Introduce Separate Builder (+ Moved Material files)

[kwesiRutledge]

Hey Kevin!

We introduced this small change to organize this code (and because we are working on a branch that will extend this helpful tools functionality). We were wondering if you would accept this pull request?

It doesn't change any functionality, but decomposes the different parts of building the MJCF within a "Builder" object.

Thanks again for building this helpful tool!

P.S. We are working on an extension of this tool that handles obj files that contain MULTIPLE parts. Would you be interested in having such a feature in this tool? (The main idea is to decompose each part into separate Mujoco bodies, so that collision detection is done on each item separately instead of on the convex hull of all of the parts.)

[kevinzakka]

Hi @kwesiRutledge, thank you for this PR. Will get reviewed asap.

P.S. We are working on an extension of this tool that handles obj files that contain MULTIPLE parts. Would you be interested in having such a feature in this tool?

Of course that would be wonderful.

FYI, I am working on a PR that will remove V-HACD and replace it with CoACD. Hopefully you can start leveraging that for your work?

[kevinzakka]

Hi @kwesiRutledge, could you switch to lower case for both file names to respect python conventions (i.e., mjcf_builder.py and material.py)? And then could you run make format to format with black and fix potential mypy issues?

[kwesiRutledge]

FYI, I am working on a PR that will remove V-HACD and replace it with CoACD. Hopefully you can start leveraging that for your work?

This is exactly what we were planning to do on our end! Let me know if you could use an assist!

Hi @kwesiRutledge, could you switch to lower case for both file names to respect python conventions (i.e., mjcf_builder.py and material.py)? And then could you run make format to format with black and fix potential mypy issues?

Ah! Sorry for creating issues. I'll make the changes now.

[kwesiRutledge]

Verified that make format runs to completion and renamed the new files. Let me know if anything else is missing, @kevinzakka !

[kwesiRutledge]

Looks like I forgot to update the imports. Whoops!

[kevinzakka]

Okay left last comments to fix failing test.

Could you also rename the 2 files to have leading underscores btw? That way it matches the _cli.py. And then make the appropriate change for the imports!

Otherwise LGTM!

[kevinzakka]

Thank you @kwesiRutledge!