def runTest(self):
self.vis.delete()
v = self.vis["shapes"]
v.set_transform(tf.translation_matrix([1., 0, 0]))
v["cube"].set_object(g.Box([1.0, 0.2, 0.3]))
v["cube"].delete()
v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))
v["cube"].set_transform(tf.translation_matrix([0.05, 0.1, 0.15]))
v["cylinder"].set_object(g.Cylinder(0.2, 0.1), g.MeshLambertMaterial(color=0x22dd22))
v["cylinder"].set_transform(tf.translation_matrix([0, 0.5, 0.1]).dot(tf.rotation_matrix(-np.pi / 2, [1, 0, 0])))
v["sphere"].set_object(g.Mesh(g.Sphere(0.15), g.MeshLambertMaterial(color=0xff11dd)))
v["sphere"].set_transform(tf.translation_matrix([0, 1, 0.15]))
v["ellipsoid"].set_object(g.Ellipsoid([0.3, 0.1, 0.1]))
v["ellipsoid"].set_transform(tf.translation_matrix([0, 1.5, 0.1]))
v = self.vis["meshes/valkyrie/head"]
v.set_object(g.Mesh(
g.ObjMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "data/head_multisense.obj")),
g.MeshLambertMaterial(
map=g.ImageTexture(
image=g.PngImage.from_file(os.path.join(meshcat.viewer_assets_path(), "data/HeadTextureMultisense.png"))
)
)
))
v.set_transform(tf.translation_matrix([0, 0.5, 0.5]))
v = self.vis["points"]
v.set_transform(tf.translation_matrix([-1, 0, 0]))
verts = np.random.rand(3, 100000)
colors = verts
v["random"].set_object(g.PointCloud(verts, colors))
v["random"].set_transform(tf.translation_matrix([-0.5, -0.5, 0]))
def PlotTrajectoryMeshcat(x, t, vis, wpts_list = None):
# initialize
vis.delete()
# plot waypoints
if not(wpts_list is None):
for i, wpts in enumerate(wpts_list):
vis["wpt_%d" % i].set_object(geometry.Sphere(0.03),
geometry.MeshLambertMaterial(color=0xffff00))
T_wp = tf.translation_matrix(wpts)
vis["wpt_%d" % i].set_transform(T_wp)
d_prop = 0.10 # propeller diameter
vis["quad"]["CG"].set_object(geometry.Sphere(0.03),
geometry.MeshLambertMaterial(color=0x00ffff))
vis["quad"]["body"].set_object(geometry.Box([0.2, 0.1, 0.1]),
geometry.MeshLambertMaterial(color=0x404040))
vis["quad"]["prop0"].set_object(geometry.Cylinder(0.01, d_prop),
geometry.MeshLambertMaterial(color=0x00ff00))
vis["quad"]["prop1"].set_object(geometry.Cylinder(0.01, d_prop),
geometry.MeshLambertMaterial(color=0xff0000))
vis["quad"]["prop2"].set_object(geometry.Cylinder(0.01, d_prop),
geometry.MeshLambertMaterial(color=0xffffff))
vis["quad"]["prop3"].set_object(geometry.Cylinder(0.01, d_prop),
geometry.MeshLambertMaterial(color=0xffffff))
Rx_prop = CalcRx(np.pi/2)
TB = tf.translation_matrix([0,0,-0.05])
T0 = tf.translation_matrix([l, -l, 0])
T1 = tf.translation_matrix([l, l, 0])
T2 = tf.translation_matrix([-l, l, 0])
T3 = tf.translation_matrix([-l, -l, 0])
T0[0:3,0:3] = Rx_prop
T1[0:3,0:3] = Rx_prop
T2[0:3,0:3] = Rx_prop
T3[0:3,0:3] = Rx_prop
vis["quad"]["body"].set_transform(TB)
vis["quad"]["prop0"].set_transform(T0)
vis["quad"]["prop1"].set_transform(T1)
vis["quad"]["prop2"].set_transform(T2)
vis["quad"]["prop3"].set_transform(T3)
# visualize trajectory
time.sleep(1.0)
N = len(x)
if not (t is None):
assert N == len(t)
for i, xi in enumerate(x):
xyz = xi[0:3]
rpy = xi[3:6]
R_WB = CalcR_WB(rpy)
T = tf.translation_matrix(xyz)
T[0:3,0:3] = R_WB
vis["quad"].set_transform(T)
if i < N-1 and not(t is None):
dt = t[i+1] - t[i]
time.sleep(dt)
def draw_mblock(self):
self.mblock = self.vis["mblock"]
# create and draw the mblock
dim = [3, 1, 1]
self.mblock.set_object(g.Box(dim))
temp = tf.translation_matrix([0, 1, 0.5])
self.mblock.set_transform(temp)
def __init__(self):
self.vis = meshcat.Visualizer()
self.cube = self.vis["cube"]
self.pivot = self.cube["pivot"]
self.wheel = self.pivot["wheel"]
# create and draw the cube
self.cube_dim = [1.0, 1.0, 1.0] # x,y,z
self.cube.set_object(g.Box(self.cube_dim))
# pivot and wheel
self.pivot.set_transform(tf.translation_matrix(
[0, 0, 0])) # set location of pole
wheel_dim = [1.5, .5, .5] # x,y,z
self.wheel.set_object(g.Box(wheel_dim))
self.initialize()
def runTest(self):
v = self.vis["shapes"]
v.set_transform(tf.translation_matrix([1., 0, 0]))
v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))
animation = meshcat.animation.Animation()
with animation.at_frame(v, 0) as frame_vis:
frame_vis.set_transform(tf.translation_matrix([0, 0, 0]))
with animation.at_frame(v, 30) as frame_vis:
frame_vis.set_transform(tf.translation_matrix([2, 0, 0]).dot(tf.rotation_matrix(np.pi/2, [0, 0, 1])))
v.set_animation(animation)
def runTest(self):
"""
Test that we can set_object with a PerspectiveCamera.
"""
self.vis.set_object(g.Box([0.5, 0.5, 0.5]))
camera = g.PerspectiveCamera(fov=90)
self.vis['/Cameras/default/rotated'].set_object(camera)
self.vis['/Cameras/default'].set_transform(
tf.translation_matrix([1, -1, 0.5]))
self.vis['/Cameras/default/rotated/<object>'].set_property(
"position", [0, 0, 0])
def meshcat_draw_frustrum(vis, TF, K, near_distance, far_distance, w, h):
# TODO(gizatt): This obviously isn't right -- the projected
# light doesn't match the drawn view frustrum.
# Not dealing with, for now; I think the issue is a combination
# of bad intrinsics and bugs related to flipped image coordinates
# somewhere along the pipeline.
image_bbox_verts = np.array([
[0., w, w, 0.],
[0., 0., h, h]
])
TF_inv = np.eye(4)
TF_inv[:3, :3] = TF[:3, :3].T
TF_inv[:3, 3] = -TF_inv[:3, :3].dot(TF[:3, 3])
TF = TF_inv
N = image_bbox_verts.shape[1]
Kinv = np.linalg.inv(K)
def project_bbox_verts(dist):
homog = np.concatenate(
[image_bbox_verts*dist, dist*np.ones((1, N))],
axis=0
)
pts = np.dot(Kinv, homog)
return ((TF[:3, :3].dot(pts)).T + TF[:3, 3]).T
near_pts = project_bbox_verts(near_distance)
far_pts= project_bbox_verts(far_distance)
near_colors = np.zeros((3, N))
near_colors[1, :] = 1.
far_colors = np.zeros((3, N))
far_colors[2, :] = 1.
vis['frustrum']['near'].set_object(g.LineLoop(
g.PointsGeometry(near_pts, color=near_colors),
g.MeshBasicMaterial(vertexColors=True, linewidth=0.1)))
vis['frustrum']['far'].set_object(g.LineLoop(
g.PointsGeometry(far_pts, color=far_colors),
g.MeshBasicMaterial(vertexColors=True, linewidth=0.1)))
connecting = np.zeros((3, N*2))
connecting[:, ::2] = near_pts
connecting[:, 1::2] = far_pts
connecting_colors = np.zeros((3, N*2))
connecting_colors[:, ::2] = near_colors
connecting_colors[:, 1::2] = far_colors
vis['frustrum']['connecting'].set_object(g.LineSegments(
g.PointsGeometry(connecting, color=connecting_colors),
g.MeshBasicMaterial(vertexColors=True, linewidth=1.)
))
# Draw a little box for the projector :)
vis['projector'].set_object(
g.Box([0.1, 0.1, 0.1]),
g.MeshLambertMaterial(
color=0xaaffaa))
def _get_shape_geometry(self, shape):
visual_mesh = shape.get_user_data().get('visual_mesh', None) if shape.get_user_data() is not None else None
if visual_mesh is not None:
return g.TriangularMeshGeometry(vertices=visual_mesh.vertices, faces=visual_mesh.faces)
elif shape.get_geometry_type() == GeometryType.CONVEXMESH:
data = shape.get_shape_data() # N x 9 - i.e. 3 triangles
faces = np.arange(0, data.shape[0] * 3, 1, dtype=np.int).reshape(-1, 3)
return g.TriangularMeshGeometry(vertices=data.reshape(-1, 3), faces=faces)
elif shape.get_geometry_type() == GeometryType.SPHERE:
return g.Sphere(radius=shape.get_sphere_radius())
elif shape.get_geometry_type() == GeometryType.BOX:
return g.Box((2 * shape.get_box_half_extents()).tolist())
else:
raise NotImplementedError("Not supported geometry type.")
def runTest(self):
"""
Test that we can set_object with an OrthographicCamera.
"""
self.vis.set_object(g.Box([0.5, 0.5, 0.5]))
camera = g.OrthographicCamera(
left=-1, right=1, bottom=-1, top=1, near=-1000, far=1000)
self.vis['/Cameras/default/rotated'].set_object(camera)
self.vis['/Cameras/default'].set_transform(
tf.translation_matrix([0, -1, 0]))
self.vis['/Cameras/default/rotated/<object>'].set_property(
"position", [0, 0, 0])
self.vis['/Grid'].set_property("visible", False)
def runTest(self):
v = self.vis["shapes"]
v.set_transform(tf.translation_matrix([1., 0, 0]))
v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))
animation = meshcat.animation.Animation()
with animation.at_frame(v, 0) as frame_vis:
frame_vis.set_transform(tf.translation_matrix([0, 0, 0]))
with animation.at_frame(v, 30) as frame_vis:
frame_vis.set_transform(tf.translation_matrix([2, 0, 0]).dot(tf.rotation_matrix(np.pi/2, [0, 0, 1])))
with animation.at_frame(v, 0) as frame_vis:
frame_vis["/Cameras/default/rotated/<object>"].set_property("zoom", "number", 1)
with animation.at_frame(v, 30) as frame_vis:
frame_vis["/Cameras/default/rotated/<object>"].set_property("zoom", "number", 0.5)
v.set_animation(animation)
def visualize(self, states, dt):
import meshcat
import meshcat.geometry as g
import meshcat.transformations as tf
import time
# import meshcat.animation as anim
# Create a new visualizer
vis = meshcat.Visualizer()
vis.open()
vis["cart"].set_object(g.Box([0.2, 0.5, 0.2]))
vis["pole"].set_object(g.Cylinder(self.length_pole, 0.01))
# animation = anim.Animation()
# for i, state in enumerate(states):
# with animation.at_frame(vis, i*10) as frame:
# print(frame)
# frame["cart"].set_transform(tf.translation_matrix([0, state[0], 0]))
# frame["pole"].set_transform(
# tf.translation_matrix([0, state[0] + self.length_pole/2, 0]).dot(
# tf.rotation_matrix(np.pi/2 + state[1], [1,0,0], [0,-self.length_pole/2,0])))
# vis.set_animation(animation, play=True, repeat=10)
# time.sleep(10)
# # anim.convert_frame_to_video()
while True:
# vis["cart"].set_transform(tf.translation_matrix([0, 0, 0]))
# vis["pole"].set_transform(
# tf.translation_matrix([0, 0 + self.length_pole/2, 0]).dot(
# tf.rotation_matrix(np.pi/2 + 0, [1,0,0], [0,-self.length_pole/2,0])))
# time.sleep(dt)
for state in states:
vis["cart"].set_transform(
tf.translation_matrix([0, state[0], 0]))
vis["pole"].set_transform(
tf.translation_matrix(
[0, state[0] + self.length_pole / 2, 0]).dot(
tf.rotation_matrix(np.pi / 2 + state[1], [1, 0, 0],
[0, -self.length_pole / 2, 0])))
time.sleep(dt)
def _get_shape_geometry(self, shape):
visual_mesh = shape.get_user_data().get(
'visual_mesh', None) if shape.get_user_data() is not None else None
if visual_mesh is not None:
try:
exp_obj = trimesh.exchange.obj.export_obj(visual_mesh)
except ValueError:
exp_obj = trimesh.exchange.obj.export_obj(
visual_mesh, include_texture=False)
return g.ObjMeshGeometry.from_stream(
trimesh.util.wrap_as_stream(exp_obj))
elif shape.get_geometry_type() == GeometryType.CONVEXMESH:
data = shape.get_shape_data() # N x 9 - i.e. 3 triangles
faces = np.arange(0, data.shape[0] * 3, 1,
dtype=np.int).reshape(-1, 3)
return g.TriangularMeshGeometry(vertices=data.reshape(-1, 3),
faces=faces)
elif shape.get_geometry_type() == GeometryType.SPHERE:
return g.Sphere(radius=shape.get_sphere_radius())
elif shape.get_geometry_type() == GeometryType.BOX:
return g.Box((2 * shape.get_box_half_extents()).tolist())
else:
raise NotImplementedError("Not supported geometry type.")
def runTest(self):
self.vis.delete()
v = self.vis["shapes"]
v.set_transform(tf.translation_matrix([1., 0, 0]))
v["box"].set_object(g.Box([1.0, 0.2, 0.3]))
v["box"].delete()
v["box"].set_object(g.Box([0.1, 0.2, 0.3]))
v["box"].set_transform(tf.translation_matrix([0.05, 0.1, 0.15]))
v["cylinder"].set_object(g.Cylinder(0.2, 0.1), g.MeshLambertMaterial(color=0x22dd22))
v["cylinder"].set_transform(tf.translation_matrix([0, 0.5, 0.1]).dot(tf.rotation_matrix(-np.pi / 2, [1, 0, 0])))
v["sphere"].set_object(g.Mesh(g.Sphere(0.15), g.MeshLambertMaterial(color=0xff11dd)))
v["sphere"].set_transform(tf.translation_matrix([0, 1, 0.15]))
v["ellipsoid"].set_object(g.Ellipsoid([0.3, 0.1, 0.1]))
v["ellipsoid"].set_transform(tf.translation_matrix([0, 1.5, 0.1]))
v["transparent_ellipsoid"].set_object(g.Mesh(
g.Ellipsoid([0.3, 0.1, 0.1]),
g.MeshLambertMaterial(color=0xffffff,
opacity=0.5)))
v["transparent_ellipsoid"].set_transform(tf.translation_matrix([0, 2.0, 0.1]))
v = self.vis["meshes/valkyrie/head"]
v.set_object(g.Mesh(
g.ObjMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "data/head_multisense.obj")),
g.MeshLambertMaterial(
map=g.ImageTexture(
image=g.PngImage.from_file(os.path.join(meshcat.viewer_assets_path(), "data/HeadTextureMultisense.png"))
)
)
))
v.set_transform(tf.translation_matrix([0, 0.5, 0.5]))
v = self.vis["meshes/convex"]
v["obj"].set_object(g.Mesh(g.ObjMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.obj"))))
v["stl_ascii"].set_object(g.Mesh(g.StlMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.stl_ascii"))))
v["stl_ascii"].set_transform(tf.translation_matrix([0, -0.5, 0]))
v["stl_binary"].set_object(g.Mesh(g.StlMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.stl_binary"))))
v["stl_binary"].set_transform(tf.translation_matrix([0, -1, 0]))
v["dae"].set_object(g.Mesh(g.DaeMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.dae"))))
v["dae"].set_transform(tf.translation_matrix([0, -1.5, 0]))
v = self.vis["points"]
v.set_transform(tf.translation_matrix([0, 2, 0]))
verts = np.random.rand(3, 1000000)
colors = verts
v["random"].set_object(g.PointCloud(verts, colors))
v["random"].set_transform(tf.translation_matrix([-0.5, -0.5, 0]))
v = self.vis["lines"]
v.set_transform(tf.translation_matrix(([-2, -3, 0])))
vertices = np.random.random((3, 10)).astype(np.float32)
v["line_segments"].set_object(g.LineSegments(g.PointsGeometry(vertices)))
v["line"].set_object(g.Line(g.PointsGeometry(vertices)))
v["line"].set_transform(tf.translation_matrix([0, 1, 0]))
v["line_loop"].set_object(g.LineLoop(g.PointsGeometry(vertices)))
v["line_loop"].set_transform(tf.translation_matrix([0, 2, 0]))
v["line_loop_with_material"].set_object(g.LineLoop(g.PointsGeometry(vertices), g.LineBasicMaterial(color=0xff0000)))
v["line_loop_with_material"].set_transform(tf.translation_matrix([0, 3, 0]))
colors = vertices # Color each line by treating its xyz coordinates as RGB colors
v["line_with_vertex_colors"].set_object(g.Line(g.PointsGeometry(vertices, colors), g.LineBasicMaterial(vertexColors=True)))
v["line_with_vertex_colors"].set_transform(tf.translation_matrix([0, 4, 0]))
v["triad"].set_object(g.LineSegments(
g.PointsGeometry(position=np.array([
[0, 0, 0], [1, 0, 0],
[0, 0, 0], [0, 1, 0],
[0, 0, 0], [0, 0, 1]]).astype(np.float32).T,
color=np.array([
[1, 0, 0], [1, 0.6, 0],
[0, 1, 0], [0.6, 1, 0],
[0, 0, 1], [0, 0.6, 1]]).astype(np.float32).T
),
g.LineBasicMaterial(vertexColors=True)))
v["triad"].set_transform(tf.translation_matrix(([0, 5, 0])))
v["triad_function"].set_object(g.triad(0.5))
v["triad_function"].set_transform(tf.translation_matrix([0, 6, 0]))
def load(self, context=None):
"""
Loads ``meshcat`` visualization elements.
Precondition:
Either the context is a valid Context for this system with the
geometry_query port connected or the ``scene_graph`` passed in the
constructor must be a valid SceneGraph.
"""
if self._delete_prefix_on_load:
self.vis[self.prefix].delete()
if context and self.get_geometry_query_input_port().HasValue(context):
inspector = self.get_geometry_query_input_port().Eval(
context).inspector()
elif self._scene_graph:
inspector = self._scene_graph.model_inspector()
else:
raise RuntimeError(
"You must provide a valid Context for this system with the "
"geometry_query port connected or the ``scene_graph`` passed "
"in the constructor must be a valid SceneGraph.")
vis = self.vis[self.prefix]
for frame_id in inspector.all_frame_ids():
count = inspector.NumGeometriesForFrameWithRole(
frame_id, Role.kIllustration)
if count == 0:
continue
if frame_id == inspector.world_frame_id():
name = "world"
else:
# Note: MBP declares frames with SceneGraph using `::`, we
# replace those with `/` here to expose the full tree to
# meshcat.
name = (inspector.GetOwningSourceName(frame_id) + "/" +
inspector.GetName(frame_id).replace("::", "/"))
frame_vis = vis[name]
for g_id in inspector.GetGeometries(frame_id, Role.kIllustration):
color = 0xe5e5e5 # default color
alpha = 1.0
props = inspector.GetIllustrationProperties(g_id)
if props and props.HasProperty("phong", "diffuse"):
rgba = props.GetProperty("phong", "diffuse")
# Convert Rgba from [0-1] to hex 0xRRGGBB.
color = int(255 * rgba.r()) * 256**2
color += int(255 * rgba.g()) * 256
color += int(255 * rgba.b())
alpha = rgba.a()
material = g.MeshLambertMaterial(color=color,
transparent=alpha != 1.,
opacity=alpha)
shape = inspector.GetShape(g_id)
X_FG = inspector.GetPoseInFrame(g_id).GetAsMatrix4()
if isinstance(shape, Box):
geom = g.Box(
[shape.width(),
shape.depth(),
shape.height()])
elif isinstance(shape, Sphere):
geom = g.Sphere(shape.radius())
elif isinstance(shape, Cylinder):
geom = g.Cylinder(shape.length(), shape.radius())
# In Drake, cylinders are along +z
# In meshcat, cylinders are along +y
R_GC = RotationMatrix.MakeXRotation(np.pi / 2.0).matrix()
X_FG[0:3, 0:3] = X_FG[0:3, 0:3].dot(R_GC)
elif isinstance(shape, Mesh):
geom = g.ObjMeshGeometry.from_file(shape.filename()[0:-3] +
"obj")
# Attempt to find a texture for the object by looking for
# an identically-named *.png next to the model.
# TODO(gizatt): Support .MTLs and prefer them over png,
# since they're both more expressive and more standard.
# TODO(gizatt): In the long term, this kind of material
# information should be gleaned from the SceneGraph
# constituents themselves, so that we visualize what the
# simulation is *actually* reasoning about rather than what
# files happen to be present.
candidate_texture_path = shape.filename()[0:-3] + "png"
if os.path.exists(candidate_texture_path):
material = g.MeshLambertMaterial(map=g.ImageTexture(
image=g.PngImage.from_file(
candidate_texture_path)))
# Make the uuid's deterministic for mesh geometry, to
# support caching at the zmqserver. This means that
# multiple (identical) geometries may have the same UUID,
# but testing suggests that meshcat + three.js are ok with
# it.
geom.uuid = str(
uuid.uuid5(uuid.NAMESPACE_X500,
geom.contents + "mesh"))
material.uuid = str(
uuid.uuid5(uuid.NAMESPACE_X500,
geom.contents + "material"))
X_FG = X_FG.dot(tf.scale_matrix(shape.scale()))
else:
warnings.warn(f"Unsupported shape {shape} ignored")
continue
geometry_vis = frame_vis[str(g_id.get_value())]
geometry_vis.set_object(geom, material)
geometry_vis.set_transform(X_FG)
if frame_id != inspector.world_frame_id():
self._dynamic_frames.append({
"id": frame_id,
"name": name,
})
def runTest(self):
v = self.vis["shapes"]
v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))
v.set_transform(tf.translation_matrix([1., 0, 0]))
v.set_transform(tf.translation_matrix([1., 1., 0]))
def runTest(self):
v = self.vis["shapes"]
v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))
dt = np.diff(data[:,0]) for i in range(num_agents): v = np.sqrt(data[:,i*4+3]**2 + data[:,i*4+4]**2) a = np.diff(v) / dt ax2.plot(data[0:-1,0],a) plt.show() if args.animate: import meshcat import meshcat.geometry as g import meshcat.transformations as tf # Create a new visualizer vis = meshcat.Visualizer() vis.open() for i in range(num_agents): vis["agent"+str(i)].set_object(g.Sphere(0.2)) for i, o in enumerate(map_data["map"]["obstacles"]): vis["obstacles"+str(i)].set_object(g.Box([1.0, 1.0, 0.2])) print(o) vis["obstacles"+str(i)].set_transform(tf.translation_matrix(np.array([o[0]+0.5, o[1]+0.5, 0]))) while True: for k in np.arange(0,data.shape[0],10): t = data[k,0] for i in range(num_agents): state = data[k,i*4+1:i*4+5] vis["agent" + str(i)].set_transform(tf.translation_matrix([state[0], state[1], 0])) time.sleep(0.01)
def load(self, context=None):
"""
Loads ``meshcat`` visualization elements.
Precondition:
Either the context is a valid Context for this system with the
geometry_query port connected or the ``scene_graph`` passed in the
constructor must be a valid SceneGraph.
"""
if self._delete_prefix_on_load:
self.vis[self.prefix].delete()
if context and self.get_geometry_query_input_port().HasValue(context):
inspector = self.get_geometry_query_input_port().Eval(
context).inspector()
elif self._scene_graph:
inspector = self._scene_graph.model_inspector()
else:
raise RuntimeError(
"You must provide a valid Context for this system with the "
"geometry_query port connected or the ``scene_graph`` passed "
"in the constructor must be a valid SceneGraph.")
vis = self.vis[self.prefix]
# Make a fixed-seed generator for random colors for bodies.
color_generator = np.random.RandomState(seed=42)
for frame_id in inspector.GetAllFrameIds():
count = inspector.NumGeometriesForFrameWithRole(
frame_id, self._role)
if count == 0:
continue
if frame_id == inspector.world_frame_id():
name = "world"
else:
# Note: MBP declares frames with SceneGraph using `::`, we
# replace those with `/` here to expose the full tree to
# meshcat.
name = (inspector.GetOwningSourceName(frame_id) + "/" +
inspector.GetName(frame_id).replace("::", "/"))
frame_vis = vis[name]
for g_id in inspector.GetGeometries(frame_id, self._role):
color = 0xe5e5e5 # default color
alpha = 1.0
hydro_mesh = None
if self._role == Role.kIllustration:
props = inspector.GetIllustrationProperties(g_id)
if props and props.HasProperty("phong", "diffuse"):
rgba = props.GetProperty("phong", "diffuse")
# Convert Rgba from [0-1] to hex 0xRRGGBB.
color = int(255 * rgba.r()) * 256**2
color += int(255 * rgba.g()) * 256
color += int(255 * rgba.b())
alpha = rgba.a()
elif self._role == Role.kProximity:
# Pick a random color to make collision geometry
# visually distinguishable.
color = color_generator.randint(2**(24))
if self._prefer_hydro:
hydro_mesh = inspector. \
maybe_get_hydroelastic_mesh(g_id)
material = g.MeshLambertMaterial(color=color,
transparent=alpha != 1.,
opacity=alpha)
shape = inspector.GetShape(g_id)
X_FG = inspector.GetPoseInFrame(g_id).GetAsMatrix4()
if hydro_mesh is not None:
# We've got a hydroelastic mesh to load.
surface_mesh = hydro_mesh
if isinstance(hydro_mesh, VolumeMesh):
surface_mesh = ConvertVolumeToSurfaceMesh(hydro_mesh)
v_count = len(surface_mesh.triangles()) * 3
vertices = np.empty((v_count, 3), dtype=float)
normals = np.empty((v_count, 3), dtype=float)
mesh_verts = surface_mesh.vertices()
v = 0
for face in surface_mesh.triangles():
p_MA = mesh_verts[int(face.vertex(0))]
p_MB = mesh_verts[int(face.vertex(1))]
p_MC = mesh_verts[int(face.vertex(2))]
vertices[v, :] = tuple(p_MA)
vertices[v + 1, :] = tuple(p_MB)
vertices[v + 2, :] = tuple(p_MC)
p_AB_M = p_MB - p_MA
p_AC_M = p_MC - p_MA
n_M = np.cross(p_AB_M, p_AC_M)
nhat_M = n_M / np.sqrt(n_M.dot(n_M))
normals[v, :] = nhat_M
normals[v + 1, :] = nhat_M
normals[v + 2, :] = nhat_M
v += 3
geom = HydroTriSurface(vertices, normals)
elif isinstance(shape, Box):
geom = g.Box(
[shape.width(),
shape.depth(),
shape.height()])
elif isinstance(shape, Sphere):
geom = g.Sphere(shape.radius())
elif isinstance(shape, Cylinder):
geom = g.Cylinder(shape.length(), shape.radius())
# In Drake, cylinders are along +z
# In meshcat, cylinders are along +y
R_GC = RotationMatrix.MakeXRotation(np.pi / 2.0).matrix()
X_FG[0:3, 0:3] = X_FG[0:3, 0:3].dot(R_GC)
elif isinstance(shape, (Mesh, Convex)):
geom = g.ObjMeshGeometry.from_file(shape.filename()[0:-3] +
"obj")
# Attempt to find a texture for the object by looking for
# an identically-named *.png next to the model.
# TODO(gizatt): Support .MTLs and prefer them over png,
# since they're both more expressive and more standard.
# TODO(gizatt): In the long term, this kind of material
# information should be gleaned from the SceneGraph
# constituents themselves, so that we visualize what the
# simulation is *actually* reasoning about rather than what
# files happen to be present.
candidate_texture_path = shape.filename()[0:-3] + "png"
if os.path.exists(candidate_texture_path):
material = g.MeshLambertMaterial(map=g.ImageTexture(
image=g.PngImage.from_file(
candidate_texture_path)))
# Make the uuid's deterministic for mesh geometry, to
# support caching at the zmqserver. This means that
# multiple (identical) geometries may have the same UUID,
# but testing suggests that meshcat + three.js are ok with
# it.
geom.uuid = str(
uuid.uuid5(uuid.NAMESPACE_X500,
geom.contents + "mesh"))
material.uuid = str(
uuid.uuid5(uuid.NAMESPACE_X500,
geom.contents + "material"))
X_FG = X_FG.dot(tf.scale_matrix(shape.scale()))
else:
warnings.warn(f"Unsupported shape {shape} ignored")
continue
geometry_vis = frame_vis[str(g_id.get_value())]
geometry_vis.set_object(geom, material)
geometry_vis.set_transform(X_FG)
if frame_id in self.frames_to_draw:
AddTriad(self.vis,
name=name,
prefix=self.prefix + "/" + name,
length=self.axis_length,
radius=self.axis_radius,
opacity=self.frames_opacity)
self.frames_to_draw.remove(frame_id)
if frame_id != inspector.world_frame_id():
self._dynamic_frames.append({
"id": frame_id,
"name": name,
})
# Loop through the input frames_to_draw list and warn the user if the
# frame_id does not exist in the scene graph.
for frame_id in self.frames_to_draw:
warnings.warn(f"Non-existent frame {frame_id} ignored")
continue
def draw_tree(tree, vis, prefix="", draw_regions=False):
# Given a scene tree (nx.DiGraph), draw it in the
# specified meshcat visualizer.
# Draw the scene geometry flat, to keep TFs easy.
name_prefix = prefix + "scene"
vis[name_prefix].delete()
k = 0
for node in tree.nodes:
name = name_prefix + "/%s_%03d" % (node.__class__.__name__, k)
if node.geometry is not None:
color = node.geometry_color
alpha = 1.0
vis[name].set_object(
node.geometry,
meshcat_geom.MeshLambertMaterial(color=color, opacity=alpha, transparent=(alpha != 1.))
)
tf = node.tf.GetAsMatrix4()
geom_tf = node.geometry_tf.GetAsMatrix4()
tf = tf.dot(geom_tf)
tf[:3, :3] = tf[:3, :3].dot(np.diag(node.geometry_scale))
print(tf)
vis[name].set_transform(tf)
k += 1
# Draw the tree structure.
tree_prefix = prefix + "tree"
vis[tree_prefix].delete()
k = 0
for node in tree.nodes:
name = tree_prefix + "/" + node.__class__.__name__ + "_%03d" % k
k += 1
# Draw node as randomly colored sphere
color = random.randint(0, 0xFFFFFF)
alpha = 0.5
vis[name]["triad"].set_object(
meshcat_geom.triad(scale=0.1)
)
vis[name]["sphere"].set_object(
meshcat_geom.Sphere(0.01),
meshcat_geom.MeshToonMaterial(color=color, opacity=alpha, transparent=(alpha != 1.))
)
vis[name].set_transform(node.tf.GetAsMatrix4())
# Draw children
verts = []
for child in tree.successors(node):
# Draw link to child
verts.append(node.tf.translation()),
verts.append(child.tf.translation())
if len(verts) > 0:
verts = np.vstack(verts).T
# Don't want this as a direct child or it'll inherit the transform
vis[name + "_child_connections"].set_object(
meshcat_geom.Line(meshcat_geom.PointsGeometry(verts),
meshcat_geom.LineBasicMaterial(linewidth=50, color=color)))
if draw_regions:
# Draw the child regions for each child
if isinstance(node, (AndNode, OrNode, RepeatingSetNode)):
for info_k, child_info in enumerate(node.child_infos):
region_name = "child_region_%03d" % info_k
lb = child_info.child_xyz_bounds.xyz_min
ub = child_info.child_xyz_bounds.xyz_max
vis[name][region_name].set_object(
meshcat_geom.Box(ub - lb),
meshcat_geom.MeshToonMaterial(color=0x111111, opacity=0.1, transparent=True)
)
tf = RigidTransform(p=(ub+lb)/2)
vis[name][region_name].set_transform(tf.GetAsMatrix4())
