def compile_scene_tree_clearance_geometry_to_mbp_and_sg( scene_tree, timestep=0.001, alpha=0.25): builder = DiagramBuilder() mbp, scene_graph = AddMultibodyPlantSceneGraph( builder, MultibodyPlant(time_step=timestep)) parser = Parser(mbp) parser.package_map().PopulateFromEnvironment("ROS_PACKAGE_PATH") world_body = mbp.world_body() free_body_poses = [] # For generating colors. node_class_to_color_dict = {} cmap = plt.cm.get_cmap('jet') cmap_counter = 0. for node in scene_tree.nodes: if node.tf is not None and node.physics_geometry_info is not None: # Don't have to do anything if this does not introduce geometry. sanity_check_node_tf_and_physics_geom_info(node) phys_geom_info = node.physics_geometry_info has_clearance_geometry = len(phys_geom_info.clearance_geometry) > 0 if not has_clearance_geometry: continue # Add a body for this node and register the clearance geometry. # TODO(gizatt) This tree body index is built in to disambiguate names. # But I forsee a name-to-stuff resolution crisis when inference time comes... # this might get resolved by the solution to that. body = mbp.AddRigidBody(name=node.name, M_BBo_B=phys_geom_info.spatial_inertia) tf = torch_tf_to_drake_tf(node.tf) mbp.SetDefaultFreeBodyPose(body, tf) # Pick out a color for this class. node_type_string = node.__class__.__name__ if node_type_string in node_class_to_color_dict.keys(): color = node_class_to_color_dict[node_type_string] else: color = list(cmap(cmap_counter)) color[3] = alpha node_class_to_color_dict[node_type_string] = color cmap_counter = np.fmod(cmap_counter + np.pi * 2., 1.) # Handle adding primitive geometry by adding it all to one # mbp. if len(phys_geom_info.clearance_geometry) > 0: for k, (tf, geometry) in enumerate( phys_geom_info.clearance_geometry): mbp.RegisterCollisionGeometry( body=body, X_BG=torch_tf_to_drake_tf(tf), shape=geometry, name=node.name + "_col_%03d" % k, coulomb_friction=default_friction) mbp.RegisterVisualGeometry(body=body, X_BG=torch_tf_to_drake_tf(tf), shape=geometry, name=node.name + "_vis_%03d" % k, diffuse_color=color) return builder, mbp, scene_graph
def build_mbp(seed=0, verts_geom=False, convex_collision_geom=True): # Make some random lumpy objects trimeshes = [] np.random.seed(42) for k in range(3): # Make a small random number of triangles and chull it # to get a lumpy object mesh = trimesh.creation.random_soup(5) mesh = trimesh.convex.convex_hull(mesh) trimeshes.append(mesh) # Create Drake geometry from those objects by adding a small # sphere at each vertex sphere_rad = 0.05 cmap = plt.cm.get_cmap('jet') builder = DiagramBuilder() mbp, scene_graph = AddMultibodyPlantSceneGraph( builder, MultibodyPlant(time_step=0.001)) # Add ground friction = CoulombFriction(0.9, 0.8) g = pydrake_geom.Box(100., 100., 0.5) tf = RigidTransform(p=[0., 0., -0.25]) mbp.RegisterVisualGeometry(body=mbp.world_body(), X_BG=tf, shape=g, name="ground", diffuse_color=[1.0, 1.0, 1.0, 1.0]) mbp.RegisterCollisionGeometry(body=mbp.world_body(), X_BG=tf, shape=g, name="ground", coulomb_friction=friction) for i, mesh in enumerate(trimeshes): inertia = SpatialInertia(mass=1.0, p_PScm_E=np.zeros(3), G_SP_E=UnitInertia(0.01, 0.01, 0.01)) body = mbp.AddRigidBody(name="body_%d" % i, M_BBo_B=inertia) color = cmap(np.random.random()) if verts_geom: for j, vert in enumerate(mesh.vertices): g = pydrake_geom.Sphere(radius=sphere_rad) tf = RigidTransform(p=vert) mbp.RegisterVisualGeometry(body=body, X_BG=tf, shape=g, name="body_%d_color_%d" % (i, j), diffuse_color=color) mbp.RegisterCollisionGeometry(body=body, X_BG=tf, shape=g, name="body_%d_collision_%d" % (i, j), coulomb_friction=friction) # And add mesh itself for vis path = "/tmp/part_%d.obj" % i trimesh.exchange.export.export_mesh(mesh, path) g = pydrake_geom.Convex(path) mbp.RegisterVisualGeometry(body=body, X_BG=RigidTransform(), shape=g, name="body_%d_base" % i, diffuse_color=color) if convex_collision_geom: mbp.RegisterCollisionGeometry(body=body, X_BG=RigidTransform(), shape=g, name="body_%d_base_col" % i, coulomb_friction=friction) mbp.SetDefaultFreeBodyPose(body, RigidTransform(p=[i % 3, i / 3., 1.])) mbp.Finalize() return builder, mbp, scene_graph
def compile_scene_tree_to_mbp_and_sg(scene_tree, timestep=0.001): builder = DiagramBuilder() mbp, scene_graph = AddMultibodyPlantSceneGraph( builder, MultibodyPlant(time_step=timestep)) parser = Parser(mbp) parser.package_map().PopulateFromEnvironment("ROS_PACKAGE_PATH") world_body = mbp.world_body() node_to_free_body_ids_map = {} body_id_to_node_map = {} free_body_poses = [] for node in scene_tree.nodes: node_to_free_body_ids_map[node] = [] if node.tf is not None and node.physics_geometry_info is not None: # Don't have to do anything if this does not introduce geometry. sanity_check_node_tf_and_physics_geom_info(node) phys_geom_info = node.physics_geometry_info # Don't have to do anything if this does not introduce geometry. has_models = len(phys_geom_info.model_paths) > 0 has_prim_geometry = (len(phys_geom_info.visual_geometry) + len(phys_geom_info.collision_geometry)) > 0 if not has_models and not has_prim_geometry: continue node_model_ids = [] # Handle adding primitive geometry by adding it all to one # mbp. if has_prim_geometry: # Contain this primitive geometry in a model instance. model_id = mbp.AddModelInstance(node.name + "::model_%d" % len(node_model_ids)) node_model_ids.append(model_id) # Add a body for this node, and register any of the # visual and collision geometry available. # TODO(gizatt) This tree body index is built in to disambiguate names. # But I forsee a name-to-stuff resolution crisis when inference time comes... # this might get resolved by the solution to that. body = mbp.AddRigidBody(name=node.name, model_instance=model_id, M_BBo_B=phys_geom_info.spatial_inertia) body_id_to_node_map[body.index()] = node tf = torch_tf_to_drake_tf(node.tf) if phys_geom_info.fixed: weld = mbp.WeldFrames(world_body.body_frame(), body.body_frame(), tf) else: node_to_free_body_ids_map[node].append(body.index()) mbp.SetDefaultFreeBodyPose(body, tf) for k, (tf, geometry, color) in enumerate(phys_geom_info.visual_geometry): mbp.RegisterVisualGeometry(body=body, X_BG=torch_tf_to_drake_tf(tf), shape=geometry, name=node.name + "_vis_%03d" % k, diffuse_color=color) for k, (tf, geometry, friction) in enumerate( phys_geom_info.collision_geometry): mbp.RegisterCollisionGeometry( body=body, X_BG=torch_tf_to_drake_tf(tf), shape=geometry, name=node.name + "_col_%03d" % k, coulomb_friction=friction) # Handle adding each model from sdf/urdf. if has_models: for local_tf, model_path, root_body_name, q0_dict in phys_geom_info.model_paths: model_id = parser.AddModelFromFile( resolve_catkin_package_path(parser.package_map(), model_path), node.name + "::" "model_%d" % len(node_model_ids)) node_model_ids.append(model_id) if root_body_name is None: root_body_ind_possibilities = mbp.GetBodyIndices( model_id) assert len(root_body_ind_possibilities) == 1, \ "Please supply root_body_name for model with path %s" % model_path root_body = mbp.get_body( root_body_ind_possibilities[0]) else: root_body = mbp.GetBodyByName(name=root_body_name, model_instance=model_id) body_id_to_node_map[root_body.index()] = node node_tf = torch_tf_to_drake_tf(node.tf) full_model_tf = node_tf.multiply( torch_tf_to_drake_tf(local_tf)) if phys_geom_info.fixed: mbp.WeldFrames(world_body.body_frame(), root_body.body_frame(), full_model_tf) else: node_to_free_body_ids_map[node].append( root_body.index()) mbp.SetDefaultFreeBodyPose(root_body, full_model_tf) # Handle initial joint state if q0_dict is not None: for joint_name in list(q0_dict.keys()): q0_this = q0_dict[joint_name] joint = mbp.GetMutableJointByName( joint_name, model_instance=model_id) # Reshape to make Drake happy. q0_this = q0_this.reshape(joint.num_positions(), 1) joint.set_default_positions(q0_this) return builder, mbp, scene_graph, node_to_free_body_ids_map, body_id_to_node_map