/tasks/task.py
@@ -33,7 +33,7 @@ from pyrobolearn.policies import Policy
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tasks/transfer.py b/pyrobolearn/tasks/transfer.py
index 4747129..546c996 100644
--- a/pyrobolearn/tasks/transfer.py
+++ b/pyrobolearn/tasks/transfer.py
@@ -7,7 +7,7 @@ from pyrobolearn.tasks.task import Task
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/template_models/lip.py b/pyrobolearn/template_models/lip.py
index 175d112..8658e80 100644
--- a/pyrobolearn/template_models/lip.py
+++ b/pyrobolearn/template_models/lip.py
@@ -10,7 +10,7 @@ import numpy as np
 __author__ = ["Songyan Xin", "Brian Delhaisse"]
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/template_models/slip2d.py b/pyrobolearn/template_models/slip2d.py
index e2080ca..2e82a6e 100644
--- a/pyrobolearn/template_models/slip2d.py
+++ b/pyrobolearn/template_models/slip2d.py
@@ -9,7 +9,7 @@ import matplotlib.pyplot as plt
 __author__ = ["Songyan Xin", "Brian Delhaisse"]
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/template_models/slip3d.py b/pyrobolearn/template_models/slip3d.py
index 214f8e0..bdd103b 100644
--- a/pyrobolearn/template_models/slip3d.py
+++ b/pyrobolearn/template_models/slip3d.py
@@ -9,7 +9,7 @@ import matplotlib.pyplot as plt
 __author__ = ["Songyan Xin", "Brian Delhaisse"]
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Songyan Xin"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/terminal_conditions/terminal_condition.py b/pyrobolearn/terminal_conditions/terminal_condition.py
index d9b7070..c40157e 100644
--- a/pyrobolearn/terminal_conditions/terminal_condition.py
+++ b/pyrobolearn/terminal_conditions/terminal_condition.py
@@ -14,7 +14,7 @@ from pyrobolearn.utils.transformation import *
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/bridges/audio/robots/bridge_speech_rotatory_uav.py b/pyrobolearn/tools/bridges/audio/robots/bridge_speech_rotatory_uav.py
index f075fa3..1f23788 100644
--- a/pyrobolearn/tools/bridges/audio/robots/bridge_speech_rotatory_uav.py
+++ b/pyrobolearn/tools/bridges/audio/robots/bridge_speech_rotatory_uav.py
@@ -10,7 +10,7 @@ from pyrobolearn.tools.bridges.bridge import Bridge
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/bridges/audio/robots/bridge_speech_wheeled.py b/pyrobolearn/tools/bridges/audio/robots/bridge_speech_wheeled.py
index a00fb81..717dca9 100644
--- a/pyrobolearn/tools/bridges/audio/robots/bridge_speech_wheeled.py
+++ b/pyrobolearn/tools/bridges/audio/robots/bridge_speech_wheeled.py
@@ -11,7 +11,7 @@ from pyrobolearn.tools.bridges.bridge import Bridge
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/bridges/bridge.py b/pyrobolearn/tools/bridges/bridge.py
index 07f74f8..ceed1de 100644
--- a/pyrobolearn/tools/bridges/bridge.py
+++ b/pyrobolearn/tools/bridges/bridge.py
@@ -12,7 +12,7 @@ from pyrobolearn.tools.interfaces import Interface
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_wheeled.py b/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_wheeled.py
index 8876ccb..7363c35 100644
--- a/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_wheeled.py
+++ b/pyrobolearn/tools/bridges/controllers/robots/bridge_controller_wheeled.py
@@ -10,7 +10,7 @@ from pyrobolearn.tools.bridges.bridge import Bridge
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py
index b75fc17..2cdedab 100644
--- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py
+++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py
@@ -23,7 +23,7 @@ from pyrobolearn.tools.bridges.mouse_keyboard.bridge_mousekeyboard_world import
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py
index 7285768..e6f2bbf 100644
--- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py
+++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py
@@ -22,7 +22,7 @@ from pyrobolearn.tools.bridges import Bridge
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/audio/audio.py b/pyrobolearn/tools/interfaces/audio/audio.py
index 9a175d7..56f46bf 100644
--- a/pyrobolearn/tools/interfaces/audio/audio.py
+++ b/pyrobolearn/tools/interfaces/audio/audio.py
@@ -76,7 +76,7 @@ except ImportError as e:
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/camera/asus_xtion.py b/pyrobolearn/tools/interfaces/camera/asus_xtion.py
index c5ca572..8f1570a 100644
--- a/pyrobolearn/tools/interfaces/camera/asus_xtion.py
+++ b/pyrobolearn/tools/interfaces/camera/asus_xtion.py
@@ -39,7 +39,7 @@ from pyrobolearn.tools.interfaces.camera import CameraInterface
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/camera/camera.py b/pyrobolearn/tools/interfaces/camera/camera.py
index 3c9fd5b..c24145b 100644
--- a/pyrobolearn/tools/interfaces/camera/camera.py
+++ b/pyrobolearn/tools/interfaces/camera/camera.py
@@ -9,7 +9,7 @@ from pyrobolearn.tools.interfaces.interface import InputInterface
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/camera/fer.py b/pyrobolearn/tools/interfaces/camera/fer.py
index f48d76a..c0e07a8 100644
--- a/pyrobolearn/tools/interfaces/camera/fer.py
+++ b/pyrobolearn/tools/interfaces/camera/fer.py
@@ -9,7 +9,7 @@ from pyrobolearn.tools.interfaces.camera import CameraInterface
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/camera/kinect.py b/pyrobolearn/tools/interfaces/camera/kinect.py
index 9f424d8..c010310 100644
--- a/pyrobolearn/tools/interfaces/camera/kinect.py
+++ b/pyrobolearn/tools/interfaces/camera/kinect.py
@@ -109,7 +109,7 @@ from pyrobolearn.tools.interfaces.camera import CameraInterface
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/camera/openpose.py b/pyrobolearn/tools/interfaces/camera/openpose.py
index cfd5839..55e75dd 100644
--- a/pyrobolearn/tools/interfaces/camera/openpose.py
+++ b/pyrobolearn/tools/interfaces/camera/openpose.py
@@ -22,7 +22,7 @@ from pyrobolearn.tools.interfaces.camera.webcam import WebcamInterface
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/camera/webcam.py b/pyrobolearn/tools/interfaces/camera/webcam.py
index e1e73ae..b73eb0b 100644
--- a/pyrobolearn/tools/interfaces/camera/webcam.py
+++ b/pyrobolearn/tools/interfaces/camera/webcam.py
@@ -20,7 +20,7 @@ os.environ["OPENCV_VIDEOIO_PRIORITY_MSMF"] = "0"
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/controllers/controller.py b/pyrobolearn/tools/interfaces/controllers/controller.py
index de39eaf..fe7fd6b 100644
--- a/pyrobolearn/tools/interfaces/controllers/controller.py
+++ b/pyrobolearn/tools/interfaces/controllers/controller.py
@@ -12,7 +12,7 @@ from pyrobolearn.tools.interfaces.interface import InputOutputInterface
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/controllers/playstation.py b/pyrobolearn/tools/interfaces/controllers/playstation.py
index 936ec1b..d59ff5a 100755
--- a/pyrobolearn/tools/interfaces/controllers/playstation.py
+++ b/pyrobolearn/tools/interfaces/controllers/playstation.py
@@ -15,7 +15,7 @@ from pyrobolearn.tools.interfaces.controllers.controller import GameControllerIn
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/controllers/xbox.py b/pyrobolearn/tools/interfaces/controllers/xbox.py
index f88549b..54a76c6 100644
--- a/pyrobolearn/tools/interfaces/controllers/xbox.py
+++ b/pyrobolearn/tools/interfaces/controllers/xbox.py
@@ -22,7 +22,7 @@ from pyrobolearn.tools.interfaces.controllers.controller import GameControllerIn
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/interface.py b/pyrobolearn/tools/interfaces/interface.py
index 1cda201..dcf142a 100644
--- a/pyrobolearn/tools/interfaces/interface.py
+++ b/pyrobolearn/tools/interfaces/interface.py
@@ -18,7 +18,7 @@ import time
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/mouse_keyboard/mousekeyboard.py b/pyrobolearn/tools/interfaces/mouse_keyboard/mousekeyboard.py
index 7ef35fa..13a0696 100644
--- a/pyrobolearn/tools/interfaces/mouse_keyboard/mousekeyboard.py
+++ b/pyrobolearn/tools/interfaces/mouse_keyboard/mousekeyboard.py
@@ -16,7 +16,7 @@ from pyrobolearn.simulators import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/tools/interfaces/vr/oculus.py b/pyrobolearn/tools/interfaces/vr/oculus.py
index 2ae6bf5..2d89e19 100644
--- a/pyrobolearn/tools/interfaces/vr/oculus.py
+++ b/pyrobolearn/tools/interfaces/vr/oculus.py
@@ -25,7 +25,7 @@ from pyrobolearn.tools.interfaces.vr import VRInterface
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/converter.py b/pyrobolearn/utils/converter.py
index cc084a4..f7102c1 100644
--- a/pyrobolearn/utils/converter.py
+++ b/pyrobolearn/utils/converter.py
@@ -10,7 +10,7 @@ import collections
 
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/data_structures/orderedset.py b/pyrobolearn/utils/data_structures/orderedset.py
index 94ecc61..b1c8eb4 100644
--- a/pyrobolearn/utils/data_structures/orderedset.py
+++ b/pyrobolearn/utils/data_structures/orderedset.py
@@ -7,7 +7,7 @@ import collections
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/data_structures/queues.py b/pyrobolearn/utils/data_structures/queues.py
index 75bcea7..524b010 100644
--- a/pyrobolearn/utils/data_structures/queues.py
+++ b/pyrobolearn/utils/data_structures/queues.py
@@ -10,7 +10,7 @@ import heapq
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/decorator.py b/pyrobolearn/utils/decorator.py
index 33e0d0a..8ba6bc8 100644
--- a/pyrobolearn/utils/decorator.py
+++ b/pyrobolearn/utils/decorator.py
@@ -8,7 +8,7 @@ import torch
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/interpolator.py b/pyrobolearn/utils/interpolator.py
index c381ae4..7199e4f 100644
--- a/pyrobolearn/utils/interpolator.py
+++ b/pyrobolearn/utils/interpolator.py
@@ -7,7 +7,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/manifold_utils.py b/pyrobolearn/utils/manifold_utils.py
index 3fbb2a9..4484d38 100644
--- a/pyrobolearn/utils/manifold_utils.py
+++ b/pyrobolearn/utils/manifold_utils.py
@@ -9,7 +9,7 @@ import scipy.linalg
 __author__ = "Leonel Rozo"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Leonel Rozo"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/math_utils.py b/pyrobolearn/utils/math_utils.py
index f7f10f8..e778631 100644
--- a/pyrobolearn/utils/math_utils.py
+++ b/pyrobolearn/utils/math_utils.py
@@ -8,7 +8,7 @@ import copy
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/mesh.py b/pyrobolearn/utils/mesh.py
index de655d6..35d9662 100644
--- a/pyrobolearn/utils/mesh.py
+++ b/pyrobolearn/utils/mesh.py
@@ -26,7 +26,7 @@ import scipy.interpolate
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/torch_utils.py b/pyrobolearn/utils/torch_utils.py
index 45859b2..add36e7 100644
--- a/pyrobolearn/utils/torch_utils.py
+++ b/pyrobolearn/utils/torch_utils.py
@@ -18,7 +18,7 @@ from torch.autograd import grad
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/transformation.py b/pyrobolearn/utils/transformation.py
index f1b0141..7123515 100644
--- a/pyrobolearn/utils/transformation.py
+++ b/pyrobolearn/utils/transformation.py
@@ -18,7 +18,7 @@ from pyrobolearn.utils.converter import QuaternionNumpyConverter
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/utils/units.py b/pyrobolearn/utils/units.py
index 3763ce6..e15f79a 100644
--- a/pyrobolearn/utils/units.py
+++ b/pyrobolearn/utils/units.py
@@ -7,7 +7,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/values/basic_value.py b/pyrobolearn/values/basic_value.py
index 7424bfb..b76a1c6 100644
--- a/pyrobolearn/values/basic_value.py
+++ b/pyrobolearn/values/basic_value.py
@@ -14,7 +14,7 @@ from pyrobolearn.values.value import ValueApproximator, ParametrizedValue, Param
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/values/nn_value.py b/pyrobolearn/values/nn_value.py
index b9e9af4..cd4bc45 100644
--- a/pyrobolearn/values/nn_value.py
+++ b/pyrobolearn/values/nn_value.py
@@ -15,7 +15,7 @@ from pyrobolearn.values.value import ParametrizedValue, ParametrizedQValue, Para
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/values/value.py b/pyrobolearn/values/value.py
index 0876465..20ff890 100644
--- a/pyrobolearn/values/value.py
+++ b/pyrobolearn/values/value.py
@@ -23,7 +23,7 @@ from pyrobolearn.approximators import Approximator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/utils/heightmaps/diamond_square.py b/pyrobolearn/worlds/utils/heightmaps/diamond_square.py
index 7edc73d..5ded700 100644
--- a/pyrobolearn/worlds/utils/heightmaps/diamond_square.py
+++ b/pyrobolearn/worlds/utils/heightmaps/diamond_square.py
@@ -13,7 +13,7 @@ import numpy as np
 __author__ = ["Brian Delhaisse", "Jamie Scollay"]
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse", "Jamie Scollay"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/utils/heightmaps/equation.py b/pyrobolearn/worlds/utils/heightmaps/equation.py
index 6cdd5d7..a749583 100644
--- a/pyrobolearn/worlds/utils/heightmaps/equation.py
+++ b/pyrobolearn/worlds/utils/heightmaps/equation.py
@@ -10,7 +10,7 @@ import numpy as np
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/utils/heightmaps/geospatial.py b/pyrobolearn/worlds/utils/heightmaps/geospatial.py
index a494548..cefa863 100644
--- a/pyrobolearn/worlds/utils/heightmaps/geospatial.py
+++ b/pyrobolearn/worlds/utils/heightmaps/geospatial.py
@@ -16,7 +16,7 @@ except ImportError as e:
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/utils/heightmaps/gpr.py b/pyrobolearn/worlds/utils/heightmaps/gpr.py
index 43341b3..e78459c 100644
--- a/pyrobolearn/worlds/utils/heightmaps/gpr.py
+++ b/pyrobolearn/worlds/utils/heightmaps/gpr.py
@@ -12,7 +12,7 @@ from sklearn.gaussian_process.kernels import RBF
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/utils/heightmaps/plot.py b/pyrobolearn/worlds/utils/heightmaps/plot.py
index b7742dc..5c675cd 100644
--- a/pyrobolearn/worlds/utils/heightmaps/plot.py
+++ b/pyrobolearn/worlds/utils/heightmaps/plot.py
@@ -10,7 +10,7 @@ from PIL import Image
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/utils/heightmaps/rbf.py b/pyrobolearn/worlds/utils/heightmaps/rbf.py
index cbed550..8483fec 100644
--- a/pyrobolearn/worlds/utils/heightmaps/rbf.py
+++ b/pyrobolearn/worlds/utils/heightmaps/rbf.py
@@ -11,7 +11,7 @@ from scipy.interpolate import Rbf
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/utils/obj_generator.py b/pyrobolearn/worlds/utils/obj_generator.py
index 2344ce3..24f6bc6 100644
--- a/pyrobolearn/worlds/utils/obj_generator.py
+++ b/pyrobolearn/worlds/utils/obj_generator.py
@@ -20,7 +20,7 @@ __author__ = ["Jamie Scollay", "Brian Delhaisse"]
 #     - it has been simplified.
 # - comments have been added and a better documentation is provided
 __credits__ = ["Jamie Scollay"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/world.py b/pyrobolearn/worlds/world.py
index f521a5c..66b938d 100644
--- a/pyrobolearn/worlds/world.py
+++ b/pyrobolearn/worlds/world.py
@@ -30,7 +30,7 @@ from pyrobolearn.worlds.utils.obj_generator import create_obj_from_heightmap
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"
diff --git a/pyrobolearn/worlds/world_camera.py b/pyrobolearn/worlds/world_camera.py
index 6b05775..39cdb55 100644
--- a/pyrobolearn/worlds/world_camera.py
+++ b/pyrobolearn/worlds/world_camera.py
@@ -16,7 +16,7 @@ from pyrobolearn.simulators import Simulator
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
 __credits__ = ["Brian Delhaisse"]
-__license__ = "MIT"
+__license__ = "GNU GPLv3"
 __version__ = "1.0.0"
 __maintainer__ = "Brian Delhaisse"
 __email__ = "briandelhaisse@gmail.com"