def test_meshcat_animation(self):
animation = mut.MeshcatAnimation(frames_per_second=64)
self.assertEqual(animation.frames_per_second(), 64)
self.assertEqual(animation.frame(1.0), 64)
animation.set_autoplay(play=False)
self.assertEqual(animation.autoplay(), False)
animation.set_loop_mode(mode=mut.MeshcatAnimation.LoopMode.kLoopOnce)
animation.set_loop_mode(mode=mut.MeshcatAnimation.LoopMode.kLoopRepeat)
animation.set_loop_mode(
mode=mut.MeshcatAnimation.LoopMode.kLoopPingPong)
self.assertEqual(animation.loop_mode(),
mut.MeshcatAnimation.LoopMode.kLoopPingPong)
animation.set_repetitions(repetitions=20)
self.assertEqual(animation.repetitions(), 20)
animation.set_clamp_when_finished(clamp=False)
self.assertEqual(animation.clamp_when_finished(), False)
animation.SetTransform(frame=0,
path="test",
X_ParentPath=RigidTransform())
animation.SetProperty(frame=0,
path="test",
property="bool",
value=True)
animation.SetProperty(frame=0,
path="test",
property="double",
value=32.0)
animation.SetProperty(frame=0,
path="test",
property="vector_double",
value=[1., 2., 3.])
meshcat = mut.Meshcat()
meshcat.SetAnimation(animation)
def test_meshcat_visualizer_scalar_conversion_to_be_deprecated(self):
# This checks a legacy API spelling that will be deprecated eventually.
meshcat = mut.Meshcat()
vis = mut.MeshcatVisualizerCpp(meshcat)
vis_autodiff = vis.ToAutoDiffXd()
self.assertIsInstance(vis_autodiff,
mut.MeshcatVisualizerCpp_[AutoDiffXd])
def test_meshcat_visualizer(self, T):
meshcat = mut.Meshcat()
params = mut.MeshcatVisualizerParams()
params.publish_period = 0.123
params.role = mut.Role.kIllustration
params.default_color = mut.Rgba(0.5, 0.5, 0.5)
params.prefix = "py_visualizer"
params.delete_on_initialization_event = False
self.assertNotIn("object at 0x", repr(params))
vis = mut.MeshcatVisualizer_[T](meshcat=meshcat, params=params)
vis.Delete()
self.assertIsInstance(vis.query_object_input_port(), InputPort_[T])
animation = vis.StartRecording(set_transforms_while_recording=True)
self.assertIsInstance(animation, mut.MeshcatAnimation)
self.assertEqual(animation, vis.get_mutable_recording())
vis.StopRecording()
vis.PublishRecording()
vis.DeleteRecording()
builder = DiagramBuilder_[T]()
scene_graph = builder.AddSystem(mut.SceneGraph_[T]())
mut.MeshcatVisualizer_[T].AddToBuilder(builder=builder,
scene_graph=scene_graph,
meshcat=meshcat,
params=params)
mut.MeshcatVisualizer_[T].AddToBuilder(
builder=builder,
query_object_port=scene_graph.get_query_output_port(),
meshcat=meshcat,
params=params)
def test_deprecated_meshcat_visualizer_cpp_scalar_conversion(self):
"""This checks a deprecated API spelling; remove this on 2022-11-01."""
meshcat = mut.Meshcat()
with catch_drake_warnings(expected_count=1):
vis = mut.MeshcatVisualizerCpp(meshcat)
vis_autodiff = vis.ToAutoDiffXd()
self.assertIsInstance(vis_autodiff,
mut.MeshcatVisualizerCpp_[AutoDiffXd])
def test_deprecated_meshcat_point_cloud_visualizer_cpp(self):
"""This checks a deprecated API spelling; remove this on 2022-11-01."""
meshcat = mut.Meshcat()
with catch_drake_warnings(expected_count=1):
visualizer = mut.MeshcatPointCloudVisualizerCpp(
meshcat=meshcat, path="cloud", publish_period=1/12.0)
visualizer.set_point_size(0.1)
ad_visualizer = visualizer.ToAutoDiffXd()
self.assertIsInstance(
ad_visualizer, mut.MeshcatPointCloudVisualizerCpp_[AutoDiffXd])
def test_deprecated_meshcat_visualizer_cpp_add(self):
"""This checks a deprecated API spelling; remove this on 2022-11-01."""
T = float
builder = DiagramBuilder_[T]()
scene_graph = builder.AddSystem(mut.SceneGraph_[T]())
meshcat = mut.Meshcat()
with catch_drake_warnings(expected_count=1):
added = mut.MeshcatVisualizerCpp.AddToBuilder(
builder=builder, scene_graph=scene_graph, meshcat=meshcat)
self.assertIsInstance(added, mut.MeshcatVisualizer)
def test_meshcat_point_cloud_visualizer_to_be_deprecated(self):
# This checks a legacy API spelling that will be deprecated eventually.
meshcat = mut.Meshcat()
visualizer = mut.MeshcatPointCloudVisualizerCpp(meshcat=meshcat,
path="cloud",
publish_period=1 /
12.0)
visualizer.set_point_size(0.1)
ad_visualizer = visualizer.ToAutoDiffXd()
self.assertIsInstance(ad_visualizer,
mut.MeshcatPointCloudVisualizerCpp_[AutoDiffXd])
def test_meshcat_point_cloud_visualizer(self, T):
meshcat = mut.Meshcat()
visualizer = mut.MeshcatPointCloudVisualizer_[T](
meshcat=meshcat, path="cloud", publish_period=1/12.0)
visualizer.set_point_size(0.1)
visualizer.set_default_rgba(mut.Rgba(0, 0, 1, 1))
context = visualizer.CreateDefaultContext()
cloud = PointCloud(4)
cloud.mutable_xyzs()[:] = np.zeros((3, 4))
visualizer.cloud_input_port().FixValue(
context, AbstractValue.Make(cloud))
self.assertIsInstance(visualizer.pose_input_port(), InputPort_[T])
visualizer.Publish(context)
visualizer.Delete()
if T == float:
ad_visualizer = visualizer.ToAutoDiffXd()
self.assertIsInstance(
ad_visualizer, mut.MeshcatPointCloudVisualizer_[AutoDiffXd])
def test_meshcat(self):
port = 7051
params = mut.MeshcatParams(host="*",
port=port,
web_url_pattern="http://host:{port}")
meshcat = mut.Meshcat(params=params)
self.assertEqual(meshcat.port(), port)
with self.assertRaises(RuntimeError):
meshcat2 = mut.Meshcat(port=port)
self.assertIn("http", meshcat.web_url())
self.assertIn("ws", meshcat.ws_url())
meshcat.SetObject(path="/test/box",
shape=mut.Box(1, 1, 1),
rgba=mut.Rgba(.5, .5, .5))
meshcat.SetTransform(path="/test/box", X_ParentPath=RigidTransform())
meshcat.SetTransform(path="/test/box", matrix=np.eye(4))
self.assertTrue(meshcat.HasPath("/test/box"))
cloud = PointCloud(4)
cloud.mutable_xyzs()[:] = np.zeros((3, 4))
meshcat.SetObject(path="/test/cloud",
cloud=cloud,
point_size=0.01,
rgba=mut.Rgba(.5, .5, .5))
mesh = mut.TriangleSurfaceMesh(triangles=[
mut.SurfaceTriangle(0, 1, 2),
mut.SurfaceTriangle(3, 0, 2)
],
vertices=[[0, 0, 0], [1, 0, 0],
[1, 0, 1], [0, 0, 1]])
meshcat.SetObject(path="/test/triangle_surface_mesh",
mesh=mesh,
rgba=mut.Rgba(0.3, 0.3, 0.3),
wireframe=True,
wireframe_line_width=2.0)
meshcat.SetLine(path="/test/line",
vertices=np.eye(3),
line_width=2.0,
rgba=mut.Rgba(.3, .3, .3))
meshcat.SetLineSegments(path="/test/line_segments",
start=np.eye(3),
end=2 * np.eye(3),
line_width=2.0,
rgba=mut.Rgba(.3, .3, .3))
meshcat.SetTriangleMesh(path="/test/triangle_mesh",
vertices=np.array([[0, 0, 0], [1, 0, 0],
[1, 0, 1], [0, 0, 1]]).T,
faces=np.array([[0, 1, 2], [3, 0, 2]]).T,
rgba=mut.Rgba(0.3, 0.3, 0.3),
wireframe=True,
wireframe_line_width=2.0)
meshcat.SetProperty(path="/Background", property="visible", value=True)
meshcat.SetProperty(path="/Lights/DirectionalLight/<object>",
property="intensity",
value=1.0)
meshcat.SetProperty(path="/Background",
property="top_color",
value=[0, 0, 0])
meshcat.Set2dRenderMode(X_WC=RigidTransform(),
xmin=-1,
xmax=1,
ymin=-1,
ymax=1)
meshcat.ResetRenderMode()
meshcat.AddButton(name="button")
self.assertEqual(meshcat.GetButtonClicks(name="button"), 0)
meshcat.DeleteButton(name="button")
meshcat.AddSlider(name="slider", min=0, max=1, step=0.01, value=0.5)
meshcat.SetSliderValue(name="slider", value=0.7)
self.assertAlmostEqual(meshcat.GetSliderValue(name="slider"),
0.7,
delta=1e-14)
meshcat.DeleteSlider(name="slider")
meshcat.DeleteAddedControls()
self.assertIn("data:application/octet-binary;base64",
meshcat.StaticHtml())
meshcat.Flush()
# PerspectiveCamera
camera = mut.Meshcat.PerspectiveCamera(fov=80,
aspect=1.2,
near=0.2,
far=200,
zoom=1.3)
self.assertEqual(camera.fov, 80)
self.assertEqual(camera.aspect, 1.2)
self.assertEqual(camera.near, 0.2)
self.assertEqual(camera.far, 200)
self.assertEqual(camera.zoom, 1.3)
self.assertEqual(
repr(camera), "".join([
r"PerspectiveCamera(", r"fov=80.0, "
r"aspect=1.2, ", r"near=0.2, ", r"far=200.0, ", r"zoom=1.3)"
]))
meshcat.SetCamera(camera=camera, path="mypath")
# OrthographicCamera
camera = mut.Meshcat.OrthographicCamera(left=0.1,
right=1.3,
top=0.3,
bottom=1.4,
near=0.2,
far=200,
zoom=1.3)
self.assertEqual(camera.left, 0.1)
self.assertEqual(camera.right, 1.3)
self.assertEqual(camera.top, 0.3)
self.assertEqual(camera.bottom, 1.4)
self.assertEqual(camera.near, 0.2)
self.assertEqual(camera.far, 200)
self.assertEqual(camera.zoom, 1.3)
self.assertEqual(
repr(camera), "".join([
r"OrthographicCamera(", r"left=0.1, "
r"right=1.3, ", r"top=0.3, "
r"bottom=1.4, ", r"near=0.2, ", r"far=200.0, ", r"zoom=1.3)"
]))
meshcat.SetCamera(camera=camera, path="mypath")
def test_meshcat_visualizer_scalar_conversion(self):
meshcat = mut.Meshcat()
vis = mut.MeshcatVisualizer(meshcat)
vis_autodiff = vis.ToAutoDiffXd()
self.assertIsInstance(vis_autodiff, mut.MeshcatVisualizer_[AutoDiffXd])
def test_meshcat(self):
meshcat = mut.Meshcat(port=7051)
self.assertEqual(meshcat.port(), 7051)
with self.assertRaises(RuntimeError):
meshcat2 = mut.Meshcat(port=7051)
self.assertIn("http", meshcat.web_url())
self.assertIn("ws", meshcat.ws_url())
meshcat.SetObject(path="/test/box",
shape=mut.Box(1, 1, 1),
rgba=mut.Rgba(.5, .5, .5))
meshcat.SetTransform(path="/test/box", X_ParentPath=RigidTransform())
meshcat.SetTransform(path="/test/box", matrix=np.eye(4))
self.assertTrue(meshcat.HasPath("/test/box"))
cloud = PointCloud(4)
cloud.mutable_xyzs()[:] = np.zeros((3, 4))
meshcat.SetObject(path="/test/cloud",
cloud=cloud,
point_size=0.01,
rgba=mut.Rgba(.5, .5, .5))
mesh = mut.TriangleSurfaceMesh(triangles=[
mut.SurfaceTriangle(0, 1, 2),
mut.SurfaceTriangle(3, 0, 2)
],
vertices=[[0, 0, 0], [1, 0, 0],
[1, 0, 1], [0, 0, 1]])
meshcat.SetObject(path="/test/triangle_surface_mesh",
mesh=mesh,
rgba=mut.Rgba(0.3, 0.3, 0.3),
wireframe=True,
wireframe_line_width=2.0)
meshcat.SetLine(path="/test/line",
vertices=np.eye(3),
line_width=2.0,
rgba=mut.Rgba(.3, .3, .3))
meshcat.SetLineSegments(path="/test/line_segments",
start=np.eye(3),
end=2 * np.eye(3),
line_width=2.0,
rgba=mut.Rgba(.3, .3, .3))
meshcat.SetTriangleMesh(path="/test/triangle_mesh",
vertices=np.array([[0, 0, 0], [1, 0, 0],
[1, 0, 1], [0, 0, 1]]).T,
faces=np.array([[0, 1, 2], [3, 0, 2]]).T,
rgba=mut.Rgba(0.3, 0.3, 0.3),
wireframe=True,
wireframe_line_width=2.0)
meshcat.SetProperty(path="/Background", property="visible", value=True)
meshcat.SetProperty(path="/Lights/DirectionalLight/<object>",
property="intensity",
value=1.0)
meshcat.SetProperty(path="/Background",
property="top_color",
value=[0, 0, 0])
meshcat.Set2dRenderMode(X_WC=RigidTransform(),
xmin=-1,
xmax=1,
ymin=-1,
ymax=1)
meshcat.ResetRenderMode()
meshcat.AddButton(name="button")
self.assertEqual(meshcat.GetButtonClicks(name="button"), 0)
meshcat.DeleteButton(name="button")
meshcat.AddSlider(name="slider", min=0, max=1, step=0.01, value=0.5)
meshcat.SetSliderValue(name="slider", value=0.7)
self.assertAlmostEqual(meshcat.GetSliderValue(name="slider"),
0.7,
delta=1e-14)
meshcat.DeleteSlider(name="slider")
meshcat.DeleteAddedControls()
self.assertIn("data:application/octet-binary;base64",
meshcat.StaticHtml())
meshcat.Flush()
