def show_cloud(pc, use_native=False, **kwargs):
# kwargs go to ctor.
builder = DiagramBuilder()
# Add point cloud visualization.
if use_native:
viz = meshcat.Visualizer(zmq_url=ZMQ_URL)
else:
plant, scene_graph = AddMultibodyPlantSceneGraph(builder)
plant.Finalize()
viz = builder.AddSystem(
MeshcatVisualizer(scene_graph,
zmq_url=ZMQ_URL,
open_browser=False))
builder.Connect(scene_graph.get_pose_bundle_output_port(),
viz.get_input_port(0))
pc_viz = builder.AddSystem(
MeshcatPointCloudVisualizer(viz, **kwargs))
# Make sure the system runs.
diagram = builder.Build()
diagram_context = diagram.CreateDefaultContext()
context = diagram.GetMutableSubsystemContext(
pc_viz, diagram_context)
context.FixInputPort(
pc_viz.GetInputPort("point_cloud_P").get_index(),
AbstractValue.Make(pc))
simulator = Simulator(diagram, diagram_context)
simulator.set_publish_every_time_step(False)
simulator.StepTo(sim_time)
def show_cloud(pc, pc2=None, use_native=False, **kwargs):
# kwargs go to ctor.
builder = DiagramBuilder()
# Add point cloud visualization.
if use_native:
viz = meshcat.Visualizer(zmq_url=ZMQ_URL)
else:
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
plant.Finalize()
viz = builder.AddSystem(
MeshcatVisualizer(scene_graph,
zmq_url=ZMQ_URL,
open_browser=False))
builder.Connect(scene_graph.get_pose_bundle_output_port(),
viz.get_input_port(0))
pc_viz = builder.AddSystem(
MeshcatPointCloudVisualizer(viz, **kwargs))
if pc2:
pc_viz2 = builder.AddSystem(
MeshcatPointCloudVisualizer(viz,
name='second_point_cloud',
X_WP=se3_from_xyz([0, 0.3, 0]),
default_rgb=[0., 255., 0.]))
# Make sure the system runs.
diagram = builder.Build()
diagram_context = diagram.CreateDefaultContext()
context = diagram.GetMutableSubsystemContext(
pc_viz, diagram_context)
# TODO(eric.cousineau): Replace `AbstractValue.Make(pc)` with just
# `pc` (#12086).
pc_viz.GetInputPort("point_cloud_P").FixValue(
context, AbstractValue.Make(pc))
if pc2:
context = diagram.GetMutableSubsystemContext(
pc_viz2, diagram_context)
pc_viz2.GetInputPort("point_cloud_P").FixValue(
context, AbstractValue.Make(pc2))
simulator = Simulator(diagram, diagram_context)
simulator.set_publish_every_time_step(False)
simulator.AdvanceTo(sim_time)