
 SceneGraph, SceneGraphInspector, QueryObject 
 SceneGraph serves as the nexus for all geometry (and geometrybased operations) in a Diagram.


 Geometry Queries and Roles 
 Geometry roles help define how a realworld object is modeled in Drake.


 Proximity Queries 
 Proximity queries span a range of types, including:


 Rendering Engines 
 Rendering engines are used to enable simulation of the perception stack.


 Geometry Optimization 
 Provides an abstraction for reasoning about geometry in optimization problems, and using optimization problems to solve geometry problems.

