def add_vis_object(self, name, color): source_id = self._sg.RegisterSource(name) frame_id = self._sg.RegisterFrame(source_id, GeometryFrame(f"{name}_frame")) geom = GeometryInstance(RigidTransform(), Sphere(0.014), f"{name}_geometry") geom.set_illustration_properties( MakePhongIllustrationProperties(color) ) goal_id = self._sg.RegisterGeometry(source_id, frame_id, geom) goal_vis = self._builder.AddSystem(VisObject(frame_id)) self._builder.Connect(goal_vis.get_output_port(0), self._sg.get_source_pose_port(source_id)) return goal_vis
def test_custom_geometry_name_parsing(self): """ Ensure that name parsing does not fail on programmatically added anchored geometries. """ # Make a minimal example to ensure MeshcatVisualizer loads anchored # geometry. builder = DiagramBuilder() scene_graph = builder.AddSystem(SceneGraph()) meshcat = builder.AddSystem( MeshcatVisualizer(scene_graph, zmq_url=ZMQ_URL, open_browser=False)) builder.Connect( scene_graph.get_pose_bundle_output_port(), meshcat.get_input_port(0)) source_id = scene_graph.RegisterSource() geom_inst = GeometryInstance(RigidTransform(), Box(1., 1., 1.), "box") geom_id = scene_graph.RegisterAnchoredGeometry(source_id, geom_inst) # Illustration properties required to ensure geometry is parsed scene_graph.AssignRole(source_id, geom_id, IllustrationProperties()) diagram = builder.Build() simulator = Simulator(diagram) simulator.Initialize()
def test_make_from_scene_graph_and_iris(self): """ Tests the make from scene graph and iris functionality together as the Iris code makes obstacles from geometries registered in SceneGraph. """ scene_graph = SceneGraph() source_id = scene_graph.RegisterSource("source") frame_id = scene_graph.RegisterFrame( source_id=source_id, frame=GeometryFrame("frame")) box_geometry_id = scene_graph.RegisterGeometry( source_id=source_id, frame_id=frame_id, geometry=GeometryInstance(X_PG=RigidTransform(), shape=Box(1., 1., 1.), name="box")) cylinder_geometry_id = scene_graph.RegisterGeometry( source_id=source_id, frame_id=frame_id, geometry=GeometryInstance(X_PG=RigidTransform(), shape=Cylinder(1., 1.), name="cylinder")) sphere_geometry_id = scene_graph.RegisterGeometry( source_id=source_id, frame_id=frame_id, geometry=GeometryInstance(X_PG=RigidTransform(), shape=Sphere(1.), name="sphere")) capsule_geometry_id = scene_graph.RegisterGeometry( source_id=source_id, frame_id=frame_id, geometry=GeometryInstance(X_PG=RigidTransform(), shape=Capsule(1., 1.0), name="capsule")) context = scene_graph.CreateDefaultContext() pose_vector = FramePoseVector() pose_vector.set_value(frame_id, RigidTransform()) scene_graph.get_source_pose_port(source_id).FixValue( context, pose_vector) query_object = scene_graph.get_query_output_port().Eval(context) H = mut.HPolyhedron( query_object=query_object, geometry_id=box_geometry_id, reference_frame=scene_graph.world_frame_id()) self.assertEqual(H.ambient_dimension(), 3) C = mut.CartesianProduct( query_object=query_object, geometry_id=cylinder_geometry_id, reference_frame=scene_graph.world_frame_id()) self.assertEqual(C.ambient_dimension(), 3) E = mut.Hyperellipsoid( query_object=query_object, geometry_id=sphere_geometry_id, reference_frame=scene_graph.world_frame_id()) self.assertEqual(E.ambient_dimension(), 3) S = mut.MinkowskiSum( query_object=query_object, geometry_id=capsule_geometry_id, reference_frame=scene_graph.world_frame_id()) self.assertEqual(S.ambient_dimension(), 3) P = mut.Point( query_object=query_object, geometry_id=sphere_geometry_id, reference_frame=scene_graph.world_frame_id(), maximum_allowable_radius=1.5) self.assertEqual(P.ambient_dimension(), 3) V = mut.VPolytope( query_object=query_object, geometry_id=box_geometry_id, reference_frame=scene_graph.world_frame_id()) self.assertEqual(V.ambient_dimension(), 3) obstacles = mut.MakeIrisObstacles( query_object=query_object, reference_frame=scene_graph.world_frame_id()) options = mut.IrisOptions() options.require_sample_point_is_contained = True options.iteration_limit = 1 options.termination_threshold = 0.1 options.relative_termination_threshold = 0.01 self.assertNotIn("object at 0x", repr(options)) region = mut.Iris( obstacles=obstacles, sample=[2, 3.4, 5], domain=mut.HPolyhedron.MakeBox( lb=[-5, -5, -5], ub=[5, 5, 5]), options=options) self.assertIsInstance(region, mut.HPolyhedron) obstacles = [ mut.HPolyhedron.MakeUnitBox(3), mut.Hyperellipsoid.MakeUnitBall(3), mut.Point([0, 0, 0]), mut.VPolytope.MakeUnitBox(3)] region = mut.Iris( obstacles=obstacles, sample=[2, 3.4, 5], domain=mut.HPolyhedron.MakeBox( lb=[-5, -5, -5], ub=[5, 5, 5]), options=options) self.assertIsInstance(region, mut.HPolyhedron)
def add_triad( source_id, frame_id, scene_graph, *, length, radius, opacity, X_FT=RigidTransform(), name="frame", ): """ Adds illustration geometry representing the coordinate frame, with the x-axis drawn in red, the y-axis in green and the z-axis in blue. The axes point in +x, +y and +z directions, respectively. Based on [code permalink](https://github.com/RussTedrake/manipulation/blob/5e59811/manipulation/scenarios.py#L367-L414).# noqa Args: source_id: The source registered with SceneGraph. frame_id: A geometry::frame_id registered with scene_graph. scene_graph: The SceneGraph with which we will register the geometry. length: the length of each axis in meters. radius: the radius of each axis in meters. opacity: the opacity of the coordinate axes, between 0 and 1. X_FT: a RigidTransform from the triad frame T to the frame_id frame F name: the added geometry will have names name + " x-axis", etc. """ # x-axis X_TG = RigidTransform( RotationMatrix.MakeYRotation(np.pi / 2), [length / 2.0, 0, 0], ) geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length), name + " x-axis") geom.set_illustration_properties( MakePhongIllustrationProperties([1, 0, 0, opacity])) scene_graph.RegisterGeometry(source_id, frame_id, geom) # y-axis X_TG = RigidTransform( RotationMatrix.MakeXRotation(np.pi / 2), [0, length / 2.0, 0], ) geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length), name + " y-axis") geom.set_illustration_properties( MakePhongIllustrationProperties([0, 1, 0, opacity])) scene_graph.RegisterGeometry(source_id, frame_id, geom) # z-axis X_TG = RigidTransform([0, 0, length / 2.0]) geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length), name + " z-axis") geom.set_illustration_properties( MakePhongIllustrationProperties([0, 0, 1, opacity])) scene_graph.RegisterGeometry(source_id, frame_id, geom)
def AddTriad(source_id, frame_id, scene_graph, length=.25, radius=0.01, opacity=1., X_FT=RigidTransform(), name="frame"): """ Adds illustration geometry representing the coordinate frame, with the x-axis drawn in red, the y-axis in green and the z-axis in blue. The axes point in +x, +y and +z directions, respectively. Args: source_id: The source registered with SceneGraph. frame_id: A geometry::frame_id registered with scene_graph. scene_graph: The SceneGraph with which we will register the geometry. length: the length of each axis in meters. radius: the radius of each axis in meters. opacity: the opacity of the coordinate axes, between 0 and 1. X_FT: a RigidTransform from the triad frame T to the frame_id frame F name: the added geometry will have names name + " x-axis", etc. """ # x-axis X_TG = RigidTransform(RotationMatrix.MakeYRotation(np.pi / 2), [length / 2., 0, 0]) geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length), name + " x-axis") geom.set_illustration_properties( MakePhongIllustrationProperties([1, 0, 0, opacity])) scene_graph.RegisterGeometry(source_id, frame_id, geom) # y-axis X_TG = RigidTransform(RotationMatrix.MakeXRotation(np.pi / 2), [0, length / 2., 0]) geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length), name + " y-axis") geom.set_illustration_properties( MakePhongIllustrationProperties([0, 1, 0, opacity])) scene_graph.RegisterGeometry(source_id, frame_id, geom) # z-axis X_TG = RigidTransform([0, 0, length / 2.]) geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length), name + " z-axis") geom.set_illustration_properties( MakePhongIllustrationProperties([0, 0, 1, opacity])) scene_graph.RegisterGeometry(source_id, frame_id, geom)