added ROS-free URDF parsing to CLI (#110)

Author: mhubii

README.md

@@ -128,8 +128,13 @@ Next:
     ```
 
 ## Command Line Interface
-> [!NOTE]
-> In these examples, the [lbr_fri_ros2_stack](https://github.com/lbr-stack/lbr_fri_ros2_stack/) is used. Make sure to follow [Quick Start](https://github.com/lbr-stack/lbr_fri_ros2_stack/#quick-start) first. However, you can also use your own robot description files.
+> [!TIP]
+> Examples use sample data under [test/assets/lbr_med7_r800](test/assets/lbr_med7_r800). Data is stored via Git Large File Storage (LFS). Data is cloned automatically when `git-lfs` is installed. To clone in retrospect:
+> ```shell
+> sudo apt install git-lfs
+> git lfs fetch --all
+> git lfs checkout
+> ```
 
 ### Segment
 This is a required step to generate robot masks.
@@ -153,8 +158,7 @@ rr-hydra \
     --mask-pattern mask_sam2_left_image_*.png \
     --depth-pattern depth_*.npy \
     --joint-states-pattern joint_states_*.npy \
-    --ros-package lbr_description \
-    --xacro-path urdf/med7/med7.xacro \
+    --urdf-path test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
     --number-of-points 5000 \
@@ -181,8 +185,7 @@ rr-cam-swarm \
     --c2 1.5 \
     --max-iterations 100 \
     --display-progress \
-    --ros-package lbr_description \
-    --xacro-path urdf/med7/med7.xacro \
+    --urdf-path test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
     --target-reduction 0.8 \
@@ -210,8 +213,7 @@ rr-mono-dr \
     --lr 0.01 \
     --max-iterations 100 \
     --display-progress \
-    --ros-package lbr_description \
-    --xacro-path urdf/med7/med7.xacro \
+    --urdf-path test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
     --camera-info-file test/assets/lbr_med7_r800/samples/left_camera_info.yaml \
@@ -237,8 +239,7 @@ rr-stereo-dr \
     --lr 0.01 \
     --max-iterations 100 \
     --display-progress \
-    --ros-package lbr_description \
-    --xacro-path urdf/med7/med7.xacro \
+    --urdf-path test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
     --left-camera-info-file test/assets/lbr_med7_r800/samples/left_camera_info.yaml \
@@ -267,8 +268,7 @@ Generate renders using the obtained extrinsics:
 rr-render \
     --batch-size 1 \
     --num-workers 0 \
-    --ros-package lbr_description \
-    --xacro-path urdf/med7/med7.xacro \
+    --urdf-path test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf \
     --root-link-name lbr_link_0 \
     --end-link-name lbr_link_7 \
     --camera-info-file test/assets/lbr_med7_r800/samples/left_camera_info.yaml \

cli/rr_cam_swarm.py

@@ -17,6 +17,7 @@
 from roboreg.io import (
     find_files,
     load_robot_data_from_ros_xacro,
+    load_robot_data_from_urdf_file,
     parse_camera_info,
     parse_mono_data,
 )
@@ -29,6 +30,8 @@
     random_fov_eye_space_coordinates,
 )
 
+from .util.validate import validate_urdf_source
+
 
 def args_factory() -> argparse.Namespace:
     parser = argparse.ArgumentParser(
@@ -96,17 +99,26 @@ def args_factory() -> argparse.Namespace:
         action="store_true",
         help="Display optimization progress.",
     )
+    parser.add_argument(
+        "--urdf-path",
+        type=str,
+        default="test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf",
+        help="Path to URDF file. Meshes resolved relative to this file. "
+        "Mutually exclusive with --ros-package/--xacro-path.",
+    )
     parser.add_argument(
         "--ros-package",
         type=str,
-        default="lbr_description",
-        help="Package where the URDF is located.",
+        default=None,
+        help="ROS package containing robot description. "
+        "Requires --xacro-path. Mutually exclusive with --urdf-path.",
     )
     parser.add_argument(
         "--xacro-path",
         type=str,
-        default="urdf/med7/med7.xacro",
-        help="Path to the xacro file, relative to --ros-package.",
+        default=None,
+        help="Path to xacro file relative to --ros-package. "
+        "Requires --ros-package. Mutually exclusive with --urdf-path.",
     )
     parser.add_argument(
         "--root-link-name",
@@ -180,6 +192,7 @@ def args_factory() -> argparse.Namespace:
         default=2,
         help="Number of concurrent compilation jobs for nvdiffrast. Only relevant on first run.",
     )
+    validate_urdf_source(parser, parser.parse_args())
     return parser.parse_args()
 
 
@@ -315,14 +328,23 @@ def main() -> None:
     )
 
     # instantiate robot
-    robot_data = load_robot_data_from_ros_xacro(
-        ros_package=args.ros_package,
-        xacro_path=args.xacro_path,
-        root_link_name=args.root_link_name,
-        end_link_name=args.end_link_name,
-        collision=args.collision_meshes,
-        target_reduction=args.target_reduction,
-    )
+    if args.urdf_path is not None:
+        robot_data = load_robot_data_from_urdf_file(
+            urdf_path=args.urdf_path,
+            root_link_name=args.root_link_name,
+            end_link_name=args.end_link_name,
+            collision=args.collision_meshes,
+            target_reduction=args.target_reduction,
+        )
+    else:
+        robot_data = load_robot_data_from_ros_xacro(
+            ros_package=args.ros_package,
+            xacro_path=args.xacro_path,
+            root_link_name=args.root_link_name,
+            end_link_name=args.end_link_name,
+            collision=args.collision_meshes,
+            target_reduction=args.target_reduction,
+        )
     mesh_container = TorchMeshContainer(
         meshes=robot_data.meshes,
         batch_size=batch_size,

cli/rr_hydra.py

@@ -9,6 +9,7 @@
 from roboreg.io import (
     find_files,
     load_robot_data_from_ros_xacro,
+    load_robot_data_from_urdf_file,
     parse_camera_info,
     parse_hydra_data,
 )
@@ -23,6 +24,8 @@
     to_homogeneous,
 )
 
+from .util.validate import validate_urdf_source
+
 
 def args_factory() -> argparse.Namespace:
     parser = argparse.ArgumentParser(
@@ -53,17 +56,26 @@ def args_factory() -> argparse.Namespace:
         default="joint_states_*.npy",
         help="Joint state file pattern.",
     )
+    parser.add_argument(
+        "--urdf-path",
+        type=str,
+        default="test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf",
+        help="Path to URDF file. Meshes resolved relative to this file. "
+        "Mutually exclusive with --ros-package/--xacro-path.",
+    )
     parser.add_argument(
         "--ros-package",
         type=str,
-        default="lbr_description",
-        help="Package where the URDF is located.",
+        default=None,
+        help="ROS package containing robot description. "
+        "Requires --xacro-path. Mutually exclusive with --urdf-path.",
     )
     parser.add_argument(
         "--xacro-path",
         type=str,
-        default="urdf/med7/med7.xacro",
-        help="Path to the xacro file, relative to --ros-package.",
+        default=None,
+        help="Path to xacro file relative to --ros-package. "
+        "Requires --ros-package. Mutually exclusive with --urdf-path.",
     )
     parser.add_argument(
         "--root-link-name",
@@ -147,6 +159,7 @@ def args_factory() -> argparse.Namespace:
         default=10,
         help="Erosion kernel size for mask boundary. Larger value will result in larger boundary. The closer the robot, the larger the recommended kernel size.",
     )
+    validate_urdf_source(parser, parser.parse_args())
     return parser.parse_args()
 
 
@@ -167,13 +180,21 @@ def main():
 
     # instantiate robot
     batch_size = len(joint_states)
-    robot_data = load_robot_data_from_ros_xacro(
-        ros_package=args.ros_package,
-        xacro_path=args.xacro_path,
-        root_link_name=args.root_link_name,
-        end_link_name=args.end_link_name,
-        collision=args.collision_meshes,
-    )
+    if args.urdf_path is not None:
+        robot_data = load_robot_data_from_urdf_file(
+            urdf_path=args.urdf_path,
+            root_link_name=args.root_link_name,
+            end_link_name=args.end_link_name,
+            collision=args.collision_meshes,
+        )
+    else:
+        robot_data = load_robot_data_from_ros_xacro(
+            ros_package=args.ros_package,
+            xacro_path=args.xacro_path,
+            root_link_name=args.root_link_name,
+            end_link_name=args.end_link_name,
+            collision=args.collision_meshes,
+        )
     mesh_container = TorchMeshContainer(
         meshes=robot_data.meshes,
         batch_size=len(joint_states),

cli/rr_mono_dr.py

@@ -18,10 +18,17 @@
     TorchMeshContainer,
     VirtualCamera,
 )
-from roboreg.io import find_files, load_robot_data_from_ros_xacro, parse_mono_data
+from roboreg.io import (
+    find_files,
+    load_robot_data_from_ros_xacro,
+    load_robot_data_from_urdf_file,
+    parse_mono_data,
+)
 from roboreg.losses import soft_dice_loss
 from roboreg.util import mask_distance_transform, mask_exponential_decay, overlay_mask
 
+from .util.validate import validate_urdf_source
+
 
 class REGISTRATION_MODE(Enum):
     DISTANCE_FUNCTION = "distance-function"
@@ -74,17 +81,26 @@ def args_factory() -> argparse.Namespace:
         action="store_true",
         help="Display optimization progress.",
     )
+    parser.add_argument(
+        "--urdf-path",
+        type=str,
+        default="test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf",
+        help="Path to URDF file. Meshes resolved relative to this file. "
+        "Mutually exclusive with --ros-package/--xacro-path.",
+    )
     parser.add_argument(
         "--ros-package",
         type=str,
-        default="lbr_description",
-        help="Package where the URDF is located.",
+        default=None,
+        help="ROS package containing robot description. "
+        "Requires --xacro-path. Mutually exclusive with --urdf-path.",
     )
     parser.add_argument(
         "--xacro-path",
         type=str,
-        default="urdf/med7/med7.xacro",
-        help="Path to the xacro file, relative to --ros-package.",
+        default=None,
+        help="Path to xacro file relative to --ros-package. "
+        "Requires --ros-package. Mutually exclusive with --urdf-path.",
     )
     parser.add_argument(
         "--root-link-name",
@@ -146,6 +162,7 @@ def args_factory() -> argparse.Namespace:
         default=2,
         help="Number of concurrent compilation jobs for nvdiffrast. Only relevant on first run.",
     )
+    validate_urdf_source(parser, parser.parse_args())
     return parser.parse_args()
 
 
@@ -188,13 +205,21 @@ def main() -> None:
     }
 
     # instantiate robot
-    robot_data = load_robot_data_from_ros_xacro(
-        ros_package=args.ros_package,
-        xacro_path=args.xacro_path,
-        root_link_name=args.root_link_name,
-        end_link_name=args.end_link_name,
-        collision=args.collision_meshes,
-    )
+    if args.urdf_path is not None:
+        robot_data = load_robot_data_from_urdf_file(
+            urdf_path=args.urdf_path,
+            root_link_name=args.root_link_name,
+            end_link_name=args.end_link_name,
+            collision=args.collision_meshes,
+        )
+    else:
+        robot_data = load_robot_data_from_ros_xacro(
+            ros_package=args.ros_package,
+            xacro_path=args.xacro_path,
+            root_link_name=args.root_link_name,
+            end_link_name=args.end_link_name,
+            collision=args.collision_meshes,
+        )
     mesh_container = TorchMeshContainer(
         meshes=robot_data.meshes,
         batch_size=joint_states.shape[0],