chore(comments): remove section markers

dimos/agents/mcp/mcp_adapter.py

@@ -63,10 +63,6 @@ def __init__(self, url: str | None = None, timeout: int = DEFAULT_TIMEOUT) -> No
         self.url = url
         self.timeout = timeout
 
-    # ------------------------------------------------------------------
-    # Low-level JSON-RPC
-    # ------------------------------------------------------------------
-
     def call(self, method: str, params: dict[str, Any] | None = None) -> dict[str, Any]:
         """Send a JSON-RPC request and return the parsed response.
 
@@ -87,10 +83,6 @@ def call(self, method: str, params: dict[str, Any] | None = None) -> dict[str, A
             raise McpError(f"HTTP {resp.status_code}: {e}") from e
         return resp.json()  # type: ignore[no-any-return]
 
-    # ------------------------------------------------------------------
-    # MCP standard methods
-    # ------------------------------------------------------------------
-
     def initialize(self) -> dict[str, Any]:
         """Send ``initialize`` and return server info."""
         return self.call("initialize")
@@ -112,10 +104,6 @@ def call_tool_text(self, name: str, arguments: dict[str, Any] | None = None) ->
             return ""
         return content[0].get("text", str(content[0]))  # type: ignore[no-any-return]
 
-    # ------------------------------------------------------------------
-    # Readiness probes
-    # ------------------------------------------------------------------
-
     def wait_for_ready(self, timeout: float = 10.0, interval: float = 0.5) -> bool:
         """Poll until the MCP server responds, or return False on timeout."""
         deadline = time.monotonic() + timeout
@@ -148,10 +136,6 @@ def wait_for_down(self, timeout: float = 10.0, interval: float = 0.5) -> bool:
             time.sleep(interval)
         return False
 
-    # ------------------------------------------------------------------
-    # Class methods for discovery
-    # ------------------------------------------------------------------
-
     @classmethod
     def from_run_entry(cls, entry: Any | None = None, timeout: int = DEFAULT_TIMEOUT) -> McpAdapter:
         """Create an adapter from a RunEntry, or discover the latest one.
@@ -173,10 +157,6 @@ def from_run_entry(cls, entry: Any | None = None, timeout: int = DEFAULT_TIMEOUT
         url = f"http://localhost:{global_config.mcp_port}/mcp"
         return cls(url=url, timeout=timeout)
 
-    # ------------------------------------------------------------------
-    # Internals
-    # ------------------------------------------------------------------
-
     @staticmethod
     def _unwrap(response: dict[str, Any]) -> dict[str, Any]:
         """Extract the ``result`` from a JSON-RPC response, raising on error."""

dimos/agents/mcp/mcp_server.py

@@ -50,11 +50,6 @@
 app.state.rpc_calls = {}
 
 
-# ---------------------------------------------------------------------------
-# JSON-RPC helpers
-# ---------------------------------------------------------------------------
-
-
 def _jsonrpc_result(req_id: Any, result: Any) -> dict[str, Any]:
     return {"jsonrpc": "2.0", "id": req_id, "result": result}
 
@@ -67,11 +62,6 @@ def _jsonrpc_error(req_id: Any, code: int, message: str) -> dict[str, Any]:
     return {"jsonrpc": "2.0", "id": req_id, "error": {"code": code, "message": message}}
 
 
-# ---------------------------------------------------------------------------
-# JSON-RPC handlers (standard MCP protocol only)
-# ---------------------------------------------------------------------------
-
-
 def _handle_initialize(req_id: Any) -> dict[str, Any]:
     return _jsonrpc_result(
         req_id,
@@ -177,11 +167,6 @@ async def mcp_endpoint(request: Request) -> Response:
     return JSONResponse(result)
 
 
-# ---------------------------------------------------------------------------
-# McpServer Module
-# ---------------------------------------------------------------------------
-
-
 class McpServer(Module):
     _uvicorn_server: uvicorn.Server | None = None
     _serve_future: concurrent.futures.Future[None] | None = None
@@ -215,10 +200,6 @@ def on_system_modules(self, modules: list[RPCClient]) -> None:
             for skill_info in app.state.skills
         }
 
-    # ------------------------------------------------------------------
-    # Introspection skills (exposed as MCP tools via tools/list)
-    # ------------------------------------------------------------------
-
     @skill
     def server_status(self) -> str:
         """Get MCP server status: main process PID, deployed modules, and skill count."""

dimos/agents_deprecated/agent.py

@@ -68,9 +68,6 @@
 _MAX_SAVED_FRAMES = 100  # Maximum number of frames to save
 
 
-# -----------------------------------------------------------------------------
-# region Agent Base Class
-# -----------------------------------------------------------------------------
 class Agent:
     """Base agent that manages memory and subscriptions."""
 
@@ -105,12 +102,6 @@ def dispose_all(self) -> None:
             logger.info("No disposables to dispose.")
 
 
-# endregion Agent Base Class
-
-
-# -----------------------------------------------------------------------------
-# region LLMAgent Base Class (Generic LLM Agent)
-# -----------------------------------------------------------------------------
 class LLMAgent(Agent):
     """Generic LLM agent containing common logic for LLM-based agents.
 
@@ -689,12 +680,6 @@ def dispose_all(self) -> None:
         self.response_subject.on_completed()
 
 
-# endregion LLMAgent Base Class (Generic LLM Agent)
-
-
-# -----------------------------------------------------------------------------
-# region OpenAIAgent Subclass (OpenAI-Specific Implementation)
-# -----------------------------------------------------------------------------
 class OpenAIAgent(LLMAgent):
     """OpenAI agent implementation that uses OpenAI's API for processing.
 
@@ -914,4 +899,3 @@ def stream_query(self, query_text: str) -> Observable:  # type: ignore[type-arg]
         )
 
 
-# endregion OpenAIAgent Subclass (OpenAI-Specific Implementation)

dimos/agents_deprecated/prompt_builder/impl.py

@@ -148,7 +148,6 @@ def build(  # type: ignore[no-untyped-def]
         # print("system_prompt: ", system_prompt)
         # print("rag_context: ", rag_context)
 
-        # region Token Counts
         if not override_token_limit:
             rag_token_cnt = self.tokenizer.token_count(rag_context)
             system_prompt_token_cnt = self.tokenizer.token_count(system_prompt)
@@ -163,7 +162,6 @@ def build(  # type: ignore[no-untyped-def]
             system_prompt_token_cnt = 0
             user_query_token_cnt = 0
             image_token_cnt = 0
-        # endregion Token Counts
 
         # Create a component dictionary for dynamic allocation
         components = {

dimos/control/blueprints.py

@@ -49,10 +49,6 @@
 _XARM7_MODEL_PATH = LfsPath("xarm_description/urdf/xarm7/xarm7.urdf")
 
 
-# =============================================================================
-# Single Arm Blueprints
-# =============================================================================
-
 # Mock 7-DOF arm (for testing)
 coordinator_mock = control_coordinator(
     tick_rate=100.0,
@@ -168,10 +164,6 @@
 )
 
 
-# =============================================================================
-# Dual Arm Blueprints
-# =============================================================================
-
 # Dual mock arms (7-DOF left, 6-DOF right)
 coordinator_dual_mock = control_coordinator(
     tick_rate=100.0,
@@ -298,10 +290,6 @@
 )
 
 
-# =============================================================================
-# Streaming Control Blueprints
-# =============================================================================
-
 # XArm6 teleop - streaming position control
 coordinator_teleop_xarm6 = control_coordinator(
     tick_rate=100.0,
@@ -399,11 +387,6 @@
 )
 
 
-# =============================================================================
-# Cartesian IK Blueprints (internal Pinocchio IK solver)
-# =============================================================================
-
-
 # Mock 6-DOF arm with CartesianIK
 coordinator_cartesian_ik_mock = control_coordinator(
     tick_rate=100.0,
@@ -471,10 +454,6 @@
 )
 
 
-# =============================================================================
-# Teleop IK Blueprints (VR teleoperation with internal Pinocchio IK)
-# =============================================================================
-
 # Single XArm7 with TeleopIK
 coordinator_teleop_xarm7 = control_coordinator(
     tick_rate=100.0,
@@ -605,10 +584,6 @@
 )
 
 
-# =============================================================================
-# Twist Base Blueprints (velocity-commanded platforms)
-# =============================================================================
-
 # Mock holonomic twist base (3-DOF: vx, vy, wz)
 _base_joints = make_twist_base_joints("base")
 coordinator_mock_twist_base = control_coordinator(
@@ -636,10 +611,6 @@
 )
 
 
-# =============================================================================
-# Mobile Manipulation Blueprints (arm + twist base)
-# =============================================================================
-
 # Mock arm (7-DOF) + mock holonomic base (3-DOF)
 _mm_base_joints = make_twist_base_joints("base")
 coordinator_mobile_manip_mock = control_coordinator(
@@ -679,10 +650,6 @@
 )
 
 
-# =============================================================================
-# Raw Blueprints (for programmatic setup)
-# =============================================================================
-
 coordinator_basic = control_coordinator(
     tick_rate=100.0,
     publish_joint_state=True,
@@ -694,10 +661,6 @@
 )
 
 
-# =============================================================================
-# Exports
-# =============================================================================
-
 __all__ = [
     # Raw
     "coordinator_basic",

dimos/control/coordinator.py

@@ -68,11 +68,6 @@
 logger = setup_logger()
 
 
-# =============================================================================
-# Configuration
-# =============================================================================
-
-
 @dataclass
 class TaskConfig:
     """Configuration for a control task.
@@ -124,11 +119,6 @@ class ControlCoordinatorConfig(ModuleConfig):
     tasks: list[TaskConfig] = field(default_factory=lambda: [])
 
 
-# =============================================================================
-# ControlCoordinator Module
-# =============================================================================
-
-
 class ControlCoordinator(Module[ControlCoordinatorConfig]):
     """Centralized control coordinator with per-joint arbitration.
 
@@ -201,10 +191,6 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
 
         logger.info(f"ControlCoordinator initialized at {self.config.tick_rate}Hz")
 
-    # =========================================================================
-    # Config-based Setup
-    # =========================================================================
-
     def _setup_from_config(self) -> None:
         """Create hardware and tasks from config (called on start)."""
         hardware_added: list[str] = []
@@ -343,10 +329,6 @@ def _create_task_from_config(self, cfg: TaskConfig) -> ControlTask:
         else:
             raise ValueError(f"Unknown task type: {task_type}")
 
-    # =========================================================================
-    # Hardware Management (RPC)
-    # =========================================================================
-
     @rpc
     def add_hardware(
         self,
@@ -446,10 +428,6 @@ def get_joint_positions(self) -> dict[str, float]:
                     positions[joint_name] = joint_state.position
             return positions
 
-    # =========================================================================
-    # Task Management (RPC)
-    # =========================================================================
-
     @rpc
     def add_task(self, task: ControlTask) -> bool:
         """Register a task with the coordinator."""
@@ -492,10 +470,6 @@ def get_active_tasks(self) -> list[str]:
         with self._task_lock:
             return [name for name, task in self._tasks.items() if task.is_active()]
 
-    # =========================================================================
-    # Streaming Control
-    # =========================================================================
-
     def _on_joint_command(self, msg: JointState) -> None:
         """Route incoming JointState to streaming tasks by joint name.
 
@@ -603,10 +577,6 @@ def task_invoke(
 
             return getattr(task, method)(**kwargs)
 
-    # =========================================================================
-    # Gripper
-    # =========================================================================
-
     @rpc
     def set_gripper_position(self, hardware_id: str, position: float) -> bool:
         """Set gripper position on a specific hardware device.
@@ -640,10 +610,6 @@ def get_gripper_position(self, hardware_id: str) -> float | None:
                 return None
             return hw.adapter.read_gripper_position()
 
-    # =========================================================================
-    # Lifecycle
-    # =========================================================================
-
     @rpc
     def start(self) -> None:
         """Start the coordinator control loop."""

dimos/control/task.py

@@ -37,10 +37,6 @@
     from dimos.msgs.geometry_msgs import Pose, PoseStamped
     from dimos.teleop.quest.quest_types import Buttons
 
-# =============================================================================
-# Data Types
-# =============================================================================
-
 
 @dataclass(frozen=True)
 class ResourceClaim:
@@ -168,11 +164,6 @@ def get_values(self) -> list[float] | None:
                 return None
 
 
-# =============================================================================
-# ControlTask Protocol
-# =============================================================================
-
-
 @runtime_checkable
 class ControlTask(Protocol):
     """Protocol for passive tasks that run within the coordinator.

dimos/control/tasks/cartesian_ik_task.py

@@ -255,10 +255,6 @@ def on_preempted(self, by_task: str, joints: frozenset[str]) -> None:
                 f"CartesianIKTask {self._name} preempted by {by_task} on joints {joints}"
             )
 
-    # =========================================================================
-    # Task-specific methods
-    # =========================================================================
-
     def on_cartesian_command(self, pose: Pose | PoseStamped, t_now: float) -> bool:
         """Handle incoming cartesian command (target EE pose).
 

dimos/control/tasks/servo_task.py

@@ -159,10 +159,6 @@ def on_preempted(self, by_task: str, joints: frozenset[str]) -> None:
         if joints & self._joint_names:
             logger.warning(f"JointServoTask {self._name} preempted by {by_task} on joints {joints}")
 
-    # =========================================================================
-    # Task-specific methods
-    # =========================================================================
-
     def set_target(self, positions: list[float], t_now: float) -> bool:
         """Set target joint positions.