Address review

Co-authored-by: Filippo Luca Ferretti <[email protected]>

src/jaxsim/mujoco/__main__.py

@@ -1,5 +1,6 @@
 import argparse
 import pathlib
+import sys
 import time
 
 import numpy as np
@@ -105,7 +106,7 @@
         if not pathlib.Path(args.description).is_file():
             msg = f"The URDF/SDF file '{args.description}' does not exist."
             parser.error(msg)
-            exit(1)
+            sys.exit(1)
 
     # Expand the path of the output MJCF file if not absolute.
     if args.export is not None:
@@ -122,7 +123,7 @@
         if pathlib.Path(args.export).is_file() and not args.force:
             msg = "The output file '{}' already exists, use '--force' to override."
             parser.error(msg.format(args.export))
-            exit(1)
+            sys.exit(1)
 
     # ================================================
     # Load the URDF/SDF file and produce a MJCF string
@@ -141,7 +142,7 @@
         case _:
             msg = f"The file extension '{args.description.suffix}' is not supported."
             parser.error(msg)
-            exit(1)
+            sys.exit(1)
 
     if args.print:
         print(mjcf_string, flush=True)
@@ -151,7 +152,7 @@
     # ========================================
 
     if args.export is not None:
-        with open(args.export, "w+") as file:
+        with open(args.export, "w+", encoding="utf-8") as file:
             file.write(mjcf_string)
 
     # =======================================
@@ -188,4 +189,4 @@
     # Exit the program with success
     # =============================
 
-    exit(0)
+    sys.exit(0)

src/jaxsim/mujoco/loaders.py

@@ -155,7 +155,7 @@ def convert(
         joints_dict = {j.name: j for j in rod_model.joints()}
 
         # Convert all the joints not considered to fixed joints.
-        for joint_name in set([j.name for j in rod_model.joints()]) - considered_joints:
+        for joint_name in set(j.name for j in rod_model.joints()) - considered_joints:
             joints_dict[joint_name].type = "fixed"
 
         # Convert the ROD model to URDF.
@@ -237,10 +237,8 @@ def convert(
 
         # Get the joint names.
         mj_joint_names = set(
-            [
-                mj.mj_id2name(mj_model, mj.mjtObj.mjOBJ_JOINT, idx)
-                for idx in range(mj_model.njnt)
-            ]
+            mj.mj_id2name(mj_model, mj.mjtObj.mjOBJ_JOINT, idx)
+            for idx in range(mj_model.njnt)
         )
 
         # Check that the Mujoco model only has the considered joints.
@@ -267,8 +265,7 @@ def convert(
         root: ET._Element = tree.getroot()
 
         # Find the <mujoco> element (might be the root itself).
-        mujoco_elements = [e for e in root.iter("mujoco")]
-        mujoco_element: ET._Element = mujoco_elements[0]
+        mujoco_element: ET._Element = list(root.iter("mujoco"))[0]
 
         # --------------
         # Add the motors
@@ -403,10 +400,8 @@ def convert(
             # <worldbody> elements inside <mujoco>.
             for wb in mujoco_element.findall(".//worldbody"):
                 if all(
-                    [
-                        wb.find(f".//joint[@name='{j}']") is not None
-                        for j in considered_joints
-                    ]
+                    wb.find(f".//joint[@name='{j}']") is not None
+                    for j in considered_joints
                 ):
                     worldbody_element = wb
                     break