default to visual meshes (#70)

mhubii · mhubii · commit 4ef627c068bb · 2025-02-24T18:54:09.000Z
diff --git a/roboreg/cli/rr_cam_swarm.py b/roboreg/cli/rr_cam_swarm.py
@@ -123,9 +123,9 @@ def args_factory() -> argparse.Namespace:
         help="Scale the camera resolution by this factor. Reduces memory usage.",
     )
     parser.add_argument(
-        "--visual-meshes",
+        "--collision-meshes",
         action="store_true",
-        help="If set, visual meshes will be used instead of collision meshes.",
+        help="If set, collision meshes will be used instead of visual meshes.",
     )
     parser.add_argument(
         "--camera-info-file",
@@ -348,7 +348,7 @@ def main() -> None:
         urdf_parser=urdf_parser,
         root_link_name=args.root_link_name,
         end_link_name=args.end_link_name,
-        visual=args.visual_meshes,
+        collision=args.collision_meshes,
         batch_size=batch_size,
         device=device,
         target_reduction=args.target_reduction,  # reduce mesh vertex count for memory reduction
diff --git a/roboreg/cli/rr_hydra.py b/roboreg/cli/rr_hydra.py
@@ -74,9 +74,9 @@ def args_factory() -> argparse.Namespace:
         help="End link name. If unspecified, the last link with mesh will be used, which may cause errors.",
     )
     parser.add_argument(
-        "--visual-meshes",
+        "--collision-meshes",
         action="store_true",
-        help="If set, visual meshes will be used instead of collision meshes.",
+        help="If set, collision meshes will be used instead of visual meshes.",
     )
     parser.add_argument(
         "--depth-conversion-factor",
@@ -168,16 +168,16 @@ def main():
     root_link_name = args.root_link_name
     end_link_name = args.end_link_name
     if root_link_name == "":
-        root_link_name = urdf_parser.link_names_with_meshes(visual=args.visual_meshes)[
-            0
-        ]
+        root_link_name = urdf_parser.link_names_with_meshes(
+            collision=args.collision_meshes
+        )[0]
         rich.print(
             f"Root link name not provided. Using the first link with mesh: '{root_link_name}'."
         )
     if end_link_name == "":
-        end_link_name = urdf_parser.link_names_with_meshes(visual=args.visual_meshes)[
-            -1
-        ]
+        end_link_name = urdf_parser.link_names_with_meshes(
+            collision=args.collision_meshes
+        )[-1]
         rich.print(
             f"End link name not provided. Using the last link with mesh: '{end_link_name}'."
         )
@@ -188,7 +188,7 @@ def main():
         urdf_parser=urdf_parser,
         root_link_name=root_link_name,
         end_link_name=end_link_name,
-        visual=args.visual_meshes,
+        collision=args.collision_meshes,
         batch_size=batch_size,
     )
 
diff --git a/roboreg/cli/rr_mono_dr.py b/roboreg/cli/rr_mono_dr.py
@@ -85,9 +85,9 @@ def args_factory() -> argparse.Namespace:
         help="End link name. If unspecified, the last link with mesh will be used, which may cause errors.",
     )
     parser.add_argument(
-        "--visual-meshes",
+        "--collision-meshes",
         action="store_true",
-        help="If set, visual meshes will be used instead of collision meshes.",
+        help="If set, collision meshes will be used instead of visual meshes.",
     )
     parser.add_argument(
         "--camera-info-file",
@@ -177,7 +177,7 @@ def main() -> None:
         xacro_path=args.xacro_path,
         root_link_name=args.root_link_name,
         end_link_name=args.end_link_name,
-        visual=args.visual_meshes,
+        collision=args.collision_meshes,
         cameras=camera,
         device=device,
     )
diff --git a/roboreg/cli/rr_render.py b/roboreg/cli/rr_render.py
@@ -51,9 +51,9 @@ def args_factory() -> argparse.Namespace:
         help="End link name. If unspecified, the last link with mesh will be used, which may cause errors.",
     )
     parser.add_argument(
-        "--visual-meshes",
+        "--collision-meshes",
         action="store_true",
-        help="If set, visual meshes will be used instead of collision meshes.",
+        help="If set, collision meshes will be used instead of visual meshes.",
     )
     parser.add_argument(
         "--camera-info-file",
@@ -126,7 +126,7 @@ def main():
         end_link_name=args.end_link_name,
         cameras=camera,
         device=device,
-        visual=args.visual_meshes,
+        collision=args.collision_meshes,
     )
     dataset = MonocularDataset(
         images_path=args.images_path,
diff --git a/roboreg/cli/rr_stereo_dr.py b/roboreg/cli/rr_stereo_dr.py
@@ -85,9 +85,9 @@ def args_factory() -> argparse.Namespace:
         help="End link name. If unspecified, the last link with mesh will be used, which may cause errors.",
     )
     parser.add_argument(
-        "--visual-meshes",
+        "--collision-meshes",
         action="store_true",
-        help="If set, visual meshes will be used instead of collision meshes.",
+        help="If set, collision meshes will be used instead of visual meshes.",
     )
     parser.add_argument(
         "--left-camera-info-file",
@@ -230,7 +230,7 @@ def main() -> None:
         end_link_name=args.end_link_name,
         cameras=cameras,
         device=device,
-        visual=args.visual_meshes,
+        collision=args.collision_meshes,
     )
 
     # load extrinscis estimate......
diff --git a/roboreg/differentiable/robot.py b/roboreg/differentiable/robot.py
@@ -14,7 +14,7 @@ def __init__(
         urdf_parser: URDFParser,
         root_link_name: str,
         end_link_name: str,
-        visual: bool = False,
+        collision: bool = False,
         batch_size: int = 1,
         device: torch.device = "cuda",
         target_reduction: float = 0.0,
@@ -23,7 +23,7 @@ def __init__(
             mesh_paths=urdf_parser.ros_package_mesh_paths(
                 root_link_name=root_link_name,
                 end_link_name=end_link_name,
-                visual=visual,
+                collision=collision,
             ),
             batch_size=batch_size,
             device=device,
diff --git a/roboreg/io.py b/roboreg/io.py
@@ -82,34 +82,34 @@ def chain_link_names(self, root_link_name: str, end_link_name: str) -> List[str]
             link_names.append(child_link_name)
         return link_names
 
-    def link_names_with_meshes(self, visual: bool = False) -> List[str]:
+    def link_names_with_meshes(self, collision: bool = False) -> List[str]:
         r"""Get link names that have meshes.
 
         Args:
-            visual (bool): If True, get visual meshes, else collision meshes.
+            collision (bool): If True, get collision meshes, else visual meshes.
 
         Returns:
             List[str]: List of link names with meshes.
         """
         links = [link.name for link in self._robot.links]
         for link in links:
-            if visual:
-                if not self._robot.link_map[link].visual:
+            if collision:
+                if not self._robot.link_map[link].collision:
                     links.remove(link)
             else:
-                if not self._robot.link_map[link].collision:
+                if not self._robot.link_map[link].visual:
                     links.remove(link)
         return links
 
     def raw_mesh_paths(
-        self, root_link_name: str, end_link_name: str, visual: bool = False
+        self, root_link_name: str, end_link_name: str, collision: bool = False
     ) -> Dict[str, str]:
         r"""Get the raw mesh paths as specified in URDF.
 
         Args:
             root_link_name (str): Root link name.
             end_link_name (str): End link name.
-            visual (bool): If True, get visual mesh paths, else collision mesh paths.
+            collision (bool): If True, get collision mesh paths, else visual mesh paths.
 
         Returns:
             Dict[str,str]: Dictionary of link names and raw mesh paths.
@@ -121,31 +121,33 @@ def raw_mesh_paths(
         # lookup paths
         for link_name in link_names:
             link: urdf_parser_py.urdf.Link = self._robot.link_map[link_name]
-            if visual:
-                if link.visual is None:
-                    continue
-                raw_mesh_paths[link_name] = link.visual.geometry.filename
-            else:
+            if collision:
                 if link.collision is None:
                     continue
                 raw_mesh_paths[link_name] = link.collision.geometry.filename
+            else:
+                if link.visual is None:
+                    continue
+                raw_mesh_paths[link_name] = link.visual.geometry.filename
         return raw_mesh_paths
 
     def ros_package_mesh_paths(
-        self, root_link_name: str, end_link_name: str, visual: bool = False
+        self, root_link_name: str, end_link_name: str, collision: bool = False
     ) -> Dict[str, str]:
         r"""Get the absolute mesh paths by resolving package within ROS.
 
         Args:
             root_link_name (str): Root link name.
             end_link_name (str): End link name.
-            visual (bool): If True, get visual mesh paths, else collision mesh paths.
+            collision (bool): If True, get collision mesh paths, else visual mesh paths.
 
         Returns:
             Dict[str,str]: Dictionary of link names and absolute mesh paths.
         """
         raw_mesh_paths = self.raw_mesh_paths(
-            root_link_name=root_link_name, end_link_name=end_link_name, visual=visual
+            root_link_name=root_link_name,
+            end_link_name=end_link_name,
+            collision=collision,
         )
         from ament_index_python import get_package_share_directory
 
@@ -163,14 +165,14 @@ def ros_package_mesh_paths(
         return ros_package_mesh_paths
 
     def mesh_origins(
-        self, root_link_name: str, end_link_name: str, visual: bool = False
+        self, root_link_name: str, end_link_name: str, collision: bool = False
     ) -> Dict[str, np.ndarray]:
         r"""Get mesh origins.
 
         Args:
             root_link_name (str): Root link name.
             end_link_name (str): End link name.
-            visual (bool): If True, get visual mesh origins, else collision mesh origins.
+            collision (bool): If True, get collision mesh origins, else visual mesh origins.
 
         Returns:
             Dict[str,np.ndarray]: Dictionary of link names and mesh origins.
@@ -183,14 +185,14 @@ def mesh_origins(
         mesh_origins = {}
         for link_name in link_names:
             link: urdf_parser_py.urdf.Link = self._robot.link_map[link_name]
-            if visual:
-                if link.visual is None:
-                    continue
-                link_origin = link.visual.origin
-            else:
+            if collision:
                 if link.collision is None:
                     continue
                 link_origin = link.collision.origin
+            else:
+                if link.visual is None:
+                    continue
+                link_origin = link.visual.origin
             origin = transformations.euler_matrix(
                 link_origin.rpy[0], link_origin.rpy[1], link_origin.rpy[2], "sxyz"
             )
diff --git a/roboreg/util/factories.py b/roboreg/util/factories.py
@@ -38,19 +38,19 @@ def create_robot_scene(
     device: torch.device = (
         torch.device("cuda") if torch.cuda.is_available() else torch.device("cpu")
     ),
-    visual: bool = False,
+    collision: bool = False,
     target_reduction: float = 0.0,
 ) -> RobotScene:
     # create URDF parser
     urdf_parser = URDFParser()
     urdf_parser.from_ros_xacro(ros_package=ros_package, xacro_path=xacro_path)
     if root_link_name == "":
-        root_link_name = urdf_parser.link_names_with_meshes(visual=visual)[0]
+        root_link_name = urdf_parser.link_names_with_meshes(collision=collision)[0]
         rich.print(
             f"Root link name not provided. Using the first link with mesh: '{root_link_name}'."
         )
     if end_link_name == "":
-        end_link_name = urdf_parser.link_names_with_meshes(visual=visual)[-1]
+        end_link_name = urdf_parser.link_names_with_meshes(collision=collision)[-1]
         rich.print(
             f"End link name not provided. Using the last link with mesh: '{end_link_name}'."
         )
@@ -60,7 +60,7 @@ def create_robot_scene(
         urdf_parser=urdf_parser,
         root_link_name=root_link_name,
         end_link_name=end_link_name,
-        visual=visual,
+        collision=collision,
         batch_size=batch_size,
         device=device,
         target_reduction=target_reduction,
diff --git a/test/differentiable/test_robot.py b/test/differentiable/test_robot.py
@@ -16,14 +16,14 @@ def test_robot() -> None:
     urdf_parser.from_ros_xacro(
         ros_package="lbr_description", xacro_path="urdf/med7/med7.xacro"
     )
-    visual = False
+    collision = True
     batch_size = 2
     device = "cuda" if torch.cuda.is_available() else "cpu"
     robot = Robot(
         urdf_parser=urdf_parser,
-        root_link_name=urdf_parser.link_names_with_meshes(visual=visual)[0],
-        end_link_name=urdf_parser.link_names_with_meshes(visual=visual)[-1],
-        visual=visual,
+        root_link_name=urdf_parser.link_names_with_meshes(collision=collision)[0],
+        end_link_name=urdf_parser.link_names_with_meshes(collision=collision)[-1],
+        collision=collision,
         batch_size=batch_size,
         device=device,
         target_reduction=0.0,
diff --git a/test/test_io.py b/test/test_io.py
@@ -20,8 +20,8 @@ def test_urdf_parser() -> None:
     print(urdf_parser.raw_mesh_paths("lbr_link_0", "lbr_link_ee"))
     print(urdf_parser.ros_package_mesh_paths("lbr_link_0", "lbr_link_ee"))
     print(urdf_parser.mesh_origins("lbr_link_0", "lbr_link_ee"))
-    print(urdf_parser.link_names_with_meshes(visual=False))
-    print(urdf_parser.link_names_with_meshes(visual=True))
+    print(urdf_parser.link_names_with_meshes(collision=True))
+    print(urdf_parser.link_names_with_meshes(collision=False))
 
 
 def test_find_files() -> None:

Original file line number	Diff line number	Diff line change
`@@ -85,9 +85,9 @@ def args_factory() -> argparse.Namespace:`
`85`	`85`	`help="End link name. If unspecified, the last link with mesh will be used, which may cause errors.",`
`86`	`86`	`)`
`87`	`87`	`parser.add_argument(`
`88`		`- "--visual-meshes",`
	`88`	`+ "--collision-meshes",`
`89`	`89`	`action="store_true",`
`90`		`- help="If set, visual meshes will be used instead of collision meshes.",`
	`90`	`+ help="If set, collision meshes will be used instead of visual meshes.",`
`91`	`91`	`)`
`92`	`92`	`parser.add_argument(`
`93`	`93`	`"--left-camera-info-file",`
`@@ -230,7 +230,7 @@ def main() -> None:`
`230`	`230`	`end_link_name=args.end_link_name,`
`231`	`231`	`cameras=cameras,`
`232`	`232`	`device=device,`
`233`		`- visual=args.visual_meshes,`
	`233`	`+ collision=args.collision_meshes,`
`234`	`234`	`)`
`235`	`235`
`236`	`236`	`# load extrinscis estimate......`