Fix lint

Signed-off-by: Shameek Ganguly <shameek@intrinsic.ai>

Author: shameekganguly

sdformat_mjcf/src/sdformat_mjcf/sdformat_to_mjcf/converters/geometry.py

@@ -16,13 +16,16 @@
 
 import os
 
-from sdformat_mjcf.sdformat_to_mjcf.mesh_io import convert_mesh_to_obj_multimesh
+from sdformat_mjcf.sdformat_to_mjcf.mesh_io import (
+    convert_mesh_to_obj_multimesh,
+)
 from sdformat_mjcf.sdformat_to_mjcf.converters.material import add_material
 import sdformat_mjcf.utils.sdf_utils as su
 
 COLLISION_GEOM_GROUP = 3
 VISUAL_GEOM_GROUP = 0
 
+
 def _set_mesh_inertia(mjcf_mesh, is_visual):
     if is_visual:
         # Some visual meshes are too thin and can cause inertia
@@ -38,9 +41,9 @@ def _validate_uri(uri):
     if 'http://' in uri or 'https://' in uri:
         raise RuntimeError("Fuel meshes are not yet supported")
     if 'model://' in uri:
-            prefix = 'model://'
-            # TODO: Support sdf::ParserConfig::AddURIPath to resolve URIs.
-            return uri.replace(prefix, '', 1)
+        prefix = 'model://'
+        # TODO: Support sdf::ParserConfig::AddURIPath to resolve URIs.
+        return uri.replace(prefix, '', 1)
     return uri
 
 
@@ -190,7 +193,8 @@ def convert_and_add_mesh(body, name, pose, sdf_mesh, is_visual=False):
         if sub_mesh_loaded:
             geom_list.append(
                 _add_mesh_geom_with_assets(body, name, pose, sub_mesh_loaded,
-                                          mjcf_material_asset=material_loaded))
+                                           mjcf_material_asset=material_loaded)
+            )
             continue
 
         # Add mesh and material assets
@@ -199,14 +203,13 @@ def convert_and_add_mesh(body, name, pose, sdf_mesh, is_visual=False):
         mesh.scale = su.vec3d_to_list(sdf_mesh.scale())
         material_asset = None
         if is_visual:
-            material_asset = body.root.asset.add("material",
-                            name=sub_mesh_material_asset_name,
-                            specular=info.mat.specular,
-                            shininess=info.mat.shininess,
-                            rgba=info.mat.rgba)
+            material_asset = body.root.asset.add(
+                "material", name=sub_mesh_material_asset_name,
+                specular=info.mat.specular, shininess=info.mat.shininess,
+                rgba=info.mat.rgba)
         geom_list.append(
                 _add_mesh_geom_with_assets(body, name, pose, mesh,
-                                          mjcf_material_asset=material_asset))
+                                           mjcf_material_asset=material_asset))
 
     return geom_list
 
@@ -241,10 +244,10 @@ def add_collision(body, col):
     if _is_unsupported_mesh_geo(col.geometry()):
         sdf_mesh = col.geometry().mesh_shape()
         geoms = convert_and_add_mesh(body, col.name(), pose, sdf_mesh,
-            is_visual=False)
+                                     is_visual=False)
     else:
         geom = add_geometry(body, col.name(), pose, col.geometry(),
-            is_visual=False)
+                            is_visual=False)
         geoms = [geom]
     for geom in geoms:
         geom.group = COLLISION_GEOM_GROUP
@@ -270,10 +273,10 @@ def add_visual(body, vis):
     if _is_unsupported_mesh_geo(vis.geometry()):
         sdf_mesh = vis.geometry().mesh_shape()
         geoms = convert_and_add_mesh(body, vis.name(), pose, sdf_mesh,
-            is_visual=True)
+                                     is_visual=True)
     else:
         geom = add_geometry(body, vis.name(), pose, vis.geometry(),
-            is_visual=True)
+                            is_visual=True)
         geoms = [geom]
 
     for geom in geoms:

sdformat_mjcf/src/sdformat_mjcf/sdformat_to_mjcf/mesh_io.py

@@ -4,6 +4,7 @@
 import sys
 import trimesh
 
+
 @dataclass
 class Material:
     specular: float
@@ -30,7 +31,7 @@ def _extract_material_info(mesh_material) -> Material:
     NOTE: Removed explicit type hint for mesh_material to avoid the
     'BaseMaterial' error, relying on runtime checks instead.
     """
-    default_rgba = [0.5, 0.5, 0.5, 1.0] # Default grey
+    default_rgba = [0.5, 0.5, 0.5, 1.0]  # Default grey
 
     # Simple defaults for common material properties
     # TODO: Make this configurable
@@ -72,27 +73,33 @@ def _extract_material_info(mesh_material) -> Material:
         rgba=rgba
     )
 
-def convert_mesh_to_obj_multimesh(input_filepath: str, output_filepath: str) -> ConversionOutput:
+
+def convert_mesh_to_obj_multimesh(input_filepath: str,
+                                  output_filepath: str) -> ConversionOutput:
     """
     Converts an input mesh file (e.g., glb, glTF) into multiple OBJ files,
     one for each mesh in the input scene.
 
     Args:
         input_filepath (str): Path to the input mesh file.
-        output_filepath (str): Base path for output files. Each mesh will be saved as
-                               <base_path>_<mesh_name>.obj
+        output_filepath (str): Base path for output files. Each mesh will be
+                               saved as <base_path>_<mesh_name>.obj
 
     Returns:
-        ConversionOutput: An object containing a dictionary mapping the generated
-                          OBJ filenames to their extracted material properties.
+        ConversionOutput: An object containing a dictionary mapping the
+                          generated OBJ filenames to their extracted material
+                          properties.
     """
     if not os.path.exists(input_filepath):
-        raise RuntimeError(f"Unable to find the input mesh file {input_filepath}")
+        raise RuntimeError(
+            f"Unable to find the input mesh file {input_filepath}"
+        )
 
     try:
         model = trimesh.load(input_filepath, force='scene')
     except Exception as e:
-        print(f"\nERROR: Failed to load file: {input_filepath}. Check if the file is valid.")
+        print(f"\nERROR: Failed to load file: {input_filepath}. Check if the "
+              "file is valid.")
         print(f"Detail: {e}")
         sys.exit(1)
 
@@ -114,23 +121,28 @@ def convert_mesh_to_obj_multimesh(input_filepath: str, output_filepath: str) ->
 
         # Check if the geometry name is in the loaded geometry map
         if G_name not in model.geometry:
-            print(f"WARNING: Geometry '{G_name}' referenced in graph but not in geometry map. Skipping.")
+            print(f"WARNING: Geometry '{G_name}' referenced in graph but not "
+                  "in geometry map. Skipping.")
             continue
 
         mesh = model.geometry[G_name]
 
         if not isinstance(mesh, trimesh.Trimesh):
-            print(f"Skipping geometry '{G_name}' as it's not a Trimesh object.")
+            print(f"Skipping geometry '{G_name}' as it's not a Trimesh "
+                  "object.")
             continue
 
-        # Apply the transform to the mesh's vertices *before* exporting the OBJ.
-        # This writes the mesh at its correctly scaled/positioned size to the OBJ.
+        # Apply the transform to the mesh's vertices *before* exporting the
+        # OBJ. This writes the mesh at its correctly scaled/positioned size
+        # to the OBJ.
         transformed_mesh = mesh.copy()
         transformed_mesh.apply_transform(transform_matrix)
 
         # Use the geometry name and path for a unique filename
         if len(model.geometry) > 1:
-            safe_name = G_name.replace(' ', '_').replace('/', '_').replace('\\', '_')
+            safe_name = (
+                G_name.replace(' ', '_').replace('/', '_').replace('\\', '_')
+            )
             obj_filename = f"{base_path}_{safe_name}_{count}.obj"
             count += 1
         else:
@@ -145,10 +157,12 @@ def convert_mesh_to_obj_multimesh(input_filepath: str, output_filepath: str) ->
             extracted_material = None
             if mesh.visual.material is not None:
                 # Use the material from the original mesh
-                extracted_material = _extract_material_info(mesh.visual.material)
+                extracted_material = _extract_material_info(
+                    mesh.visual.material)
 
             if extracted_material is None:
-                extracted_material = Material(specular=0.5, shininess=30.0, rgba=[0.5, 0.5, 0.5, 1.0])
+                extracted_material = Material(specular=0.5, shininess=30.0,
+                                              rgba=[0.5, 0.5, 0.5, 1.0])
 
             mesh_info = MeshInfo(mat=extracted_material)
 

sdformat_mjcf/tests/sdformat_to_mjcf/test_add_geometry.py

@@ -128,7 +128,7 @@ def test_mesh(self):
         mujoco = mjcf.RootElement(model="test")
         body = mujoco.worldbody.add('body')
         mj_geoms = geometry_conv.convert_and_add_mesh(body, "mesh_shape",
-                                                    self.test_pose, mesh)
+                                                      self.test_pose, mesh)
         self.assertEqual(1, len(mj_geoms))
         mj_geom = mj_geoms[0]
         self.assertEqual("mesh_shape", mj_geom.name)
@@ -146,7 +146,7 @@ def test_glb_mesh(self):
         mujoco = mjcf.RootElement(model="test")
         body = mujoco.worldbody.add('body')
         mj_geoms = geometry_conv.convert_and_add_mesh(body, "mesh_shape",
-                                                    self.test_pose, mesh)
+                                                      self.test_pose, mesh)
         self.assertEqual(4, len(mj_geoms))
 
         actual_types = [geom.type for geom in mj_geoms]