def testConnectPlanarSceneGraphVisualizer(self):
"""Cart-Pole with simple geometry."""
file_name = FindResourceOrThrow(
"drake/examples/multibody/cart_pole/cart_pole.sdf")
builder = DiagramBuilder()
cart_pole, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
Parser(plant=cart_pole).AddModelFromFile(file_name)
cart_pole.Finalize()
# The visualizer will connect to query object and calling draw will not
# spawn any deprecation warnings.
vis_query_object = ConnectPlanarSceneGraphVisualizer(
builder=builder, scene_graph=scene_graph, xlim=[0.3, 1.2])
self.assertIsInstance(vis_query_object, PlanarSceneGraphVisualizer)
# Confirm that arguments are passed through.
self.assertEqual(vis_query_object.ax.get_xlim(), (0.3, 1.2))
# The visualizer will connect to the provided pose bundle port and
# calling draw will generate a warning.
vis_pose_bundle = ConnectPlanarSceneGraphVisualizer(
builder=builder,
scene_graph=scene_graph,
output_port=scene_graph.get_pose_bundle_output_port())
vis_pose_bundle.set_name("vis_pose_bundle")
self.assertIsInstance(vis_pose_bundle, PlanarSceneGraphVisualizer)
diagram = builder.Build()
diagram_context = diagram.CreateDefaultContext()
vis_query_object_context = diagram.GetMutableSubsystemContext(
vis_query_object, diagram_context)
vis_pose_bundle_context = diagram.GetMutableSubsystemContext(
vis_pose_bundle, diagram_context)
# Note: we can't simply call diagram.Publish(diagram_context) because
# the visualizer isn't set to be visible; as such, no drawing work
# will be done.
vis_query_object.draw(vis_query_object_context)
with catch_drake_warnings(expected_count=1):
vis_pose_bundle.draw(vis_pose_bundle_context)
def testConnectPlanarSceneGraphVisualizer(self):
"""Cart-Pole with simple geometry."""
file_name = FindResourceOrThrow(
"drake/examples/multibody/cart_pole/cart_pole.sdf")
builder = DiagramBuilder()
cart_pole, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
Parser(plant=cart_pole).AddModelFromFile(file_name)
cart_pole.Finalize()
# The function auto connects to the scene graph query object port.
vis_auto_connect = ConnectPlanarSceneGraphVisualizer(
builder=builder, scene_graph=scene_graph, xlim=[0.3, 1.2])
self.assertIsInstance(vis_auto_connect, PlanarSceneGraphVisualizer)
# Confirm that arguments are passed through.
self.assertEqual(vis_auto_connect.ax.get_xlim(), (0.3, 1.2))
# The function connects visualizer to provided query object port.
vis_port_connect = ConnectPlanarSceneGraphVisualizer(
builder=builder,
scene_graph=scene_graph,
output_port=scene_graph.get_query_output_port())
vis_port_connect.set_name("vis_port_connect")
self.assertIsInstance(vis_port_connect, PlanarSceneGraphVisualizer)
diagram = builder.Build()
diagram_context = diagram.CreateDefaultContext()
vis_auto_connect_context = diagram.GetMutableSubsystemContext(
vis_auto_connect, diagram_context)
vis_port_connect_context = diagram.GetMutableSubsystemContext(
vis_port_connect, diagram_context)
# Note: we can't simply call diagram.Publish(diagram_context) because
# the visualizer isn't set to be visible; as such, no drawing work
# will be done.
vis_auto_connect.draw(vis_auto_connect_context)
vis_port_connect.draw(vis_port_connect_context)