diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp
index 3cb411d8dac0bd8bdc862b9ecba47ed95a22bc92..ec8449f1739ef13f9347438df12b77dedf900d02 100644
--- a/demos/mcapi_utils.cpp
+++ b/demos/mcapi_utils.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "mcapi_utils.h"
 
diff --git a/demos/mcapi_utils.h b/demos/mcapi_utils.h
index d7d3322dbeff671e3771fe4baee65090e412a26b..21a1f7af3a1660c3d34c5ded8b635785251f88fa 100644
--- a/demos/mcapi_utils.h
+++ b/demos/mcapi_utils.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <vector>
 #include "Eigen/Dense"
diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index 40e53abfae10c1e994bcab4036ff584c952d92d7..ab4b0407c64025b028ea34c4799a8ef93901cb6f 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index 921ded44388f5bf6b020146b0307769052ac1bae..beb31e0b388dbe0532eed98ceaf0b7bd26e9d0fa 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index 2ead37f5bfc66755b740223217997c656a7e4be2..cf70992c220890f1e61116305bf14ff826a20eda 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp
index 97638de458ad8b4e363170b6d447f46a52ad981d..6e6472e604347993a9d1c71154a46033cb0ac722 100644
--- a/demos/solo_kine_mocap.cpp
+++ b/demos/solo_kine_mocap.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index fa33724cd2b808331da950fa4ab983a8464890ff..39d6798878e3f2f4dac3048a479079b1b84d7076 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/include/bodydynamics/capture/capture_force_torque.h b/include/bodydynamics/capture/capture_force_torque.h
index bd0546fc3da997e92e304d4d3016b7ab3877cbc5..8b363d6fb13175c599c3ab3e4db115f5e16d1b15 100644
--- a/include/bodydynamics/capture/capture_force_torque.h
+++ b/include/bodydynamics/capture/capture_force_torque.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/capture/capture_force_torque_inertial.h b/include/bodydynamics/capture/capture_force_torque_inertial.h
index d3d9b8bbf8a47e7ac9bfc1c4fd2c061f38f46f75..291c34afa239b4ef876b835d5a31882111f18e7a 100644
--- a/include/bodydynamics/capture/capture_force_torque_inertial.h
+++ b/include/bodydynamics/capture/capture_force_torque_inertial.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h
index 7378b69b89c1afd9d9e3b827117da0abc5383e31..12452d12d95a32444acea164eb45b602e1ebf4d8 100644
--- a/include/bodydynamics/capture/capture_inertial_kinematics.h
+++ b/include/bodydynamics/capture/capture_inertial_kinematics.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/capture/capture_leg_odom.h b/include/bodydynamics/capture/capture_leg_odom.h
index 9ac463dea3ad552a5c8275553c4cbc2188980efc..4396d8f0aeff6579b83698d47abf4839fb5355fd 100644
--- a/include/bodydynamics/capture/capture_leg_odom.h
+++ b/include/bodydynamics/capture/capture_leg_odom.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/capture/capture_point_feet_nomove.h b/include/bodydynamics/capture/capture_point_feet_nomove.h
index 743d7321d304c9ce541313263a7964e33df269e8..20aeaa0fe6873aab2e2097c13419592491d8011e 100644
--- a/include/bodydynamics/capture/capture_point_feet_nomove.h
+++ b/include/bodydynamics/capture/capture_point_feet_nomove.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/common/bodydynamics.h b/include/bodydynamics/common/bodydynamics.h
index 485d9abddf187e1484ef21f90e1c750c0a4d6959..939d486d359eb6f24ade15adaf850d221bacee7d 100644
--- a/include/bodydynamics/common/bodydynamics.h
+++ b/include/bodydynamics/common/bodydynamics.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h
index eaed3797aec2ae31ec0a9f0c11f19a13691169c3..848f0739fe8b688937b2e8459e1990805c91c2d7 100644
--- a/include/bodydynamics/factor/factor_force_torque.h
+++ b/include/bodydynamics/factor/factor_force_torque.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/factor/factor_inertial_kinematics.h b/include/bodydynamics/factor/factor_inertial_kinematics.h
index 99d19d3ef7c5c0342dc28c3060a52aec493e0554..3011baac0bcab8bf9dcf315870c4975e8e336e76 100644
--- a/include/bodydynamics/factor/factor_inertial_kinematics.h
+++ b/include/bodydynamics/factor/factor_inertial_kinematics.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/factor/factor_point_feet_altitude.h b/include/bodydynamics/factor/factor_point_feet_altitude.h
index 8ddec2dbbae70b7cb615b4652e44dc36154d35b8..defb29d2b9119f9a19c3e2e091ad3ddf21745fd0 100644
--- a/include/bodydynamics/factor/factor_point_feet_altitude.h
+++ b/include/bodydynamics/factor/factor_point_feet_altitude.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/factor/factor_point_feet_nomove.h b/include/bodydynamics/factor/factor_point_feet_nomove.h
index e640e03a2a6cfad3392f8f1913da9da0eeaf73b1..4c2fa73373c00a1dce8261e8610d1ccc45c3a7fe 100644
--- a/include/bodydynamics/factor/factor_point_feet_nomove.h
+++ b/include/bodydynamics/factor/factor_point_feet_nomove.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
index 35527a3f39295c8b2cdaa75a379620e46dfee00b..0f92bbbe945ede4ec5328d456ddb9be171716f6e 100644
--- a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
+++ b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index a99ae16afb0f00dd5cf56528b99a53b7e0df97ff..4316114cd080fe8dd419137a65a70df8ed7fd679 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/feature/feature_inertial_kinematics.h b/include/bodydynamics/feature/feature_inertial_kinematics.h
index 60deffde4e2e8a26ea0f211eebe90ef5492b88ab..84db72596e0fe5b2b533cf1f4a20bf99468e5985 100644
--- a/include/bodydynamics/feature/feature_inertial_kinematics.h
+++ b/include/bodydynamics/feature/feature_inertial_kinematics.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h
index 1f226d94e800035fccc9de08453c6d314acae4d8..e2a0d527866fb6990af0696f0c68763872346316 100644
--- a/include/bodydynamics/math/force_torque_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_delta_tools.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/processor/processor_force_torque.h b/include/bodydynamics/processor/processor_force_torque.h
index ee94dff2ad1724ad60ee5210ecf997538e68a30c..44cd6b7baf14b14b85de18c956d8f6ff28156b30 100644
--- a/include/bodydynamics/processor/processor_force_torque.h
+++ b/include/bodydynamics/processor/processor_force_torque.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index 215565f4cb43a36fc3dd6b7ba623ce0e6ab83b9d..c89d286467c1e4bab48f6343405941a1b4f8b7ee 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/processor/processor_point_feet_nomove.h b/include/bodydynamics/processor/processor_point_feet_nomove.h
index b25c2eccd1c8a313209cdcb79320e301ab558c3a..01194a5a8a5197b6248b4d29cf1b528cc13a3a64 100644
--- a/include/bodydynamics/processor/processor_point_feet_nomove.h
+++ b/include/bodydynamics/processor/processor_point_feet_nomove.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index ab2af6a100542d02c77da86fba00767951dcba17..c675a62912cee155e8dbd467f0e75f141c043264 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
index 95035dd788fd4b37566a95a250b0c45e8b2dea9d..424a80ea463f3cf0a4d96ba701333ecd5a377692 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/sensor/sensor_point_feet_nomove.h b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
index 5706793f00ec0e5f640fecfde035e55c730bf9f9..80ebc305205075c62feba872a6a72292b63661ed 100644
--- a/include/bodydynamics/sensor/sensor_point_feet_nomove.h
+++ b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/utils/load_bodydynamics.h b/include/bodydynamics/utils/load_bodydynamics.h
index 09a4f1eb6043dace20ea1eb0643e5634be2c4d2c..3db199f54dd741912768bfbb039459298679e899 100644
--- a/include/bodydynamics/utils/load_bodydynamics.h
+++ b/include/bodydynamics/utils/load_bodydynamics.h
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/src/capture/capture_force_torque.cpp b/src/capture/capture_force_torque.cpp
index 24ff4d19004376228235a9855de45b40c2f44996..19bbb28e45f25dc9cc27298e327797bb8c646267 100644
--- a/src/capture/capture_force_torque.cpp
+++ b/src/capture/capture_force_torque.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
 #include "bodydynamics/capture/capture_force_torque.h"
diff --git a/src/capture/capture_inertial_kinematics.cpp b/src/capture/capture_inertial_kinematics.cpp
index e209333e0302022644dbb0d388bded1c4d4c0e41..c93d7060298ec008866b40c9c18d257603f3a8f9 100644
--- a/src/capture/capture_inertial_kinematics.cpp
+++ b/src/capture/capture_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "core/capture/capture_base.h"
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
diff --git a/src/capture/capture_leg_odom.cpp b/src/capture/capture_leg_odom.cpp
index a772322ab84c7f447d6c98376ba5b96f3d9b14a1..6e71fef5943e40ee70f0915cb45a8cc34e33fa62 100644
--- a/src/capture/capture_leg_odom.cpp
+++ b/src/capture/capture_leg_odom.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "core/math/rotations.h"
 #include "core/capture/capture_base.h"
diff --git a/src/capture/capture_point_feet_nomove.cpp b/src/capture/capture_point_feet_nomove.cpp
index 9d99d53f54d4b75b5b525bd3d7b34d3bfd95b6e2..7ccefd406f25fdd6388dcce283b9454fd52e85dd 100644
--- a/src/capture/capture_point_feet_nomove.cpp
+++ b/src/capture/capture_point_feet_nomove.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "core/capture/capture_base.h"
 #include "bodydynamics/capture/capture_point_feet_nomove.h"
diff --git a/src/feature/feature_force_torque.cpp b/src/feature/feature_force_torque.cpp
index cacf00b548efbfe1a70f1264c7b2143e2948e5a0..8fe95caf0f8d8987ef0e6f8a8deebfc98dcdd7f5 100644
--- a/src/feature/feature_force_torque.cpp
+++ b/src/feature/feature_force_torque.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/feature/feature_force_torque.h"
 namespace wolf
diff --git a/src/feature/feature_inertial_kinematics.cpp b/src/feature/feature_inertial_kinematics.cpp
index 6ecc8d8e550e0eb37ddef4fa2896779e3aca3d88..4dd1d8a442b02aa9da277cb4d1ed181b5b2f3738 100644
--- a/src/feature/feature_inertial_kinematics.cpp
+++ b/src/feature/feature_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/feature/feature_inertial_kinematics.h"
 #include "Eigen/Dense"
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index 8c7a1eeceb01922ceda563018341177170bffe85..16ecd3eb72669bd9ff1d98d99b470b873d059aea 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/src/processor/processor_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/processor/processor_inertial_kinematics.h"
 
diff --git a/src/processor/processor_point_feet_nomove.cpp b/src/processor/processor_point_feet_nomove.cpp
index eeb112867baf0ab2aee552dadbc141c0004b8f37..73a627c49b06033fecc87cf02c10725548a373b3 100644
--- a/src/processor/processor_point_feet_nomove.cpp
+++ b/src/processor/processor_point_feet_nomove.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/processor/processor_point_feet_nomove.h"
 
diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp
index 9c9d613b033cef03c3160c23924cebdc14a583c2..ae4365a3d59fc4f8a8c5d743f417f67cebcc859d 100644
--- a/src/sensor/sensor_force_torque.cpp
+++ b/src/sensor/sensor_force_torque.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_force_torque.h"
 
diff --git a/src/sensor/sensor_inertial_kinematics.cpp b/src/sensor/sensor_inertial_kinematics.cpp
index 00fbba8de8f9b18bb572275b8458790e12f1e530..d3cc61591430bb7a74c4770c4adad02b57d097cb 100644
--- a/src/sensor/sensor_inertial_kinematics.cpp
+++ b/src/sensor/sensor_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
 
diff --git a/src/sensor/sensor_point_feet_nomove.cpp b/src/sensor/sensor_point_feet_nomove.cpp
index 8b1223cde209408c3ed1d4f43bc7ad872aded19b..55cd87cc5f7d185ae0ce0e42d14332bc081f3c2a 100644
--- a/src/sensor/sensor_point_feet_nomove.cpp
+++ b/src/sensor/sensor_point_feet_nomove.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_point_feet_nomove.h"
 
diff --git a/src/utils/load_bodydynamics.cpp b/src/utils/load_bodydynamics.cpp
index e311e21ccf2d68bbca1c746654dc5d186b3eeb28..affab7c97addb6b96a39270cc65553bfdfc88aff 100644
--- a/src/utils/load_bodydynamics.cpp
+++ b/src/utils/load_bodydynamics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/utils/load_bodydynamics.h"
 
diff --git a/test/gtest_capture_inertial_kinematics.cpp b/test/gtest_capture_inertial_kinematics.cpp
index dfdba624774c8149f59e92e03ad20b1ac09afc31..bbb3de0176ff8d3de503e8117f1c99399558ef32 100644
--- a/test/gtest_capture_inertial_kinematics.cpp
+++ b/test/gtest_capture_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
diff --git a/test/gtest_capture_leg_odom.cpp b/test/gtest_capture_leg_odom.cpp
index cb8c85ce70c51bb29ea1a618bc3534f5e72731d4..ea1edf165a691062b8902cf9c148c51560c45d69 100644
--- a/test/gtest_capture_leg_odom.cpp
+++ b/test/gtest_capture_leg_odom.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/capture/capture_leg_odom.h"
 
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index a011fb245f448d6f8fb23d6d3078e23cf7c236a9..81bbe2f20745ad78fee4b92a20de33585e74f1d5 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 /*
 Organisation: For each test, the problem, sensors, factors (if possible) are instanciated in a base class inheriting
diff --git a/test/gtest_feature_inertial_kinematics.cpp b/test/gtest_feature_inertial_kinematics.cpp
index a18d99c4c229359b25427e09481f6169e0507ef5..7be2aab0af57846fddc72e633b01b08a78802301 100644
--- a/test/gtest_feature_inertial_kinematics.cpp
+++ b/test/gtest_feature_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/feature/feature_inertial_kinematics.h"
 
diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp
index 3971a68981b54dde47f4d9fc015f7af3d9e656f5..91d0d5173d1ca925d97abf614ea1c3037f9c1f84 100644
--- a/test/gtest_force_torque_delta_tools.cpp
+++ b/test/gtest_force_torque_delta_tools.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 /*
  * gtest_force_torque_delta_tools.cpp
  *
diff --git a/test/gtest_load_bodydynamics.cpp b/test/gtest_load_bodydynamics.cpp
index 45d1b797f50903c4dbf0bde0209e36d437f63730..50df4ceda6dfbbae011ba20352f2b4a446ac924c 100644
--- a/test/gtest_load_bodydynamics.cpp
+++ b/test/gtest_load_bodydynamics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <gtest/gtest.h>
 #include "bodydynamics/utils/load_bodydynamics.h"
diff --git a/test/gtest_no_load_bodydynamics.cpp b/test/gtest_no_load_bodydynamics.cpp
index a0450ed4ffea3c74e74ee73755ea35b6c0967ff9..df16c62e1b83de16f4f06818ac6ac74edd0fb114 100644
--- a/test/gtest_no_load_bodydynamics.cpp
+++ b/test/gtest_no_load_bodydynamics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <gtest/gtest.h>
 #include <core/utils/load_core.h>
diff --git a/test/gtest_processor_force_torque.cpp b/test/gtest_processor_force_torque.cpp
index 2ab4c491f2d6cf4493fb8b3b3dca996e1eaf6baf..3470fc248683a263e46511b289b5e6376ec38899 100644
--- a/test/gtest_processor_force_torque.cpp
+++ b/test/gtest_processor_force_torque.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 // debug
 #include <iostream>
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index 5c9cd793ec5ac8df165ca4058e6e691ed9657715..27aed4da238a06809b43f8b091eac601a0976323 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 // debug
 #include <iostream>
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index b59b77fc4a37f06d4380cd221f1b6b085eafd7c9..eb61c29b2f0420d59f076d916451a6f622df118c 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 // debug
 #include <iostream>
diff --git a/test/gtest_schema.cpp b/test/gtest_schema.cpp
index 965771a8cdb97a92afd0687577a646194e6d9fec..ece3765bf9971a891d26b795d1abe83cd54aec8c 100644
--- a/test/gtest_schema.cpp
+++ b/test/gtest_schema.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/common/bodydynamics.h"
 #include "core/utils/utils_gtest.h"
diff --git a/test/gtest_sensor_force_torque.cpp b/test/gtest_sensor_force_torque.cpp
index 24f3848949429d402134cd03e439007416180e6b..a46f0a951a738420910c913cb76a965c6633dfcf 100644
--- a/test/gtest_sensor_force_torque.cpp
+++ b/test/gtest_sensor_force_torque.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_force_torque.h"
 
diff --git a/test/gtest_sensor_inertial_kinematics.cpp b/test/gtest_sensor_inertial_kinematics.cpp
index 40b6fa7656616130668e7d721010177e3660a4c3..34a9910785334fd9b5a4b9d188903ef88a525a0e 100644
--- a/test/gtest_sensor_inertial_kinematics.cpp
+++ b/test/gtest_sensor_inertial_kinematics.cpp
@@ -17,25 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-// WOLF - Copyright (C) 2020,2021,2022,2023,2024
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"