def test_rgba_api(self):
r, g, b, a = 0.75, 0.5, 0.25, 1.
color = mut.Rgba(r=r, g=g, b=b)
self.assertEqual(color.r(), r)
self.assertEqual(color.g(), g)
self.assertEqual(color.b(), b)
self.assertEqual(color.a(), a)
self.assertEqual(color, mut.Rgba(r, g, b, a))
self.assertNotEqual(color, mut.Rgba(r, g, b, 0.))
self.assertEqual(repr(color), "Rgba(r=0.75, g=0.5, b=0.25, a=1.0)")
color.set(r=1., g=1., b=1., a=0.)
self.assertEqual(color, mut.Rgba(1., 1., 1., 0.))
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_geometry_properties_api(self):
# Test perception/ illustration properties (specifically Rgba).
test_vector = [0., 0., 1., 1.]
test_color = mut.Rgba(0., 0., 1., 1.)
phong_props = mut.MakePhongIllustrationProperties(test_vector)
self.assertIsInstance(phong_props, mut.IllustrationProperties)
actual_color = phong_props.GetProperty("phong", "diffuse")
self.assertEqual(actual_color, test_color)
# Ensure that we can create it manually.
phong_props = mut.IllustrationProperties()
phong_props.AddProperty("phong", "diffuse", test_color)
actual_color = phong_props.GetProperty("phong", "diffuse")
self.assertEqual(actual_color, test_color)
# Test proximity properties.
prop = mut.ProximityProperties()
self.assertEqual(str(prop), "[__default__]")
default_group = prop.default_group_name()
self.assertTrue(prop.HasGroup(group_name=default_group))
self.assertEqual(prop.num_groups(), 1)
self.assertTrue(default_group in prop.GetGroupNames())
prop.AddProperty(group_name=default_group, name="test", value=3)
self.assertTrue(prop.HasProperty(group_name=default_group,
name="test"))
self.assertEqual(
prop.GetProperty(group_name=default_group, name="test"), 3)
self.assertEqual(
prop.GetPropertyOrDefault(group_name=default_group,
name="empty",
default_value=5), 5)
group_values = prop.GetPropertiesInGroup(group_name=default_group)
for name, value in group_values.items():
self.assertIsInstance(name, str)
self.assertIsInstance(value, AbstractValue)
def test_render_engine_gl_params(self):
# A default constructor exists.
mut.render.RenderEngineGlParams()
# The kwarg constructor also works.
label = mut.render.RenderLabel(10)
diffuse = mut.Rgba(1.0, 0.0, 0.0, 0.0)
params = mut.render.RenderEngineGlParams(
default_clear_color=diffuse,
default_label=label,
default_diffuse=diffuse,
)
self.assertEqual(params.default_clear_color, diffuse)
self.assertEqual(params.default_label, label)
self.assertEqual(params.default_diffuse, diffuse)
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_rgba_api(self):
default_white = mut.Rgba()
self.assertEqual(default_white, mut.Rgba(1, 1, 1, 1))
r, g, b, a = 0.75, 0.5, 0.25, 1.
color = mut.Rgba(r=r, g=g, b=b)
self.assertEqual(color.r(), r)
self.assertEqual(color.g(), g)
self.assertEqual(color.b(), b)
self.assertEqual(color.a(), a)
self.assertEqual(color, mut.Rgba(r, g, b, a))
self.assertNotEqual(color, mut.Rgba(r, g, b, 0.))
self.assertEqual(repr(color), "Rgba(r=0.75, g=0.5, b=0.25, a=1.0)")
color.set(r=1., g=1., b=1., a=0.)
self.assertEqual(color, mut.Rgba(1., 1., 1., 0.))
# Confirm value instantiation.
Value[mut.Rgba]
def test_geometry_properties_api(self):
# Test perception/ illustration properties (specifically Rgba).
test_vector = [0., 0., 1., 1.]
test_color = mut.Rgba(0., 0., 1., 1.)
phong_props = mut.MakePhongIllustrationProperties(test_vector)
self.assertIsInstance(phong_props, mut.IllustrationProperties)
actual_color = phong_props.GetProperty("phong", "diffuse")
self.assertEqual(actual_color, test_color)
# Ensure that we can create it manually.
phong_props = mut.IllustrationProperties()
phong_props.AddProperty("phong", "diffuse", test_color)
actual_color = phong_props.GetProperty("phong", "diffuse")
self.assertEqual(actual_color, test_color)
# Test proximity properties.
prop = mut.ProximityProperties()
self.assertEqual(str(prop), "[__default__]")
default_group = prop.default_group_name()
self.assertTrue(prop.HasGroup(group_name=default_group))
self.assertEqual(prop.num_groups(), 1)
self.assertTrue(default_group in prop.GetGroupNames())
prop.AddProperty(group_name=default_group, name="test", value=3)
self.assertTrue(prop.HasProperty(group_name=default_group,
name="test"))
self.assertEqual(
prop.GetProperty(group_name=default_group, name="test"), 3)
self.assertEqual(
prop.GetPropertyOrDefault(
group_name=default_group, name="empty", default_value=5),
5)
group_values = prop.GetPropertiesInGroup(group_name=default_group)
for name, value in group_values.items():
self.assertIsInstance(name, str)
self.assertIsInstance(value, AbstractValue)
# Remove the property.
self.assertTrue(prop.RemoveProperty(group_name=default_group,
name="test"))
self.assertFalse(prop.HasProperty(group_name=default_group,
name="test"))
# Update a property.
prop.AddProperty(group_name=default_group, name="to_update", value=17)
self.assertTrue(prop.HasProperty(group_name=default_group,
name="to_update"))
self.assertEqual(
prop.GetProperty(group_name=default_group, name="to_update"), 17)
prop.UpdateProperty(group_name=default_group, name="to_update",
value=20)
self.assertTrue(prop.HasProperty(group_name=default_group,
name="to_update"))
self.assertEqual(
prop.GetProperty(group_name=default_group, name="to_update"),
20)
# Property copying.
for PropertyType in [mut.ProximityProperties,
mut.IllustrationProperties,
mut.PerceptionProperties]:
props = PropertyType()
props.AddProperty("g", "p", 10)
self.assertTrue(props.HasProperty("g", "p"))
props_copy = PropertyType(other=props)
self.assertTrue(props_copy.HasProperty("g", "p"))
props_copy2 = copy.copy(props)
self.assertTrue(props_copy2.HasProperty("g", "p"))
props_copy3 = copy.deepcopy(props)
self.assertTrue(props_copy3.HasProperty("g", "p"))
def test_drake_visualizer(self, T):
# Test visualization API.
SceneGraph = mut.SceneGraph_[T]
DiagramBuilder = DiagramBuilder_[T]
Simulator = Simulator_[T]
lcm = DrakeLcm()
role = mut.Role.kIllustration
params = mut.DrakeVisualizerParams(
publish_period=0.1, role=mut.Role.kIllustration,
default_color=mut.Rgba(0.1, 0.2, 0.3, 0.4))
self.assertEqual(repr(params), "".join([
"DrakeVisualizerParams("
"publish_period=0.1, "
"role=Role.kIllustration, "
"default_color=Rgba(r=0.1, g=0.2, b=0.3, a=0.4))"]))
# Add some subscribers to detect message broadcast.
load_channel = "DRAKE_VIEWER_LOAD_ROBOT"
draw_channel = "DRAKE_VIEWER_DRAW"
load_subscriber = Subscriber(
lcm, load_channel, lcmt_viewer_load_robot)
draw_subscriber = Subscriber(
lcm, draw_channel, lcmt_viewer_draw)
# There are three ways to configure DrakeVisualizer.
def by_hand(builder, scene_graph, params):
visualizer = builder.AddSystem(
mut.DrakeVisualizer_[T](lcm=lcm, params=params))
builder.Connect(scene_graph.get_query_output_port(),
visualizer.query_object_input_port())
def auto_connect_to_system(builder, scene_graph, params):
mut.DrakeVisualizer_[T].AddToBuilder(builder=builder,
scene_graph=scene_graph,
lcm=lcm, params=params)
def auto_connect_to_port(builder, scene_graph, params):
mut.DrakeVisualizer_[T].AddToBuilder(
builder=builder,
query_object_port=scene_graph.get_query_output_port(),
lcm=lcm, params=params)
for func in [by_hand, auto_connect_to_system, auto_connect_to_port]:
# Build the diagram.
builder = DiagramBuilder()
scene_graph = builder.AddSystem(SceneGraph())
func(builder, scene_graph, params)
# Simulate to t = 0 to send initial load and draw messages.
diagram = builder.Build()
Simulator(diagram).AdvanceTo(0)
lcm.HandleSubscriptions(0)
self.assertEqual(load_subscriber.count, 1)
self.assertEqual(draw_subscriber.count, 1)
load_subscriber.clear()
draw_subscriber.clear()
# Ad hoc broadcasting.
scene_graph = SceneGraph()
mut.DrakeVisualizer_[T].DispatchLoadMessage(
scene_graph, lcm, params)
lcm.HandleSubscriptions(0)
self.assertEqual(load_subscriber.count, 1)
self.assertEqual(draw_subscriber.count, 0)
load_subscriber.clear()
draw_subscriber.clear()
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(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()