英文:
How do I visualize coordinate frames in Drake using Meshcat?
问题
我如何在Meshcat中查看Drake的坐标框架？我只找到了与Drake Visualizer相关的这个相关问题，但在查找Meshcat的等效代码方面遇到了麻烦。
我已经取得了一些进展，并使用以下代码在原点添加了一个坐标框架：
AddFrameTriadIllustration(scene_graph=scene_graph, plant=plant, frame_id=plant.world_frame_id())
然而，我想要在我的机器人末端执行器处显示一个坐标框架。我在确定如何获取不是world_frame_id的框架ID方面遇到了困难。
英文:
How can I view coordinate frames from Drake in Meschcat? I only found this related question about Drake Visualizer but had trouble finding the equivalent code for Meshcat.
I have made some progress and got a coordinate frame at the origin using
AddFrameTriadIllustration(scene_graph=scene_graph, plant=plant, frame_id=plant.world_frame_id())
However, I want a coordinate frame displayed at my robot's end effector. I'm having trouble determining how to obtain a frame id that's not the world_frame_id.
答案1
得分: 1
要可视化一个相对于SceneGraph框架偏移的框架，请调用pydrake.visualization.AddFrameTriadIllustration。如果基本框架是世界框架，那么您提供的X_FT将是您试图可视化的物体的世界姿态。
这里有一个示例用法链接来可视化_所有_现有的框架。
如果链接失效，下面是代码片段。
# https://github.com/RobotLocomotion/drake/blob/v1.19.0/bindings/pydrake/visualization/_model_visualizer.py#L257-L274
if self._visualize_frames:
# 找到所有框架并将其绘制出来。
# 使用解析的长度来绘制框架。
# 世界框架比其余框架绘制得更粗。
inspector = self._builder.scene_graph().model_inspector()
for frame_id in inspector.GetAllFrameIds():
world_id = self._builder.scene_graph().world_frame_id()
radius = self._triad_radius * (
3 if frame_id == world_id else 1
)
AddFrameTriadIllustration(
plant=self._builder.plant(),
scene_graph=self._builder.scene_graph(),
frame_id=frame_id,
length=self._triad_length,
radius=radius,
opacity=self._triad_opacity,
)
英文:
To visualize a frame that's offset from a SceneGraph frame, call pydrake.visualization.AddFrameTriadIllustration. If the base frame is the world frame, then the X_FT you provide would be the world pose of what you're trying to visualize.
Here's a link to a sample usage to visualize all of the existing frames.
In case the link disappears, the snippet is reproduced below.
# https://github.com/RobotLocomotion/drake/blob/v1.19.0/bindings/pydrake/visualization/_model_visualizer.py#L257-L274
if self._visualize_frames:
# Find all the frames and draw them.
# The frames are drawn using the parsed length.
# The world frame is drawn thicker than the rest.
inspector = self._builder.scene_graph().model_inspector()
for frame_id in inspector.GetAllFrameIds():
world_id = self._builder.scene_graph().world_frame_id()
radius = self._triad_radius * (
3 if frame_id == world_id else 1
)
AddFrameTriadIllustration(
plant=self._builder.plant(),
scene_graph=self._builder.scene_graph(),
frame_id=frame_id,
length=self._triad_length,
radius=radius,
opacity=self._triad_opacity,
)
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