Update after fixing all "make format" issues

.flake8

@@ -1,10 +1,13 @@
 [flake8]
-exclude = .git
+exclude = .git, ./venv-obj2mjcf
 max-line-length = 80
 ignore =
-    E203,  # whitespace before colon (black default)
-    E501,  # line too long (<n> characters)
-    W503,  # line break before binary operator
+    # whitespace before colon (black default)
+    E203,
+    # line too long (<n> characters)
+    E501,
+    # line break before binary operator
+    W503,
 
 per-file-ignores =
     */__init__.py: F401

obj2mjcf/_cli.py

@@ -9,17 +9,15 @@
 import tempfile
 from dataclasses import dataclass, field
 from pathlib import Path
-from typing import List, Optional, Sequence
+from typing import List, Optional
 
-import mujoco
 import trimesh
 import tyro
-from lxml import etree
 from PIL import Image
 from termcolor import cprint
 
+from obj2mjcf.Material import _MTL_COMMENT_CHAR, Material
 from obj2mjcf.MJCFBuilder import MJCFBuilder
-from obj2mjcf.Material import Material
 
 # Find the V-HACD v4.0 executable in the system path.
 # Note trimesh has not updated their code to work with v4.0 which is why we do not use
@@ -340,8 +338,8 @@ def process_obj(filename: Path, args: Args) -> None:
                 f.write("".join(lines))
 
     # Build an MJCF.
-    builder = MJCFBuilder(filename, mesh, mtls)
-    tree = builder.build()
+    builder = MJCFBuilder(filename, mesh, mtls, decomp_success=decomp_success)
+    builder.build()
 
     # Compile and step the physics to check for any errors.
     if args.compile_model:

obj2mjcf/Material.py → obj2mjcf/material.py

@@ -1,6 +1,7 @@
-from typing import Optional, Sequence
-from dataclasses import dataclass, field
+"""A class for handling MuJoCo material properties."""
 
+from dataclasses import dataclass
+from typing import Optional, Sequence
 
 # MTL fields relevant to MuJoCo.
 _MTL_FIELDS = (
@@ -20,6 +21,7 @@
 # Character used to denote a comment in an MTL file.
 _MTL_COMMENT_CHAR = "#"
 
+
 @dataclass
 class Material:
     name: str
@@ -69,4 +71,4 @@ def mjcf_specular(self) -> str:
             Ks = sum(list(map(float, self.Ks.split(" ")))) / 3
         else:
             Ks = 0.5
-        return f"{Ks}"
+        return f"{Ks}"

obj2mjcf/MJCFBuilder.py → obj2mjcf/mjcf_builder.py

@@ -3,46 +3,46 @@
 Description:
     This file contains the class that is used to build MJCF files.
 """
+
 import logging
-import os
-from lxml import etree
 from pathlib import Path
-
-from typing import List, Tuple, Union, Any
+from typing import Any, List, Union
 
 import mujoco
 import trimesh
+from lxml import etree
 from termcolor import cprint
 
 from obj2mjcf.Material import Material
 
-
 # 2-space indentation for the generated XML.
 _XML_INDENTATION = "  "
 
 
 class MJCFBuilder:
     def __init__(
-            self,
-            filename: Path,
-            mesh: Union[trimesh.base.Trimesh,Any],
-            materials: List[Material],
-            work_dir: Path = None,
+        self,
+        filename: Path,
+        mesh: Union[trimesh.base.Trimesh, Any],
+        materials: List[Material],
+        work_dir: Path = Path(),
+        decomp_success: bool = False,
     ):
         self.filename = filename
         self.mesh = mesh
         self.materials = materials
+        self.decomp_success = decomp_success
 
         self.work_dir = work_dir
-        if self.work_dir is None:
+        if self.work_dir == Path():
             self.work_dir = filename.parent / filename.stem
 
         # Define variables that will be defined later
         self.tree = None
 
     def add_visual_and_collision_default_classes(
-            self,
-            root: etree.Element,
+        self,
+        root: etree.Element,
     ):
         # Define the default element
         default_elem = etree.SubElement(root, "default")
@@ -101,9 +101,9 @@ def add_assets(self, root: etree.Element, mtls: List[Material]) -> etree.Element
         return asset_elem
 
     def add_visual_geometries(
-            self,
-            obj_body: etree.Element,
-            asset_elem: etree.Element,
+        self,
+        obj_body: etree.Element,
+        asset_elem: etree.Element,
     ):
         # Constants
         filename = self.filename
@@ -120,7 +120,10 @@ def add_visual_geometries(
             # Add the geom to the worldbody.
             if process_mtl:
                 e_ = etree.SubElement(
-                    obj_body, "geom", material=materials[0].name, mesh=str(meshname.stem)
+                    obj_body,
+                    "geom",
+                    material=materials[0].name,
+                    mesh=str(meshname.stem),
                 )
                 e_.attrib["class"] = "visual"
             else:
@@ -142,21 +145,23 @@ def add_visual_geometries(
                     e_.attrib["class"] = "visual"
 
     def add_collision_geometries(
-            self,
-            obj_body: etree.Element,
-            asset_elem: etree.Element,
-            decomp_success: bool = False,
+        self,
+        obj_body: etree.Element,
+        asset_elem: etree.Element,
     ):
         # Constants
         filename = self.filename
         mesh = self.mesh
+        decomp_success = self.decomp_success
 
         work_dir = self.work_dir
 
         if decomp_success:
             # Find collision files from the decomposed convex hulls.
             collisions = [
-                x for x in work_dir.glob("**/*") if x.is_file() and "collision" in x.name
+                x
+                for x in work_dir.glob("**/*")
+                if x.is_file() and "collision" in x.name
             ]
             collisions.sort(key=lambda x: int(x.stem.split("_")[-1]))
 
@@ -178,12 +183,11 @@ def add_collision_geometries(
                     e_.attrib["class"] = "collision"
 
     def build(
-            self,
-            add_free_joint: bool = False,
-    ):
+        self,
+        add_free_joint: bool = False,
+    ) -> None:
         # Constants
         filename = self.filename
-        mesh = self.mesh
         mtls = self.materials
 
         # Start assembling xml tree
@@ -250,4 +254,4 @@ def save_mjcf(
         # Save the MJCF file.
         xml_path = str(work_dir / f"{filename.stem}.xml")
         tree.write(xml_path, encoding="utf-8")
-        logging.info(f"Saved MJCF to {xml_path}")
+        logging.info(f"Saved MJCF to {xml_path}")