Replace verbose Apache 2.0 boilerplate with SPDX-only headers (#9)

* remove verbose

* readme cleanup

* cleanup

Author: jvonmuralt

newton_actuators/_src/actuators/base.py

@@ -1,8 +1,6 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""Base actuator class."""
-
 from typing import Any
 
 import numpy as np

newton_actuators/_src/actuators/dc_motor.py

@@ -1,8 +1,6 @@
 # SPDX-FileCopyrightText: Copyright (c) 2026 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""DC motor actuator with velocity-dependent torque saturation."""
-
 import math
 from typing import Any
 

newton_actuators/_src/actuators/delayed_pd.py

@@ -1,8 +1,6 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""PD controller with input delay."""
-
 import math
 from dataclasses import dataclass
 from typing import Any

newton_actuators/_src/actuators/net_lstm.py

@@ -1,19 +1,5 @@
 # SPDX-FileCopyrightText: Copyright (c) 2026 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""LSTM-based neural network actuator."""
 
 import math
 from dataclasses import dataclass

newton_actuators/_src/actuators/net_mlp.py

@@ -1,19 +1,5 @@
 # SPDX-FileCopyrightText: Copyright (c) 2026 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""MLP-based neural network actuator."""
 
 import math
 from dataclasses import dataclass

newton_actuators/_src/actuators/pd.py

@@ -1,8 +1,6 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""Stateless PD controller actuator."""
-
 import math
 from typing import Any
 

newton_actuators/_src/actuators/pid.py

@@ -1,8 +1,6 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""Stateful PID controller actuator."""
-
 import math
 from dataclasses import dataclass
 from typing import Any

newton_actuators/_src/actuators/remotized_pd.py

@@ -1,8 +1,6 @@
 # SPDX-FileCopyrightText: Copyright (c) 2026 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""PD controller with input delay and angle-dependent torque limits."""
-
 import math
 from typing import Any
 

newton_actuators/_src/kernels.py

@@ -1,8 +1,6 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""Warp kernels for actuator computations."""
-
 import warp as wp
 
 

newton_actuators/_src/usd_parser.py

@@ -1,8 +1,6 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-"""USD parser for actuator prims."""
-
 from __future__ import annotations
 
 from dataclasses import dataclass, field