Add license.

LICENSE

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2023 Adam Heins
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

README.md

@@ -1,7 +1,7 @@
-# Upright: Nonprehensile Object Transportation (with a Mobile Manipulator)
+# Upright
 
-Simulation and experiment code for a mobile manipulator balancing objects on its
-end effector. Simulator is Pybullet.
+Code for solving the waiter's problem with model predictive control on a mobile
+manipulator. 
 
 The code is designed to run on ROS Noetic. There is Docker image available in
 the `docker/` directory if you are not running Ubuntu 20.04 with Noetic
@@ -123,3 +123,7 @@ You may wish to record the results in a bag file using the
 
 Some packages contain tests. Python tests use [pytest](https://pytest.org/).
 Run `pytest .` inside a package's `tests` directory to run the Python tests.
+
+## License
+
+MIT (see the LICENSE file).