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fixup! https://github.com/RobotLocomotion/drake/pull/19578 #50

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Jun 13, 2023
Merged

fixup! https://github.com/RobotLocomotion/drake/pull/19578 #50

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16 changes: 10 additions & 6 deletions geometry/meshcat_visualizer.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -49,8 +49,6 @@ MeshcatVisualizer<T>::MeshcatVisualizer(std::shared_ptr<Meshcat> meshcat,
this->DeclareAbstractInputPort("query_object", Value<QueryObject<T>>())
.get_index();

meshcat_->SetProperty(params_.prefix, "visible", params_.visible_by_default);

if (params_.enable_alpha_slider) {
meshcat_->AddSlider(
alpha_slider_name_, 0.02, 1.0, 0.02, alpha_value_);
Expand All @@ -65,7 +63,7 @@ MeshcatVisualizer<T>::MeshcatVisualizer(const MeshcatVisualizer<U>& other)
template <typename T>
void MeshcatVisualizer<T>::Delete() const {
meshcat_->Delete(params_.prefix);
version_ = GeometryVersion();
version_ = std::nullopt;
}

template <typename T>
Expand Down Expand Up @@ -127,8 +125,15 @@ systems::EventStatus MeshcatVisualizer<T>::UpdateMeshcat(
query_object_input_port().template Eval<QueryObject<T>>(context);
const GeometryVersion& current_version =
query_object.inspector().geometry_version();

if (!version_.IsSameAs(current_version, params_.role)) {
if (!version_.has_value()) {
// When our current version is null, that means we haven't added any
// geometry to Meshcat yet, which means we also need to establish our
// default visibility just prior to sending the geometry.
meshcat_->SetProperty(params_.prefix, "visible",
params_.visible_by_default);
}
if (!version_.has_value() ||
!version_->IsSameAs(current_version, params_.role)) {
SetObjects(query_object.inspector());
version_ = current_version;
}
Expand Down Expand Up @@ -281,7 +286,6 @@ template <typename T>
systems::EventStatus MeshcatVisualizer<T>::OnInitialization(
const systems::Context<T>&) const {
Delete();
meshcat_->SetProperty(params_.prefix, "visible", params_.visible_by_default);
return systems::EventStatus::Succeeded();
}

Expand Down
3 changes: 2 additions & 1 deletion geometry/meshcat_visualizer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

#include <map>
#include <memory>
#include <optional>
#include <string>

#include "drake/geometry/geometry_roles.h"
Expand Down Expand Up @@ -193,7 +194,7 @@ class MeshcatVisualizer final : public systems::LeafSystem<T> {
before SetTransforms. This is intended to track the information in meshcat_,
and is therefore also a mutable member variable (instead of declared state).
*/
mutable GeometryVersion version_;
mutable std::optional<GeometryVersion> version_;

/* A store of the dynamic frames and their path. It is coupled with the
version_. This is only for efficiency; it does not represent undeclared
Expand Down
17 changes: 9 additions & 8 deletions geometry/test/meshcat_visualizer_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,7 @@ class MeshcatVisualizerWithIiwaTest : public ::testing::Test {
ASSERT_TRUE(meshcat_->HasPath(path));
const std::string property =
meshcat_->GetPackedProperty(path, "visible");
ASSERT_GT(property.size(), 0);
msgpack::object_handle oh =
msgpack::unpack(property.data(), property.size());
auto data = oh.get().as<internal::SetPropertyData<bool>>();
Expand All @@ -84,6 +85,10 @@ class MeshcatVisualizerWithIiwaTest : public ::testing::Test {
TEST_F(MeshcatVisualizerWithIiwaTest, BasicTest) {
SetUpDiagram();

// Visibility remains unset until geometry gets added.
EXPECT_EQ(meshcat_->GetPackedProperty("/drake/visualizer", "visible").size(),
0);

EXPECT_FALSE(meshcat_->HasPath("/drake/visualizer/iiwa14"));
diagram_->ForcedPublish(*context_);
EXPECT_TRUE(meshcat_->HasPath("/drake/visualizer/iiwa14"));
Expand All @@ -92,6 +97,7 @@ TEST_F(MeshcatVisualizerWithIiwaTest, BasicTest) {
fmt::format("/drake/visualizer/iiwa14/iiwa_link_{}", link)),
"");
}
CheckVisible("/drake/visualizer", true);

// Confirm that the transforms change after running a simulation.
const std::string packed_X_W7 =
Expand All @@ -100,8 +106,6 @@ TEST_F(MeshcatVisualizerWithIiwaTest, BasicTest) {
simulator.AdvanceTo(0.1);
EXPECT_NE(meshcat_->GetPackedTransform("visualizer/iiwa14/iiwa_link_7"),
packed_X_W7);

CheckVisible("/drake/visualizer", true);
}

TEST_F(MeshcatVisualizerWithIiwaTest, PublishPeriod) {
Expand Down Expand Up @@ -179,8 +183,10 @@ TEST_F(MeshcatVisualizerWithIiwaTest, NotVisibleByDefault) {
MeshcatVisualizerParams params;
params.visible_by_default = false;

// Create the diagram and publish both the initialization and periodic event.
// Create and run the diagram.
SetUpDiagram(params);
systems::Simulator<double> simulator(*diagram_);
simulator.AdvanceTo(0.1);

// Confirm that the path was added but was set to be invisible.
CheckVisible("/drake/visualizer", false);
Expand All @@ -189,7 +195,6 @@ TEST_F(MeshcatVisualizerWithIiwaTest, NotVisibleByDefault) {
TEST_F(MeshcatVisualizerWithIiwaTest, DeletePrefixOnInitialization) {
MeshcatVisualizerParams params;
params.delete_on_initialization_event = true;
params.visible_by_default = false;
SetUpDiagram(params);
// Scribble a transform onto the scene tree beneath the visualizer prefix.
meshcat_->SetTransform("/drake/visualizer/my_random_path",
Expand All @@ -203,13 +208,10 @@ TEST_F(MeshcatVisualizerWithIiwaTest, DeletePrefixOnInitialization) {
}
// Confirm that my scribble was deleted.
EXPECT_FALSE(meshcat_->HasPath("/drake/visualizer/my_random_path"));
// Confirm that the path that was re-added is again set to be invisible.
CheckVisible("/drake/visualizer", false);

// Repeat, but this time with delete prefix disabled.
params.delete_on_initialization_event = false;
SetUpDiagram(params);
CheckVisible("/drake/visualizer", false);
meshcat_->SetTransform("/drake/visualizer/my_random_path",
math::RigidTransformd());
{ // Send an initialization event.
Expand All @@ -219,7 +221,6 @@ TEST_F(MeshcatVisualizerWithIiwaTest, DeletePrefixOnInitialization) {
}
// Confirm that my scribble remains.
EXPECT_TRUE(meshcat_->HasPath("/drake/visualizer/my_random_path"));
CheckVisible("/drake/visualizer", false);
}

TEST_F(MeshcatVisualizerWithIiwaTest, Delete) {
Expand Down