Pre-commit

src/jaxsim/parsers/descriptions/collision.py

@@ -128,6 +128,8 @@ class MeshCollision(CollisionShape):
     def __eq__(self, other: Any) -> bool:
         if not isinstance(other, MeshCollision):
             return False
-        return len(self.collidable_points) == len(
-            other.collidable_points
-        ) and super().__eq__(other) and (self.center == other.center).all()
+        return (
+            len(self.collidable_points) == len(other.collidable_points)
+            and super().__eq__(other)
+            and (self.center == other.center).all()
+        )

src/jaxsim/parsers/rod/parser.py

@@ -330,7 +330,7 @@ def extract_model_data(
                 mesh_collision = utils.create_mesh_collision(
                     collision=collision,
                     link_description=links_dict[link.name],
-                    method=utils.MeshMappingMethods.UniformSurfaceSampling
+                    method=utils.MeshMappingMethods.UniformSurfaceSampling,
                 )
                 if mesh_collision is not None:
                     collisions.append(mesh_collision)

src/jaxsim/parsers/rod/utils.py

@@ -244,20 +244,13 @@ def create_mesh_collision(
         case MeshMappingMethods.RandomSurfaceSampling:
             points = mesh.sample(nsamples)
         case MeshMappingMethods.UniformSurfaceSampling:
-            points = trimesh.sample.sample_surface_even(
-                mesh=mesh,
-                count=nsamples
-            )
+            points = trimesh.sample.sample_surface_even(mesh=mesh, count=nsamples)
         case _:
             raise ValueError("Invalid mesh mapping method")
 
     points = mesh.vertices
-    H = (
-        collision.pose.transform() if collision.pose is not None else np.eye(4)
-    )
-    center_of_collision_wrt_link = (H @ np.hstack([0, 0, 0, 1.0]))[
-        0:-1
-    ]
+    H = collision.pose.transform() if collision.pose is not None else np.eye(4)
+    center_of_collision_wrt_link = (H @ np.hstack([0, 0, 0, 1.0]))[0:-1]
     mesh_points_wrt_link = (
         H @ np.hstack([points, np.vstack([1.0] * points.shape[0])]).T
     )[0:3, :]