def convert_visuals(urdf, texture_path, vis):
link_name_to_index = {}
link_name_to_index[urdf.base_links[0].link_name] = -1
for link_index in range(len(urdf.links)):
l = urdf.links[link_index]
link_name_to_index[l.link_name] = link_index
b2vis = {}
uid = -1
if texture_path:
material = g.MeshLambertMaterial(
map=g.ImageTexture(
wrap=[0, 0],
repeat=[1, 1],
image=g.PngImage.from_file(texture_path)))
else:
material = g.MeshLambertMaterial(color=0xffffff, reflectivity=0.8)
#first the base link
link_index = -1
b2v, uid = convert_link_visuals(urdf.base_links[0], link_index, material, vis,
uid, b2vis)
#then convert each child link
for joint in urdf.joints:
link_index = link_name_to_index[joint.child_name]
link = urdf.links[link_index]
b2v, uid = convert_link_visuals(link, link_index, material, vis, uid, b2vis)
return b2vis
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([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 make_frame(vis, name, h, radius, o=1.0):
"""Add a red-green-blue triad to the Meschat visualizer.
Args:
vis (MeshCat Visualizer): the visualizer
name (string): name for this frame (should be unique)
h (float): height of frame visualization
radius (float): radius of frame visualization
o (float): opacity
"""
vis[name]['x'].set_object(
g.Cylinder(height=h, radius=radius),
g.MeshLambertMaterial(color=0xff0000, reflectivity=0.8, opacity=o))
rotate_x = mtf.rotation_matrix(np.pi / 2.0, [0, 0, 1])
rotate_x[0, 3] = h / 2
vis[name]['x'].set_transform(rotate_x)
vis[name]['y'].set_object(
g.Cylinder(height=h, radius=radius),
g.MeshLambertMaterial(color=0x00ff00, reflectivity=0.8, opacity=o))
rotate_y = mtf.rotation_matrix(np.pi / 2.0, [0, 1, 0])
rotate_y[1, 3] = h / 2
vis[name]['y'].set_transform(rotate_y)
vis[name]['z'].set_object(
g.Cylinder(height=h, radius=radius),
g.MeshLambertMaterial(color=0x0000ff, reflectivity=0.8, opacity=o))
rotate_z = mtf.rotation_matrix(np.pi / 2.0, [1, 0, 0])
rotate_z[2, 3] = h / 2
vis[name]['z'].set_transform(rotate_z)
def plot_surface(meshcat, X, Y, Z, color=0xdd9999, wireframe=False):
(rows, cols) = Z.shape
vertices = np.empty((rows * cols, 3), dtype=np.float32)
vertices[:, 0] = X.reshape((-1))
vertices[:, 1] = Y.reshape((-1))
vertices[:, 2] = Z.reshape((-1))
# Vectorized faces code from https://stackoverflow.com/questions/44934631/making-grid-triangular-mesh-quickly-with-numpy # noqa
faces = np.empty((rows - 1, cols - 1, 2, 3), dtype=np.uint32)
r = np.arange(rows * cols).reshape(rows, cols)
faces[:, :, 0, 0] = r[:-1, :-1]
faces[:, :, 1, 0] = r[:-1, 1:]
faces[:, :, 0, 1] = r[:-1, 1:]
faces[:, :, 1, 1] = r[1:, 1:]
faces[:, :, :, 2] = r[1:, :-1, None]
faces.shape = (-1, 3)
if isinstance(color, int):
meshcat.set_object(
g.TriangularMeshGeometry(vertices, faces),
g.MeshLambertMaterial(color=color, wireframe=wireframe))
else:
meshcat.set_object(
TriangularMeshGeometry(vertices, faces, color),
g.MeshLambertMaterial(vertexColors=True, wireframe=wireframe))
def _get_shape_material(self, shape):
texture = shape.get_user_data().get(
'visual_mesh_texture',
None) if shape.get_user_data() is not None else None
if texture is not None:
return g.MeshLambertMaterial(map=texture, opacity=1.)
clr = [int(v) for v in self.get_shape_color(shape=shape)]
color = int(clr[0]) * 256**2 + int(clr[1]) * 256 + int(clr[2])
return g.MeshLambertMaterial(color=color, opacity=clr[3] / 255.)
def add_geometry(self, geometry, pathname, transform):
vis = self.vis
material = g.MeshLambertMaterial(reflectivity=1.0, sides=0)
material.transparency = True
material.opacity = 0.5
if isinstance(geometry, Sphere):
sphere = geometry
vis[pathname].set_object(
g.Sphere(sphere.radius),
material)
vis[pathname].set_transform(transform)
elif isinstance(geometry, Cylinder):
cyl = geometry
vis[pathname].set_object(
g.Cylinder(cyl.length, cyl.radius),
material
)
# meshcat cylinder is aligned along y-axis. Align along z then apply the
# node's transform as normal.
vis[pathname].set_transform(
transform.dot(
tf.rotation_matrix(np.radians(-90), [1, 0, 0])
)
)
elif isinstance(geometry, Mesh):
obj = meshcat.geometry.StlMeshGeometry.from_stream(
io.BytesIO(trimesh.exchange.stl.export_stl(geometry.trimesh))
)
vis[pathname].set_object(obj, material)
vis[pathname].set_transform(transform)
else:
raise NotImplementedError("Cannot yet add {} to visualiser".format(type(geometry)))
def convert_visuals_pb(vis, urdfLinks, urdfJoints, p0, texture_path):
b2vis = {}
uid = -1
print("num_links=", len(urdfLinks))
for link in urdfLinks:
print("num_visuals=", len(link.urdf_visual_shapes))
for v in link.urdf_visual_shapes:
print("v.geom_type=", v.geom_type)
if v.geom_type == p0.GEOM_MESH:
print("mesh filename=", v.geom_meshfilename)
print("geom_meshscale=", v.geom_meshscale)
vis_name = link.link_name + str(uid)
b2v = VisualLinkInfo()
b2v.vis_name = vis_name
b2v.uid = uid
b2v.origin_rpy = v.origin_rpy
b2v.origin_xyz = v.origin_xyz
b2v.inertia_xyz = link.urdf_inertial.origin_xyz
b2v.inertia_rpy = link.urdf_inertial.origin_rpy
vis[vis_name].set_object(
g.ObjMeshGeometry.from_file(v.geom_meshfilename),
g.MeshLambertMaterial(map=g.ImageTexture(
image=g.PngImage.from_file(texture_path))))
v.uid = uid
b2vis[v.uid] = b2v
uid += 1
print("num_joints=", len(urdfJoints))
return b2vis
def viewer_draw_mesh(viewer, mesh, color=None, id=None):
if color == None:
color = 0x777777
if id == None:
id = str(uuid.uuid1())
geo = mesh2mcg(mesh)
mat = mcg.MeshLambertMaterial(color=color)
viewer[id].set_object(mcg.Mesh(geo, mat))
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_bond(v, label, p1, d, radius, color=0xffffff):
H = np.linalg.norm(d)
R = np.linalg.norm(d[:2])
e = d / H
x = np.array([0, 1, 0])
rot = -acos(e @ x)
if -1 < e @ x < 1:
axis = np.cross(e, x)
v[label].set_object(
g.Mesh(g.Cylinder(H, radius), g.MeshLambertMaterial(color=color)))
v[label].set_transform(
tf.translation_matrix(p1).dot(
tf.rotation_matrix(rot, axis).dot(
tf.translation_matrix([0, H / 2, 0]))))
else:
v[label].set_object(
g.Mesh(g.Cylinder(H, radius), g.MeshLambertMaterial(color=color)))
v[label].set_transform(tf.translation_matrix(p1 + d / 2))
def show(self, chain, showMeshes=False):
if 'google.colab' in sys.modules:
server_args = ['--ngrok_http_tunnel']
# Start a single meshcat server instance to use for the remainder of this notebook.
from meshcat.servers.zmqserver import start_zmq_server_as_subprocess
proc, zmq_url, web_url = start_zmq_server_as_subprocess(
server_args=server_args)
vis = meshcat.Visualizer(zmq_url=zmq_url)
else:
vis = meshcat.Visualizer().open()
if showMeshes:
for i, link in enumerate(chain.linkArray):
if link.meshObj == None:
print("No mesh: " + link.name)
continue
boxVis = vis["link:" + link.name]
boxVis.set_object(
link.meshObj,
g.MeshLambertMaterial(color=0xffffff, reflectivity=0.8))
rotationMatrix = np.pad(link.absoluteOrientation, [(0, 1),
(0, 1)],
mode='constant')
rotationMatrix[-1][-1] = 1
boxVis.set_transform(
tf.translation_matrix(link.absoluteBase) @ rotationMatrix)
else:
for i, link in enumerate(chain.linkArray):
boxVis = vis["link:" + link.name]
if link.primitiveObj != None:
if isinstance(link.primitiveObj, primitives.Box):
box = meshcat.geometry.Box(link.primitiveObj.size)
boxVis.set_object(box)
if isinstance(link.primitiveObj, primitives.Cylinder):
cylinder = meshcat.geometry.Cylinder(
link.primitiveObj.length, link.primitiveObj.radius)
boxVis.set_object(cylinder)
if isinstance(link.primitiveObj, primitives.Sphere):
sphere = meshcat.geometry.Sphere(
link.primitiveObj.radius)
boxVis.set_object(cylinder)
rotationMatrix = np.pad(link.absoluteOrientation, [(0, 1),
(0, 1)],
mode='constant')
rotationMatrix[-1][-1] = 1
boxVis.set_transform(
tf.translation_matrix(link.absoluteBase)
@ rotationMatrix)
boxVis = vis["skeleton"]
boxVis.set_object(
g.Line(g.PointsGeometry(chain.get_vertex_coords().T)))
def viewer_draw_sphere(viewer, sphere, color=None, id=None):
import meshcat.transformations as tf
if color == None:
color = 0x777777
if id == None:
id = str(uuid.uuid1())
s = mcg.Sphere(sphere.radius)
viewer[id].set_object(s), mcg.MeshLambertMaterial(color=color)
viewer[id].set_transform(tf.translation_matrix(list(sphere.point)))
return id
def runTest(self):
"""
Test that we can render meshes from raw vertices and faces as
numpy arrays
"""
v = self.vis["triangular_mesh"]
v.set_transform(tf.rotation_matrix(np.pi / 2, [0., 0, 1]))
vertices = np.array([[0, 0, 0], [1, 0, 0], [1, 0, 1], [0, 0, 1]])
faces = np.array([[0, 1, 2], [3, 0, 2]])
v.set_object(g.TriangularMeshGeometry(vertices, faces),
g.MeshLambertMaterial(color=0xeedd22, wireframe=True))
v = self.vis["triangular_mesh_w_vertex_coloring"]
v.set_transform(
tf.translation_matrix([1, 0, 0]).dot(
tf.rotation_matrix(np.pi / 2, [0, 0, 1])))
colors = vertices
v.set_object(g.TriangularMeshGeometry(vertices, faces, colors),
g.MeshLambertMaterial(vertexColors=True, wireframe=True))
def meshcat_draw_lights(vis, light_locations, light_attenuations):
N = light_locations.shape[1]
colors = np.zeros((3, N))
colors[2, :] = light_attenuations
for k in range(N):
vis["lights"]["%d" % k].set_object(
g.Sphere(radius=0.05),
g.MeshLambertMaterial(
color=0xffffff,
reflectivity=0.8))
vis["lights"]["%d" % k].set_transform(
tf.translation_matrix(light_locations[:, k]))
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 plot_mathematical_program(meshcat, prog, X, Y, result=None):
assert prog.num_vars() == 2
assert X.size == Y.size
N = X.size
values = np.vstack((X.reshape(-1), Y.reshape(-1)))
costs = prog.GetAllCosts()
# Vectorized multiply for the quadratic form.
# Z = (D*np.matmul(Q,D)).sum(0).reshape(nx, ny)
if costs:
Z = prog.EvalBindingVectorized(costs[0], values)
for b in costs[1:]:
Z = Z + prog.EvalBindingVectorized(b, values)
cv = meshcat["constraint"]
for binding in prog.GetAllConstraints():
c = binding.evaluator()
var_indices = [
int(prog.decision_variable_index()[v.get_id()])
for v in binding.variables()
]
satisfied = np.array(
c.CheckSatisfiedVectorized(values[var_indices, :],
0.001)).reshape(1, -1)
if costs:
Z[~satisfied] = np.nan
# Special case linear constraints
if False: # isinstance(c, LinearConstraint):
# TODO: take these as (optional) arguments to avoid computing them
# inefficiently.
xmin = np.min(X.reshape(-1))
xmax = np.max(X.reshape(-1))
ymin = np.min(Y.reshape(-1))
ymax = np.max(Y.reshape(-1))
A = c.A()
lower = c.lower_bound()
upper = c.upper_bound()
# find line / box intersections
# https://gist.github.com/ChickenProp/3194723
else:
v = cv[str(binding)]
Zc = np.zeros(Z.shape)
Zc[satisfied] = np.nan
plot_surface(v,
X,
Y,
Zc.reshape((X.shape[1], X.shape[0])),
color=0x9999dd)
if costs:
plot_surface(meshcat["objective"],
X,
Y,
Z.reshape(X.shape[1], X.shape[0]),
wireframe=True)
if result:
v = meshcat["solution"]
v.set_object(g.Sphere(0.1), g.MeshLambertMaterial(color=0x99ff99))
x_solution = result.get_x_val()
v.set_transform(
tf.translation_matrix(
[x_solution[0], x_solution[1],
result.get_optimal_cost()]))
def __init__(self,
mbp,
sg,
all_manipulable_body_ids=[],
zmq_url="default"):
LeafSystem.__init__(self)
self.all_manipulable_body_ids = all_manipulable_body_ids
self.set_name('HydraInteractionLeafSystem')
# Pose bundle (from SceneGraph) input port.
#default_sg_context = sg.CreateDefaultContext()
#print("Default sg context: ", default_sg_context)
#query_object = sg.get_query_output_port().Eval(default_sg_context)
#print("Query object: ", query_object)
#self.DeclareAbstractInputPort("query_object",
# AbstractValue.Make(query_object))
self.pose_bundle_input_port = self.DeclareAbstractInputPort(
"pose_bundle", AbstractValue.Make(PoseBundle(0)))
self.robot_state_input_port = self.DeclareVectorInputPort(
"robot_state",
BasicVector(mbp.num_positions() + mbp.num_velocities()))
self.spatial_forces_output_port = self.DeclareAbstractOutputPort(
"spatial_forces_vector",
lambda: AbstractValue.Make(VectorExternallyAppliedSpatialForced()),
self.DoCalcAbstractOutput)
self.DeclarePeriodicPublish(0.01, 0.0)
if zmq_url == "default":
zmq_url = "tcp://127.0.0.1:6000"
if zmq_url is not None:
print("Connecting to meshcat-server at zmq_url=" + zmq_url + "...")
self.vis = meshcat.Visualizer(zmq_url=zmq_url)
fwd_pt_in_hydra_frame = RigidTransform(p=[0.0, 0.0, 0.0])
self.vis["hydra_origin"]["hand"].set_object(
meshcat_geom.ObjMeshGeometry.from_file(
os.path.join(os.getcwd(), "hand-regularfinal-scaled-1.obj")))
self.vis["hydra_origin"]["hand"].set_transform(
meshcat_tf.compose_matrix(scale=[0.001, 0.001, 0.001],
angles=[np.pi / 2, 0., np.pi / 2],
translate=[-0.25, 0., 0.]))
#self.vis["hydra_origin"]["center"].set_object(meshcat_geom.Sphere(0.02))
#self.vis["hydra_origin"]["center"].set_transform(meshcat_tf.translation_matrix([-0.025, 0., 0.]))
#self.vis["hydra_origin"]["mid"].set_object(meshcat_geom.Sphere(0.015))
#self.vis["hydra_origin"]["mid"].set_transform(meshcat_tf.translation_matrix([0.0, 0., 0.]))
#self.vis["hydra_origin"]["fwd"].set_object(meshcat_geom.Sphere(0.01))
#self.vis["hydra_origin"]["fwd"].set_transform(fwd_pt_in_hydra_frame.matrix())
#self.vis["hydra_grab"].set_object(meshcat_geom.Sphere(0.01),
# meshcat_geom.MeshLambertMaterial(
# color=0xff22dd,
# alphaMap=0.1))
self.vis["hydra_grab"]["grab_point"].set_object(
meshcat_geom.Sphere(0.01),
meshcat_geom.MeshLambertMaterial(color=0xff22dd, alphaMap=0.1))
# Hide it sketchily
self.vis["hydra_grab"].set_transform(
meshcat_tf.translation_matrix([0., 0., -1000.]))
# State for selecting objects
self.grab_needs_update = False
self.grab_in_progress = False
self.grab_update_hydra_pose = None
self.selected_body = None
self.selected_pose_in_body_frame = None
self.desired_pose_in_world_frame = None
self.stop = False
self.freeze_rotation = False
self.previously_freezing_rotation = False
# Set up subscription to Razer Hydra
self.mbp = mbp
self.mbp_context = mbp.CreateDefaultContext()
self.sg = sg
self.hasNewMessage = False
self.lastMsg = None
self.hydra_origin = RigidTransform(p=[1.0, 0., -0.1],
rpy=RollPitchYaw([0., 0., 0.]))
self.hydra_prescale = 3.0
self.callback_lock = Lock()
self.hydraSubscriber = rospy.Subscriber("/hydra_calib",
razer_hydra.msg.Hydra,
self.callback,
queue_size=1)
print("Waiting for hydra startup...")
while not self.hasNewMessage and not rospy.is_shutdown():
rospy.sleep(0.01)
print("Got hydra.")
def plot_mathematical_program(meshcat,
prog,
X,
Y,
result=None,
point_size=0.05):
assert prog.num_vars() == 2
assert X.size == Y.size
N = X.size
values = np.vstack((X.reshape(-1), Y.reshape(-1)))
costs = prog.GetAllCosts()
# Vectorized multiply for the quadratic form.
# Z = (D*np.matmul(Q,D)).sum(0).reshape(nx, ny)
if costs:
Z = prog.EvalBindingVectorized(costs[0], values)
for b in costs[1:]:
Z = Z + prog.EvalBindingVectorized(b, values)
cv = meshcat["constraints"]
for binding in prog.GetAllConstraints():
if isinstance(
binding.evaluator(),
pydrake.solvers.mathematicalprogram.BoundingBoxConstraint):
c = binding.evaluator()
var_indices = [
int(prog.decision_variable_index()[v.get_id()])
for v in binding.variables()
]
satisfied = np.array(
c.CheckSatisfiedVectorized(values[var_indices, :],
0.001)).reshape(1, -1)
if costs:
Z[~satisfied] = np.nan
v = cv[type(c).__name__]
Zc = np.zeros(Z.shape)
Zc[satisfied] = np.nan
plot_surface(v,
X,
Y,
Zc.reshape((X.shape[1], X.shape[0])),
color=0xff3333,
wireframe=True)
else:
Zc = prog.EvalBindingVectorized(binding, values)
evaluator = binding.evaluator()
low = evaluator.lower_bound()
up = evaluator.upper_bound()
cvb = cv[type(evaluator).__name__]
for index in range(Zc.shape[0]):
color = np.repeat([[0.3], [0.3], [1.0]], N, axis=1)
infeasible = np.logical_or(Zc[index, :] < low[index],
Zc[index, :] > up[index])
color[0, infeasible] = 1.0
color[2, infeasible] = 0.3
plot_surface(cvb[str(index)],
X,
Y,
Zc[index, :].reshape(X.shape[1], X.shape[0]),
color=color,
wireframe=True)
if costs:
plot_surface(meshcat["objective"],
X,
Y,
Z.reshape(X.shape[1], X.shape[0]),
color=0x77cc77,
wireframe=True)
if result:
v = meshcat["solution"]
v.set_object(g.Sphere(point_size),
g.MeshLambertMaterial(color=0x55ff55))
x_solution = result.get_x_val()
v.set_transform(
tf.translation_matrix(
[x_solution[0], x_solution[1],
result.get_optimal_cost()]))
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 draw_atom(v, label, atom, radius, color=0xffffff):
v[label].set_object(
g.Mesh(g.Sphere(radius), g.MeshLambertMaterial(color=color)))
v[label].set_transform(tf.translation_matrix(atom))
def animate(self, chain, states, framerate=5, showMeshes=False):
if 'google.colab' in sys.modules:
server_args = ['--ngrok_http_tunnel']
# Start a single meshcat server instance to use for the remainder of this notebook.
from meshcat.servers.zmqserver import start_zmq_server_as_subprocess
proc, zmq_url, web_url = start_zmq_server_as_subprocess(
server_args=server_args)
vis = meshcat.Visualizer(zmq_url=zmq_url)
else:
vis = meshcat.Visualizer().open()
anim = Animation()
vertices = chain.get_vertex_coords()
if showMeshes:
for i, link in enumerate(chain.linkArray):
if link.meshObj == None:
print("No mesh: " + link.name)
continue
boxVis = vis["link:" + link.name]
boxVis.set_object(
link.meshObj,
g.MeshLambertMaterial(color=0xffffff, reflectivity=0.8))
rotationMatrix = np.pad(link.absoluteOrientation, [(0, 1),
(0, 1)],
mode='constant')
rotationMatrix[-1][-1] = 1
boxVis.set_transform(
tf.translation_matrix(link.absoluteBase) @ rotationMatrix)
for i in range(len(states)):
chain.update(states[i])
with anim.at_frame(vis, framerate * i) as frame:
for i, link in enumerate(chain.linkArray):
if link.meshObj == None:
continue
boxVis = frame["link:" + link.name]
rotationMatrix = np.pad(link.absoluteOrientation,
[(0, 1), (0, 1)],
mode='constant')
rotationMatrix[-1][-1] = 1
boxVis.set_transform(
tf.translation_matrix(link.absoluteBase)
@ rotationMatrix)
else:
for i in range(int(vertices.shape[0] / 2)):
p1 = vertices[2 * i]
p2 = vertices[2 * i + 1]
cylinder_transform = getCylinderTransform(p1, p2)
boxVis = vis["link" + str(i)]
boxVis.set_object(g.Cylinder(1, 0.01))
boxVis.set_transform(cylinder_transform)
for i in range(len(states)):
chain.update(states[i])
with anim.at_frame(vis, framerate * i) as frame:
vertices = chain.get_vertex_coords()
for i in range(int(vertices.shape[0] / 2)):
p1 = vertices[2 * i]
p2 = vertices[2 * i + 1]
cylinder_transform = getCylinderTransform(p1, p2)
boxVis = frame["link" + str(i)]
boxVis.set_transform(cylinder_transform)
vis.set_animation(anim)
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,
})
(-0.9082895433880116, 0.41834209132239775, -0.2183420913223977),
(0.5, 0.7, -0.5)
)
surface_and_bottom = (ray_origin, ray_direction, expected)
# surface and top
ray_origin = (-2, 0.2, 0.0)
ray_direction = norm((1.0, 0.2, 0.2))
expected = (
(-0.9082895433880116, 0.41834209132239775, 0.2183420913223977),
(0.5, 0.7, 0.5)
)
surface_and_top = (ray_origin, ray_direction, expected)
tests = (touching, end_caps_only, surface_and_bottom, surface_and_top)
# Place cylinder in scene
material = g.MeshLambertMaterial(reflectivity=1.0, sides=0)
vis['cyl'].set_object(
g.Cylinder(length, radius),
material)
vis['cyl'].set_transform(
tf.translation_matrix([0.0, 0.0, 0.0]).dot(
tf.rotation_matrix(np.radians(-90), [1, 0, 0]))
)
# Visualise test rays
for idx, (ray_origin, ray_direction, expected) in enumerate(tests):
ray_inf = np.array(ray_origin) + 5.0 * np.array(ray_direction)
vertices = np.column_stack((ray_origin, ray_inf))
red_material = g.MeshLambertMaterial(
reflectivity=1.0, sides=0, color=0xff0000)
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())