def test_contact_visualizer(self, T):
meshcat = Meshcat()
params = ContactVisualizerParams()
params.publish_period = 0.123
params.default_color = Rgba(0.5, 0.5, 0.5)
params.prefix = "py_visualizer"
params.delete_on_initialization_event = False
params.force_threshold = 0.2
params.newtons_per_meter = 5
params.radius = 0.1
self.assertNotIn("object at 0x", repr(params))
params2 = ContactVisualizerParams(publish_period=0.4)
self.assertEqual(params2.publish_period, 0.4)
vis = ContactVisualizer_[T](meshcat=meshcat, params=params)
vis.Delete()
vis.contact_results_input_port()
builder = DiagramBuilder_[T]()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.01)
plant.Finalize()
ContactVisualizer_[T].AddToBuilder(builder=builder,
plant=plant,
meshcat=meshcat,
params=params)
ContactVisualizer_[T].AddToBuilder(
builder=builder,
contact_results_port=plant.get_contact_results_output_port(),
meshcat=meshcat,
params=params)
def __init__(self, *, meshcat):
# By default, don't show any contact illustrations.
meshcat.SetProperty("/CONTACT_RESULTS", "visible", False)
# Add point visualization.
params = ContactVisualizerParams()
params.prefix = "/CONTACT_RESULTS/point"
self._helper = _PointContactVisualizer(meshcat, params)
def test_internal_point_contact_visualizer(self):
"""A very basic existance test, since this class is internal use only.
The pydrake-internal user (meldis) has additional acceptance tests.
"""
meshcat = Meshcat()
params = ContactVisualizerParams()
dut = _PointContactVisualizer(meshcat=meshcat, params=params)