From 18b1523e8584820721132cf74ed929f7b3bb0553 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 21:41:23 -0800
Subject: [PATCH 1/9] updating licensing comment

---
 CITATION.cff                                 | 4 ++--
 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/camera.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/sensors/streams.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 +-
 27 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/CITATION.cff b/CITATION.cff
index 18f87de..3db61e8 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -32,9 +32,9 @@ abstract: >
   and a high-performance manifold Gauss–Newton solver accelerated via JIT
   compilation.
 
-version: "0.1.0"
+version: "0.1.1"
 date-released: "2025-11-20"
-license: "MIT"
+license: "Business Source License 1.1"
 
 software-citation:
   type: software
diff --git a/dsg-jit/benchmarks/bench_gauss_newton_se3.py b/dsg-jit/benchmarks/bench_gauss_newton_se3.py
index 8f2590a..6e40c9e 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..0535a2f 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..04e09fe 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..4013c7e 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..8837ac0 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..eb7c965 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..9983cfd 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..d70750f 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..8c8b97d 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..a2241df 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..692895b 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/camera.py b/dsg-jit/dsg_jit/sensors/camera.py
index 4a955bb..9cb1662 100644
--- a/dsg-jit/dsg_jit/sensors/camera.py
+++ b/dsg-jit/dsg_jit/sensors/camera.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.
 """
 Camera sensor abstractions and utilities for DSG-JIT.
 
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..8de2b97 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..2c97478 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..66855f1 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..4c28f98 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/sensors/streams.py b/dsg-jit/dsg_jit/sensors/streams.py
index b2f96e4..16f99a6 100644
--- a/dsg-jit/dsg_jit/sensors/streams.py
+++ b/dsg-jit/dsg_jit/sensors/streams.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.
 """
 Generic sensor streaming 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.
 

From b67f0577fa1afa4df434e613fa5555c791803856 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 21:42:43 -0800
Subject: [PATCH 2/9] change to be other/prioprietary license for classifier

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index efb5779..178dcc4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,7 +27,7 @@ classifiers = [
   "Development Status :: 3 - Alpha",
   "Intended Audience :: Science/Research",
   "Intended Audience :: Developers",
-  "License :: OSI Approved :: MIT License",
+  "License :: Other/Proprietary License",
   "Programming Language :: Python",
   "Programming Language :: Python :: 3",
   "Programming Language :: Python :: 3.9",

From 59b6d862979c51bd4fa2eff635080a5c961b757f Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 21:43:30 -0800
Subject: [PATCH 3/9] licne change to buisness source license 1.1

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 178dcc4..4f39e16 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" }

From 23d6456f6b98f9dabfead4795701567b835db8b2 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 21:47:41 -0800
Subject: [PATCH 4/9] add a period to end of sentence

---
 dsg-jit/dsg_jit/world/voxel_grid.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dsg-jit/dsg_jit/world/voxel_grid.py b/dsg-jit/dsg_jit/world/voxel_grid.py
index a31c124..9aafbc3 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 Business Source License 1.1
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Voxel grid utilities for differentiable volumetric scene representations.
 

From 3312c6b574e4ace2e54298abab394498762805a2 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 21:50:51 -0800
Subject: [PATCH 5/9] adding period to end of sentence

---
 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 +-
 pyproject.toml                               | 2 +-
 24 files changed, 24 insertions(+), 24 deletions(-)

diff --git a/dsg-jit/benchmarks/bench_gauss_newton_se3.py b/dsg-jit/benchmarks/bench_gauss_newton_se3.py
index 6e40c9e..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 Business Source License 1.1
+# 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 0535a2f..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 Business Source License 1.1
+# 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 04e09fe..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 Business Source License 1.1
+# 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 4013c7e..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 Business Source License 1.1
+# 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 8837ac0..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 Business Source License 1.1
+# 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 eb7c965..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 Business Source License 1.1
+# 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 9983cfd..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 Business Source License 1.1
+# 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 d70750f..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 Business Source License 1.1
+# 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 8c8b97d..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 Business Source License 1.1
+# 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 a2241df..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 Business Source License 1.1
+# 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 692895b..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 Business Source License 1.1
+# 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 6a1aae7..a15a4f8 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: Business Source License 1.1
+# 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 8de2b97..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 Business Source License 1.1
+# 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 2c97478..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 Business Source License 1.1
+# 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 66855f1..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 Business Source License 1.1
+# 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 4c28f98..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 Business Source License 1.1
+# 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 f88da55..35e76f9 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 Business Source License 1.1
+# 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 b8d88a3..663860b 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 Business Source License 1.1
+# 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 cce5c6f..c635ca8 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 Business Source License 1.1
+# 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 15dd502..d29e7dd 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 Business Source License 1.1
+# 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 d705585..f99c7b0 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 Business Source License 1.1
+# 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 a86225d..16d4e0a 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 Business Source License 1.1
+# 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 8271b58..2dc1b41 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 Business Source License 1.1
+# This file is part of DSG-JIT, released under the Business Source License 1.1.
 """
 Visualization utilities for DSG-JIT.
 
diff --git a/pyproject.toml b/pyproject.toml
index 4f39e16..83c57cb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ license = { text = "Business Source License 1.1" }
 
 authors = [
   { name = "Tanner Kocher" }
-]
+]ß
 
 keywords = [
   "SLAM",

From 1818f569f2cd7a9e0745ddc31c74a8e5bb4a5431 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 22:22:25 -0800
Subject: [PATCH 6/9] one more licnese name update

---
 CITATION.cff | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CITATION.cff b/CITATION.cff
index 3db61e8..304ee2e 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -32,7 +32,7 @@ abstract: >
   and a high-performance manifold Gauss–Newton solver accelerated via JIT
   compilation.
 
-version: "0.1.1"
+version: "0.1.0"
 date-released: "2025-11-20"
 license: "Business Source License 1.1"
 
@@ -45,4 +45,4 @@ software-citation:
       given-names: "Tanner"
   doi: ""
   url: "https://github.com/TannerTorrey3/DSG-JIT"
-  notes: "Cite this software directly until the formal paper is published."
\ No newline at end of file
+  notes: "Cite this software directly until the formal paper is published.
\ No newline at end of file

From d2189e42807a1a6435ba355c87f78432ec14581f Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 22:26:18 -0800
Subject: [PATCH 7/9] add notes quotes

---
 CITATION.cff | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CITATION.cff b/CITATION.cff
index 304ee2e..3a93366 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -45,4 +45,4 @@ software-citation:
       given-names: "Tanner"
   doi: ""
   url: "https://github.com/TannerTorrey3/DSG-JIT"
-  notes: "Cite this software directly until the formal paper is published.
\ No newline at end of file
+  notes: "Cite this software directly until the formal paper is published."
\ No newline at end of file

From 72f4b4e10c67e53cb04511c8a22aba600b9e4f83 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Sun, 1 Feb 2026 22:33:55 -0800
Subject: [PATCH 8/9] accidntally added  char

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 83c57cb..4f39e16 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ license = { text = "Business Source License 1.1" }
 
 authors = [
   { name = "Tanner Kocher" }
-]ß
+]
 
 keywords = [
   "SLAM",

From 5671b4839c1f3a435b9e09ef54880c23f0219924 Mon Sep 17 00:00:00 2001
From: riley0227 <riley0227@gmail.com>
Date: Mon, 2 Feb 2026 06:25:43 -0800
Subject: [PATCH 9/9] remove period

---
 dsg-jit/dsg_jit/sensors/conversion.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dsg-jit/dsg_jit/sensors/conversion.py b/dsg-jit/dsg_jit/sensors/conversion.py
index a15a4f8..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: Business Source License 1.1.
+# SPDX-License-Identifier: Business Source License 1.1
 
 """
 Conversion utilities from sensor measurements to factor-graph factors.