style: cleanup

.devcontainer/nvidia/devcontainer.json

@@ -6,9 +6,6 @@
     ],
     "service": "sim",
     "runServices": ["sim"],
-    // Ports are published in docker/docker-compose.yml (sourced from docker/.env),
-    // so VS Code auto-forwards them without needing forwardPorts here.
-
     "workspaceFolder": "/home/trickfire/simulations",
     "remoteEnv": {
         "HOST_WORKSPACE": "${localWorkspaceFolder}"

.devcontainer/pixi.sh

@@ -1,10 +1,4 @@
 #!/bin/bash
 
-# Gazebo plugin search path
 export GZ_SIM_SYSTEM_PLUGIN_PATH="${CONDA_PREFIX}/lib${GZ_SIM_SYSTEM_PLUGIN_PATH:+:$GZ_SIM_SYSTEM_PLUGIN_PATH}"
-
-# Switch to Cyclone DDS
-# Fast-DDS calls pthread_setaffinity_np which macOS doesn't support
-# flooding the log with 'Protocol family not supported' errors on
-# every DDS thread startup
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

.devcontainer/x_server.sh

@@ -57,9 +57,6 @@ parse_args() {
     done
 }
 
-# Exits the script early (code 0) if a host Wayland compositor socket is
-# available, since Vulkan/GL clients can talk to it directly without any
-# in-container X server. FORCE_VNC always skips this and forces the VNC path.
 try_wayland_passthrough() {
     if [ -n "$FORCE_VNC" ]; then
         DISPLAY="${FORCE_VNC_DISPLAY:-:77}"
@@ -75,16 +72,10 @@ try_wayland_passthrough() {
     fi
 }
 
-# Sets BACKEND ("xorg"/"xvfb") and XORG_CONF based on available hardware.
 detect_backend() {
     if [ -n "$FORCE_VNC" ]; then
-        # FORCE_VNC always runs alongside a real host session, so real Xorg here
-        # (dummy, vkms-targeted, or real GPU driver - it doesn't matter which) has
-        # repeatedly ended up touching real display hardware and hijacking the
-        # host's screen. Xvfb is the only backend that's structurally incapable of
-        # touching /dev/dri at all, so FORCE_VNC always uses it, no exceptions.
         BACKEND="xvfb"
-        XORG_CONF="/etc/X11/xorg.dummy.conf" # only used below to read screen resolution
+        XORG_CONF="/etc/X11/xorg.dummy.conf"
         log "[X11] FORCE_VNC: using Xvfb unconditionally (no direct GPU access)"
     elif [ -e /dev/nvmap ] && [ ! -d /dev/dri ]; then
         BACKEND="xvfb"
@@ -99,8 +90,6 @@ detect_backend() {
     fi
 }
 
-# No-GPU case: sets BACKEND and XORG_CONF, preferring a vkms virtual display
-# over plain Xvfb when the kernel module is available.
 detect_vkms_backend() {
     BACKEND="xorg"
     log "[X11] No GPU detected - trying vkms for DRI3-capable headless display"
@@ -120,7 +109,7 @@ detect_vkms_backend() {
     if [ -z "$VKMS_CARD" ]; then
         log "[X11] vkms unavailable, falling back to Xvfb (no real GPU access, no DRI3)"
         BACKEND="xvfb"
-        XORG_CONF="/etc/X11/xorg.dummy.conf" # only used below to read screen resolution
+        XORG_CONF="/etc/X11/xorg.dummy.conf"
         return
     fi
 
@@ -129,7 +118,6 @@ detect_vkms_backend() {
     sed "s|__VKMS_CARD__|$VKMS_CARD|" /etc/X11/xorg.vkms.conf >"$XORG_CONF"
 }
 
-# Reads SCREEN_WIDTH/SCREEN_HEIGHT/SCREEN_DEPTH out of $XORG_CONF.
 parse_screen_resolution() {
     SCREEN_MODE=$(grep -oP '(?<=Modes ")[^"]+' "$XORG_CONF" | head -1)
     SCREEN_WIDTH=$(echo "$SCREEN_MODE" | cut -dx -f1)
@@ -144,7 +132,6 @@ parse_screen_resolution() {
 start_services() {
     trap cleanup SIGINT SIGTERM
 
-    # Start X server (Xorg or Xvfb determined above)
     if [ "$BACKEND" = "xvfb" ]; then
         log "[X11] Starting Xvfb on display ${DISPLAY} (${SCREEN_WIDTH}x${SCREEN_HEIGHT}x${SCREEN_DEPTH})"
         start Xvfb "$DISPLAY" -screen 0 "${SCREEN_WIDTH}x${SCREEN_HEIGHT}x${SCREEN_DEPTH}"
@@ -153,22 +140,18 @@ start_services() {
         start sudo Xorg "$DISPLAY" -noreset -config "$XORG_CONF"
     fi
     sleep 1
-    stty sane 2>/dev/null || true # Xorg alters terminal CR/LF settings
+    stty sane 2>/dev/null || true
 
-    # Start window manager
     log "[WM] Starting Openbox window manager"
     start openbox-session
 
-    # Start x11vnc server for VNC connection
     log "[VNC] Starting x11vnc on port ${VNC_PORT}"
     start x11vnc -display "$DISPLAY" -forever -shared -rfbport "$VNC_PORT" -nopw -xkb
 
-    # Start noVNC web client to serve the VNC desktop in a browser
     log "[noVNC] Starting browser-based desktop on port ${NOVNC_PORT}"
     start /usr/share/novnc/utils/novnc_proxy --vnc "localhost:${VNC_PORT}" --listen "${NOVNC_PORT}"
     log "[noVNC] Desktop available at: http://localhost:${NOVNC_PORT}/vnc.html"
 
-    # Detach all background services so they survive this script exiting
     disown "${PIDS[@]}" || true
     log "[MAIN] All services started"
 }

cli/drpc.py

@@ -8,7 +8,7 @@
 
 
 def _find_discord_socket_dir() -> str | None:
-    """Return the directory containing a discord-ipc-N socket, or None if not found."""
+    """Return the directory containing a discord-ipc-N socket, or None if not found"""
     candidates = [
         os.environ.get("XDG_RUNTIME_DIR"),  # standard Linux user session
         os.environ.get("TMPDIR"),

cli/gazebo/create/__init__.py

@@ -1,4 +1,4 @@
-"""sim create/update - robot package generation from OnShape."""
+"""sim create/update - robot package generation from OnShape"""
 
 from __future__ import annotations
 

cli/gazebo/create/onshape.py

@@ -36,7 +36,7 @@ def parse_onshape_url(url: str) -> tuple:
 
 
 def _poll_job(dashboard_url: str, job_id: str) -> requests.Response:
-    """Poll until the job is done; returns the streaming archive response."""
+    """Poll until the job is done; returns the streaming archive response"""
     deadline = time.monotonic() + _POLL_TIMEOUT
     while time.monotonic() < deadline:
         time.sleep(_POLL_INTERVAL)

cli/gazebo/create/urdf.py

@@ -1,4 +1,4 @@
-"""URDF post-processing: xacro injection, mesh path rewriting, control generation."""
+"""URDF post-processing: xacro injection, mesh path rewriting, control generation"""
 
 import re
 import xml.etree.ElementTree as ET

cli/gazebo/launch.py

@@ -122,14 +122,7 @@ def _check_display() -> None:
 
 
 def _configure_force_vnc_rendering(env: dict[str, str]) -> list[str]:
-    """Force software GL rendering for Gazebo/OGRE2 when running under FORCE_VNC.
-
-    FORCE_VNC intentionally never touches real GPU/render-node devices - every
-    attempt to give it direct GPU access (Xorg with a real or virtual KMS
-    device, VirtualGL through the render node) has ended up interfering with
-    the host's real display. Mesa's software rasterizer is unaccelerated but
-    it's the only backend that's actually safe here.
-    """
+    """Force software GL rendering for Gazebo/OGRE2 when running under FORCE_VNC"""
     if not os.environ.get("FORCE_VNC"):
         return []
 
@@ -139,10 +132,10 @@ def _configure_force_vnc_rendering(env: dict[str, str]) -> list[str]:
 
 
 def _setup_pixi_env() -> None:
-    """Configure Gazebo plugin/resource paths and Qt platform for a pixi environment."""
+    """Configure Gazebo plugin/resource paths and Qt platform for a pixi environment"""
     pixi_dir = REPO_DIR / ".pixi"
     if not pixi_dir.is_dir():
-        die(f"No pixi environment at {pixi_dir}\n        Install dependencies first: pixi install")
+        die(f"No pixi environment at {pixi_dir}\nInstall dependencies first: pixi install")
 
     conda_prefix = os.environ.get("CONDA_PREFIX", "")
     if conda_prefix:
@@ -165,8 +158,6 @@ def _setup_pixi_env() -> None:
         if ogre2_media not in paths:
             os.environ["GZ_RENDERING_RESOURCE_PATH"] = ":".join([ogre2_media] + paths)
 
-    # The pixi Qt build ships only the xcb plugin; force it when the session
-    # sets QT_QPA_PLATFORM=wayland (common on Wayland desktops like Hyprland).
     if os.environ.get("QT_QPA_PLATFORM") == "wayland":
         os.environ["QT_QPA_PLATFORM"] = "xcb"
 

docker/.env

@@ -7,5 +7,4 @@ ROSBRIDGE_PORT=9090
 
 # set to one if you want
 # to force vnc startup
-# (ignore wayland, existing xserver etc)
 # FORCE_VNC=1

gazebo/sim_common/sim_common/joint_gui.py

@@ -91,7 +91,7 @@ def wait_for_joints(self, timeout: float = DISCOVERY_TIMEOUT_S) -> bool:
         return self._joints_ready.wait(timeout=timeout)
 
     def discover_trajectory_topics(self) -> list[str]:
-        """Return all currently advertised topics that carry JointTrajectory messages."""
+        """Return all currently advertised topics that carry JointTrajectory messages"""
         return [
             topic
             for topic, types in self.get_topic_names_and_types()
@@ -177,7 +177,7 @@ def _poll_discovery(self, attempt: int = 0) -> None:
             self.root.after(self._POLL_MS, lambda: self._poll_discovery(attempt + 1))
 
     def _refresh_topics(self) -> None:
-        """Re-query available trajectory topics and update the combobox values."""
+        """Re-query available trajectory topics and update the combobox values"""
         topics = self.node.discover_trajectory_topics()
         if self._topics_combo is not None:
             self._topics_combo["values"] = topics
@@ -275,11 +275,11 @@ def _build_controls(self) -> None:
     # ------------------------------------------------------------------
 
     def _on_slider(self, joint: str, val: str) -> None:
-        """Update the numeric label next to a slider whenever its value changes."""
+        """Update the numeric label next to a slider whenever its value changes"""
         self.value_labels[joint].config(text=f"{float(val):+.3f}")
 
     def _send(self) -> None:
-        """Read current slider positions and publish a trajectory command to the selected topic."""
+        """Read current slider positions and publish a trajectory command to the selected topic"""
         joints = self.node.joint_names
         positions = [self.sliders[j].get() + self.node.possible_joints[j]["origin"] for j in joints]
         topic = self._topic_var.get().strip()
@@ -290,7 +290,7 @@ def _send(self) -> None:
         self.status_var.set(f"Sent to {topic}: {[f'{p:.2f}' for p in positions]}")
 
     def _sync(self) -> None:
-        """Sync sliders to the current joint positions reported by /joint_states."""
+        """Sync sliders to the current joint positions reported by /joint_states"""
         current = self.node.current_positions
         if not current:
             self.status_var.set("No joint state data available")
@@ -303,7 +303,7 @@ def _sync(self) -> None:
         self.status_var.set("Synced sliders to current joint positions")
 
     def _reset(self) -> None:
-        """Zero all joint sliders and reset their display labels."""
+        """Zero all joint sliders and reset their display labels"""
         for joint in self.node.joint_names:
             self.sliders[joint].set(0.0)
             self.value_labels[joint].config(text="0.0")
@@ -312,7 +312,7 @@ def _reset(self) -> None:
 
 def main() -> None:
     """Take in the filename,
-    Initialise ROS2, spin the node on a background thread, then run the Tkinter event loop."""
+    Initialise ROS2, spin the node on a background thread, then run the Tkinter event loop"""
     if len(sys.argv) < 2:
         print("Failed no path was provided")
         sys.exit(1)

gazebo/sim_common/sim_common/launch_utils.py

@@ -1,4 +1,4 @@
-"""Shared launch utilities for simulation packages."""
+"""Shared launch utilities for simulation packages"""
 
 import os
 import shutil
@@ -22,12 +22,12 @@
 
 
 def log(msg):
-    """Green info log for launch files."""
+    """Green info log for launch files"""
     print("\033[0;32m", "[INFO] [launch]: ", msg, "\x1b[0m", sep="")
 
 
 def err(msg):
-    """Red error log, exits with code 1."""
+    """Red error log, exits with code 1"""
     print("\033[0;31m", "[ERROR] [launch]: ", msg, "\x1b[0m", sep="")
     sys.exit(1)
 
@@ -45,7 +45,7 @@ def get_asset(package, *parts):
 
 
 def gz_supports_sim_command():
-    """Return True when `gz` exists and exposes the `sim` subcommand."""
+    """Return True when `gz` exists and exposes the `sim` subcommand"""
     if shutil.which("gz") is None:
         return False
 
@@ -64,7 +64,7 @@ def gz_supports_sim_command():
 
 
 def process_robot_description(urdf_file, controller_config):
-    """Run xacro over `urdf_file`, wiring in the controller config and platform plugin extension."""
+    """Run xacro over `urdf_file`, wiring in the controller config and platform plugin extension"""
     return xacro.process_file(
         urdf_file,
         mappings={
@@ -106,7 +106,7 @@ def gazebo_launch_actions(world_file, gz_gui_config, gui_launch_arg="gui"):
 
 
 def spawn_robot_node(robot_name, robot_desc):
-    """Node that spawns `robot_desc` into the running gz sim world as `robot_name`."""
+    """Node that spawns `robot_desc` into the running gz sim world as `robot_name`"""
     return Node(
         package="ros_gz_sim",
         executable="create",
@@ -126,7 +126,7 @@ def robot_state_publisher_node(robot_desc):
 
 
 def clock_bridge_node():
-    """ros_gz_bridge node that bridges the gz sim clock onto /clock."""
+    """ros_gz_bridge node that bridges the gz sim clock onto /clock"""
     return Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",