From ea9d1f78e4d6fb672eb427e31b0e41c8d0d7eeb6 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 16:21:09 -0800
Subject: [PATCH 1/3] t

---
 dsg-jit/dsg_jit/datasets/__init__.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/dsg-jit/dsg_jit/datasets/__init__.py b/dsg-jit/dsg_jit/datasets/__init__.py
index ee3ee2e..90f3f8d 100644
--- a/dsg-jit/dsg_jit/datasets/__init__.py
+++ b/dsg-jit/dsg_jit/datasets/__init__.py
@@ -10,6 +10,8 @@
 * Keep I/O and parsing logic separate from the core optimization engine.
 * Provide small, explicit dataclasses for each dataset family.
 * Avoid heavy dependencies (no hard requirement on OpenCV, etc.).
+
+**
 """
 
 from .tum_rgbd import TumRgbdFrame, load_tum_rgbd_sequence

From b0d625af8974b8c210705caa5d290335c5cacc28 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 18:27:22 -0800
Subject: [PATCH 2/3] update licenses in file

---
 dsg-jit/benchmarks/bench_gauss_newton_se3.py    | 2 +-
 dsg-jit/benchmarks/bench_hybrid_se3_voxel.py    | 2 +-
 dsg-jit/benchmarks/bench_voxel_chain.py         | 2 +-
 dsg-jit/dsg_jit/core/factor_graph.py            | 2 +-
 dsg-jit/dsg_jit/core/math3d.py                  | 2 +-
 dsg-jit/dsg_jit/core/types.py                   | 2 +-
 dsg-jit/dsg_jit/optimization/jit_wrappers.py    | 2 +-
 dsg-jit/dsg_jit/optimization/solvers.py         | 2 +-
 dsg-jit/dsg_jit/scene_graph/entities.py         | 2 +-
 dsg-jit/dsg_jit/scene_graph/relations.py        | 2 +-
 dsg-jit/dsg_jit/sensors/base.py                 | 2 +-
 dsg-jit/dsg_jit/sensors/conversion.py           | 2 +-
 dsg-jit/dsg_jit/sensors/fusion.py               | 2 +-
 dsg-jit/dsg_jit/sensors/imu.py                  | 2 +-
 dsg-jit/dsg_jit/sensors/integration.py          | 2 +-
 dsg-jit/dsg_jit/sensors/lidar.py                | 2 +-
 dsg-jit/dsg_jit/slam/manifold.py                | 2 +-
 dsg-jit/dsg_jit/slam/measurements.py            | 2 +-
 dsg-jit/dsg_jit/world/dynamic_scene_graph.py    | 2 +-
 dsg-jit/dsg_jit/world/model.py                  | 2 +-
 dsg-jit/dsg_jit/world/scene_graph.py            | 2 +-
 dsg-jit/dsg_jit/world/training.py               | 2 +-
 dsg-jit/dsg_jit/world/visualization.py          | 2 +-
 dsg-jit/dsg_jit/world/voxel_grid.py             | 2 +-
 dsg-jit/experiments/exp21_sensor_fusion_demo.py | 2 +-
 pyproject.toml                                  | 4 ++--
 26 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/dsg-jit/benchmarks/bench_gauss_newton_se3.py b/dsg-jit/benchmarks/bench_gauss_newton_se3.py
index 8f2590a..705c8b5 100644
--- a/dsg-jit/benchmarks/bench_gauss_newton_se3.py
+++ b/dsg-jit/benchmarks/bench_gauss_newton_se3.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 
 import time
 import jax
diff --git a/dsg-jit/benchmarks/bench_hybrid_se3_voxel.py b/dsg-jit/benchmarks/bench_hybrid_se3_voxel.py
index 1d9bceb..3ec8093 100644
--- a/dsg-jit/benchmarks/bench_hybrid_se3_voxel.py
+++ b/dsg-jit/benchmarks/bench_hybrid_se3_voxel.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 
 import time
 import jax
diff --git a/dsg-jit/benchmarks/bench_voxel_chain.py b/dsg-jit/benchmarks/bench_voxel_chain.py
index f5506e5..528d939 100644
--- a/dsg-jit/benchmarks/bench_voxel_chain.py
+++ b/dsg-jit/benchmarks/bench_voxel_chain.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 
 import time
 import jax
diff --git a/dsg-jit/dsg_jit/core/factor_graph.py b/dsg-jit/dsg_jit/core/factor_graph.py
index 0170ff4..07b7b80 100644
--- a/dsg-jit/dsg_jit/core/factor_graph.py
+++ b/dsg-jit/dsg_jit/core/factor_graph.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Core factor graph data structure for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/core/math3d.py b/dsg-jit/dsg_jit/core/math3d.py
index 314bdcc..8f74347 100644
--- a/dsg-jit/dsg_jit/core/math3d.py
+++ b/dsg-jit/dsg_jit/core/math3d.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 SE3 and SO3 manifold operations for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/core/types.py b/dsg-jit/dsg_jit/core/types.py
index 570440d..da2feca 100644
--- a/dsg-jit/dsg_jit/core/types.py
+++ b/dsg-jit/dsg_jit/core/types.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Core typed data structures for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/optimization/jit_wrappers.py b/dsg-jit/dsg_jit/optimization/jit_wrappers.py
index 13f7d73..fb37811 100644
--- a/dsg-jit/dsg_jit/optimization/jit_wrappers.py
+++ b/dsg-jit/dsg_jit/optimization/jit_wrappers.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 JIT-friendly optimization wrappers and training utilities for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/optimization/solvers.py b/dsg-jit/dsg_jit/optimization/solvers.py
index 656c009..29a908e 100644
--- a/dsg-jit/dsg_jit/optimization/solvers.py
+++ b/dsg-jit/dsg_jit/optimization/solvers.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Nonlinear optimization solvers for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/scene_graph/entities.py b/dsg-jit/dsg_jit/scene_graph/entities.py
index 0e669f0..f2c40df 100644
--- a/dsg-jit/dsg_jit/scene_graph/entities.py
+++ b/dsg-jit/dsg_jit/scene_graph/entities.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Entity definitions for the Dynamic Scene Graph.
 
diff --git a/dsg-jit/dsg_jit/scene_graph/relations.py b/dsg-jit/dsg_jit/scene_graph/relations.py
index fe32a94..964ba7f 100644
--- a/dsg-jit/dsg_jit/scene_graph/relations.py
+++ b/dsg-jit/dsg_jit/scene_graph/relations.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Semantic and topological relations for the Dynamic Scene Graph.
 
diff --git a/dsg-jit/dsg_jit/sensors/base.py b/dsg-jit/dsg_jit/sensors/base.py
index ede375a..a39d7af 100644
--- a/dsg-jit/dsg_jit/sensors/base.py
+++ b/dsg-jit/dsg_jit/sensors/base.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Abstract base classes and shared interfaces for DSG-JIT sensor modules.
 
diff --git a/dsg-jit/dsg_jit/sensors/conversion.py b/dsg-jit/dsg_jit/sensors/conversion.py
index 6b8c0c8..6a1aae7 100644
--- a/dsg-jit/dsg_jit/sensors/conversion.py
+++ b/dsg-jit/dsg_jit/sensors/conversion.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025 Tanner Kocher
-# SPDX-License-Identifier: MIT
+# SPDX-License-Identifier: Business Source License 1.1
 
 """
 Conversion utilities from sensor measurements to factor-graph factors.
diff --git a/dsg-jit/dsg_jit/sensors/fusion.py b/dsg-jit/dsg_jit/sensors/fusion.py
index 78947d4..943f2d7 100644
--- a/dsg-jit/dsg_jit/sensors/fusion.py
+++ b/dsg-jit/dsg_jit/sensors/fusion.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 
 """Sensor fusion utilities for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/sensors/imu.py b/dsg-jit/dsg_jit/sensors/imu.py
index 9c96205..52975f4 100644
--- a/dsg-jit/dsg_jit/sensors/imu.py
+++ b/dsg-jit/dsg_jit/sensors/imu.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Inertial measurement unit (IMU) abstractions and simple integration utilities.
 
diff --git a/dsg-jit/dsg_jit/sensors/integration.py b/dsg-jit/dsg_jit/sensors/integration.py
index 011c812..fdc09ab 100644
--- a/dsg-jit/dsg_jit/sensors/integration.py
+++ b/dsg-jit/dsg_jit/sensors/integration.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Helpers for wiring sensor fusion results into DSG-JIT world models.
 
diff --git a/dsg-jit/dsg_jit/sensors/lidar.py b/dsg-jit/dsg_jit/sensors/lidar.py
index c70c7bc..ebe9802 100644
--- a/dsg-jit/dsg_jit/sensors/lidar.py
+++ b/dsg-jit/dsg_jit/sensors/lidar.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 LiDAR sensor abstractions and utilities for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/slam/manifold.py b/dsg-jit/dsg_jit/slam/manifold.py
index 24323d6..f88da55 100644
--- a/dsg-jit/dsg_jit/slam/manifold.py
+++ b/dsg-jit/dsg_jit/slam/manifold.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 """
 Manifold utilities for SE(3) and Euclidean variables in DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/slam/measurements.py b/dsg-jit/dsg_jit/slam/measurements.py
index 864dbff..b8d88a3 100644
--- a/dsg-jit/dsg_jit/slam/measurements.py
+++ b/dsg-jit/dsg_jit/slam/measurements.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 """
 Residual models (measurement factors) for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/world/dynamic_scene_graph.py b/dsg-jit/dsg_jit/world/dynamic_scene_graph.py
index 4f42b0e..cce5c6f 100644
--- a/dsg-jit/dsg_jit/world/dynamic_scene_graph.py
+++ b/dsg-jit/dsg_jit/world/dynamic_scene_graph.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025 Tanner Kocher
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 
 """Dynamic scene-graph utilities built on top of :mod:`world.scene_graph`.
 
diff --git a/dsg-jit/dsg_jit/world/model.py b/dsg-jit/dsg_jit/world/model.py
index cc7b57b..15dd502 100644
--- a/dsg-jit/dsg_jit/world/model.py
+++ b/dsg-jit/dsg_jit/world/model.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 """
 World-level wrapper and optimization front-end around the core factor graph.
 
diff --git a/dsg-jit/dsg_jit/world/scene_graph.py b/dsg-jit/dsg_jit/world/scene_graph.py
index 341f549..d705585 100644
--- a/dsg-jit/dsg_jit/world/scene_graph.py
+++ b/dsg-jit/dsg_jit/world/scene_graph.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 """
 Dynamic 3D scene graph utilities built on top of the world model.
 
diff --git a/dsg-jit/dsg_jit/world/training.py b/dsg-jit/dsg_jit/world/training.py
index 6ac5be9..a86225d 100644
--- a/dsg-jit/dsg_jit/world/training.py
+++ b/dsg-jit/dsg_jit/world/training.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 """
 High-level training utilities for differentiable scene graph experiments.
 
diff --git a/dsg-jit/dsg_jit/world/visualization.py b/dsg-jit/dsg_jit/world/visualization.py
index 6db0dc5..8271b58 100644
--- a/dsg-jit/dsg_jit/world/visualization.py
+++ b/dsg-jit/dsg_jit/world/visualization.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 """
 Visualization utilities for DSG-JIT.
 
diff --git a/dsg-jit/dsg_jit/world/voxel_grid.py b/dsg-jit/dsg_jit/world/voxel_grid.py
index d5fad29..a31c124 100644
--- a/dsg-jit/dsg_jit/world/voxel_grid.py
+++ b/dsg-jit/dsg_jit/world/voxel_grid.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 """
 Voxel grid utilities for differentiable volumetric scene representations.
 
diff --git a/dsg-jit/experiments/exp21_sensor_fusion_demo.py b/dsg-jit/experiments/exp21_sensor_fusion_demo.py
index e0bd5c1..12cc0d7 100644
--- a/dsg-jit/experiments/exp21_sensor_fusion_demo.py
+++ b/dsg-jit/experiments/exp21_sensor_fusion_demo.py
@@ -1,5 +1,5 @@
 # Copyright (c) 2025.
-# This file is part of DSG-JIT, released under the MIT License.
+# This file is part of DSG-JIT, released under the Business Source License 1.1
 
 """
 exp21_sensor_fusion_demo.py
diff --git a/pyproject.toml b/pyproject.toml
index efb5779..94fe287 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -8,7 +8,7 @@ version = "0.7.1"
 description = "Differentiable Scene Graphs with JAX-based factor graphs and SLAM tooling."
 readme = "README.md"
 requires-python = ">=3.10"
-license = { text = "MIT" }
+license = { text = "Business Source License 1.1" }
 
 authors = [
   { name = "Tanner Kocher" }
@@ -27,7 +27,7 @@ classifiers = [
   "Development Status :: 3 - Alpha",
   "Intended Audience :: Science/Research",
   "Intended Audience :: Developers",
-  "License :: OSI Approved :: MIT License",
+  "License :: OSI Approved :: Business Source License 1.1",
   "Programming Language :: Python",
   "Programming Language :: Python :: 3",
   "Programming Language :: Python :: 3.9",

From 97096b2184754c808ed3a9a7ca955e2ef931c3f7 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 18:29:21 -0800
Subject: [PATCH 3/3] added wrong comment

---
 dsg-jit/dsg_jit/datasets/__init__.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/dsg-jit/dsg_jit/datasets/__init__.py b/dsg-jit/dsg_jit/datasets/__init__.py
index 90f3f8d..ee3ee2e 100644
--- a/dsg-jit/dsg_jit/datasets/__init__.py
+++ b/dsg-jit/dsg_jit/datasets/__init__.py
@@ -10,8 +10,6 @@
 * Keep I/O and parsing logic separate from the core optimization engine.
 * Provide small, explicit dataclasses for each dataset family.
 * Avoid heavy dependencies (no hard requirement on OpenCV, etc.).
-
-**
 """
 
 from .tum_rgbd import TumRgbdFrame, load_tum_rgbd_sequence