pydrake.geometry¶

class
pydrake.geometry.
Box
¶ Bases:
pydrake.geometry.Shape
Definition of a box. The box is centered on the origin of its canonical frame with its dimensions aligned with the frame’s axes. The size of the box is given by three sizes.

pydrake.geometry.
ConnectDrakeVisualizer
(*args, **kwargs)¶ Overloaded function.
 ConnectDrakeVisualizer(builder: pydrake.systems.framework.DiagramBuilder_[float], scene_graph: drake::geometry::SceneGraph<double>, lcm: pydrake.lcm.DrakeLcmInterface = None, role: pydrake.geometry.Role = Role.kIllustration) > pydrake.systems.lcm.LcmPublisherSystem
Extends a Diagram with the required components to interface with drake_visualizer. This must be called during Diagram building and uses the given
builder
to add relevant subsystems and connections.This is a convenience method to simplify some common boilerplate for adding visualization capability to a Diagram. What it does is:
 adds an initialization event that sends the required load message to set up
the visualizer with the relevant geometry,  adds systems PoseBundleToDrawMessage and LcmPublisherSystem to the Diagram and connects the draw message output to the publisher input,  connects the
scene_graph
pose bundle output to the PoseBundleToDrawMessage system, and  sets the publishing rate to 1/60 of a second (simulated time).The visualization mechanism depends on the illustration role (see geometry_roles for details). Specifically, only geometries with the illustration role assigned will be included. The visualization function looks for the following properties in the IllustrationProperties instance.  Group name  Required  Property Name  Property Type  Property Description   :——–:  :——:  :———–:  :————:  :——————   phong  no  diffuse  Eigen::Vector4d  The rgba value of the object surface 
See MakePhongIllustrationProperties() to facilitate making a compliant set of illustration properties.
You can then connect source output ports for visualization like this:
builder>Connect(pose_output_port, scene_graph.get_source_pose_port(source_id));
Note
The initialization event occurs when Simulator::Initialize() is called (explicitly or implicitly at the start of a simulation). If you aren’t going to be using a Simulator, use DispatchLoadMessage() to send the message yourself.
 Parameter
builder
:  The diagram builder being used to construct the Diagram.
 Parameter
scene_graph
:  The System in
builder
containing the geometry to be visualized.  Parameter
lcm
:  An optional lcm interface through which lcm messages will be dispatched. Will be allocated internally if none is supplied.
 Parameter
role
:  An optional flag to indicate the role of the geometries to be visualized; defaults to the illustration role.
 Precondition:
 This method has not been previously called while building the builder’s current Diagram.
 Precondition:
 The given
scene_graph
must be contained within the supplied DiagramBuilder.
Returns: the LcmPublisherSystem (in case callers, e.g., need to change the default publishing rate). See also
geometry::DispatchLoadMessage()
 ConnectDrakeVisualizer(builder: pydrake.systems.framework.DiagramBuilder_[float], scene_graph: drake::geometry::SceneGraph<double>, pose_bundle_output_port: pydrake.systems.framework.OutputPort_[float], lcm: pydrake.lcm.DrakeLcmInterface = None, role: pydrake.geometry.Role = Role.kIllustration) > pydrake.systems.lcm.LcmPublisherSystem
Implements ConnectDrakeVisualizer, but using
pose_bundle_output_port
to explicitly specify the output port used to get pose bundles forscene_graph
. This is required, for instance, when the SceneGraph is inside a Diagram, and the Diagram exports the pose bundle port. Precondition:
 pose_bundle_output_port must be connected directly to the
pose_bundle_output_port of
scene_graph
.
See also
ConnectDrakeVisualizer().

class
pydrake.geometry.
Convex
¶ Bases:
pydrake.geometry.Shape
Support for convex shapes.

class
pydrake.geometry.
Cylinder
¶ Bases:
pydrake.geometry.Shape
Definition of a cylinder. It is centered in its canonical frame with the length of the cylinder parallel with the frame’s zaxis.

pydrake.geometry.
DispatchLoadMessage
(scene_graph: drake::geometry::SceneGraph<double>, lcm: pydrake.lcm.DrakeLcmInterface, role: pydrake.geometry.Role = Role.kIllustration) → None¶ (Advanced) Explicitly dispatches an LCM load message based on the registered geometry. Normally this is done automatically at Simulator initialization. But if you have to do it yourself (likely because you are not using a Simulator), it should be invoked after registration is complete. Typically this is used after ConnectDrakeVisualizer() has been used to add visualization to the Diagram that contains the given
scene_graph
. The message goes to LCM channel “DRAKE_VIEWER_LOAD_ROBOT”.See also
geometry::ConnectDrakeVisualizer()

class
pydrake.geometry.
FrameId
¶ Type used to identify geometry frames in SceneGraph.

static
get_new_id
() → pydrake.geometry.FrameId¶ Generates a new identifier for this id type. This new identifier will be different from all previous identifiers created. This method does not make any guarantees about the values of ids from successive invocations. This method is guaranteed to be thread safe.

get_value
(self: pydrake.geometry.FrameId) → int¶ Extracts the underlying representation from the identifier. This is considered invalid for invalid ids and is strictly enforced in Debug builds.

is_valid
(self: pydrake.geometry.FrameId) → bool¶ Reports if the id is valid.

static

pydrake.geometry.
FramePoseVector
¶

template
pydrake.geometry.
FramePoseVector_
¶ Instantiations:
FramePoseVector_[float]
,FramePoseVector_[AutoDiffXd]

class
FramePoseVector_[float]
¶ A FrameKinematicsVector is used to report kinematics data for registered frames (identified by unique FrameId values) to SceneGraph. It serves as the basis of FramePoseVector, FrameVelocityVector, and FrameAccelerationVector.
template <typename T> class MySystem : public LeafSystem<T> { public: MySystem() { ... this>DeclareAbstractOutputPort( &AllocInConstructorSystem::CalcFramePoseOutput); ... } private: void CalcFramePoseOutput(const Context<T>& context, geometry::FramePoseVector<T>* poses) const { poses>clear(); for (int i = 0; i < static_cast<int>(frame_ids_.size()); ++i) { poses>set_value(frame_ids_[i], poses_[i]); } } std::vector<FrameId> frame_ids_; std::vector<RigidTransform<T>> poses_; };
If a System only ever emits a single frame (or smallconstantnumber of frames), then there’s a shorter alternative way to write a Calc method, using an initializer_list:
void CalcFramePoseOutput(const Context<T>& context, geometry::FramePoseVector<T>* poses) const { const RigidTransform<T>& pose = ...; poses = {{frame_id_, pose}}; }
N.B. When the systems framework calls the
Calc
method, the value pointed to byposes
is in an unspecified state. The implementation ofCalc
must always ensure thatposes
contains the correct value upon return, no matter what value it started with. The easy ways to do this are to call eitherposes>clear()
or the assignment operator*poses = ...
. Template parameter
KinematicsValue
:  The underlying data type of for the order of kinematics data (e.g., pose, velocity, or acceleration).
One should never interact with the FrameKinematicsVector class directly. Instead, the FramePoseVector, FrameVelocityVector, and FrameAccelerationVector classes are aliases of the FrameKinematicsVector instantiated on specific data types (RigidTransform, SpatialVector, and SpatialAcceleration, respectively). Each of these data types are templated on Eigen scalars. All supported combinations of data type and scalar type are already available to link against in the containing library. No other values for KinematicsValue are supported.
Currently, the following data types with the following scalar types are supported:
Alias  Instantiation  Scalar types —————–———— FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  double FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  AutoDiffXd FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  Expression

clear
(self: pydrake.geometry.FramePoseVector_[float]) → None¶ Clears all values, resetting the size to zero.

frame_ids
(self: pydrake.geometry.FramePoseVector_[float]) → List[pydrake.geometry.FrameId]¶ Provides a range object for all of the frame ids in the vector. This is intended to be used as:
for (FrameId id : this_vector.frame_ids()) { ... // Obtain the KinematicsValue of an id by ``this_vector.value(id)`` ... }

has_id
(self: pydrake.geometry.FramePoseVector_[float], id: pydrake.geometry.FrameId) → bool¶ Reports true if the given id is a member of this data.

set_value
(*args, **kwargs)¶ Overloaded function.
 set_value(self: pydrake.geometry.FramePoseVector_[float], id: pydrake.geometry.FrameId, value: pydrake.math.RigidTransform_[float]) > None
Sets the kinematics
value
for the frame indicated by the givenid
. set_value(self: pydrake.geometry.FramePoseVector_[float], id: pydrake.geometry.FrameId, value: pydrake.common.eigen_geometry.Isometry3_[float]) > None
Sets the kinematics
value
for the frame indicated by the givenid
. */ (Deprecated.) Deprecated:
 Use RigidTransform instead of Isometry3. This will be removed from Drake on or after 20191101.

size
(self: pydrake.geometry.FramePoseVector_[float]) → int¶ Returns number of frame_ids().

value
(self: pydrake.geometry.FramePoseVector_[float], id: pydrake.geometry.FrameId) → pydrake.math.RigidTransform_[float]¶ Returns the value associated with the given
id
.Raises: RuntimeError if id
is not in the specified set of ids.
 Template parameter

class

class
pydrake.geometry.
FramePoseVector_[AutoDiffXd]
¶ A FrameKinematicsVector is used to report kinematics data for registered frames (identified by unique FrameId values) to SceneGraph. It serves as the basis of FramePoseVector, FrameVelocityVector, and FrameAccelerationVector.
template <typename T> class MySystem : public LeafSystem<T> { public: MySystem() { ... this>DeclareAbstractOutputPort( &AllocInConstructorSystem::CalcFramePoseOutput); ... } private: void CalcFramePoseOutput(const Context<T>& context, geometry::FramePoseVector<T>* poses) const { poses>clear(); for (int i = 0; i < static_cast<int>(frame_ids_.size()); ++i) { poses>set_value(frame_ids_[i], poses_[i]); } } std::vector<FrameId> frame_ids_; std::vector<RigidTransform<T>> poses_; };
If a System only ever emits a single frame (or smallconstantnumber of frames), then there’s a shorter alternative way to write a Calc method, using an initializer_list:
void CalcFramePoseOutput(const Context<T>& context, geometry::FramePoseVector<T>* poses) const { const RigidTransform<T>& pose = ...; poses = {{frame_id_, pose}}; }
N.B. When the systems framework calls the
Calc
method, the value pointed to byposes
is in an unspecified state. The implementation ofCalc
must always ensure thatposes
contains the correct value upon return, no matter what value it started with. The easy ways to do this are to call eitherposes>clear()
or the assignment operator*poses = ...
. Template parameter
KinematicsValue
:  The underlying data type of for the order of kinematics data (e.g., pose, velocity, or acceleration).
One should never interact with the FrameKinematicsVector class directly. Instead, the FramePoseVector, FrameVelocityVector, and FrameAccelerationVector classes are aliases of the FrameKinematicsVector instantiated on specific data types (RigidTransform, SpatialVector, and SpatialAcceleration, respectively). Each of these data types are templated on Eigen scalars. All supported combinations of data type and scalar type are already available to link against in the containing library. No other values for KinematicsValue are supported.
Currently, the following data types with the following scalar types are supported:
Alias  Instantiation  Scalar types —————–———— FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  double FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  AutoDiffXd FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  Expression

clear
(self: pydrake.geometry.FramePoseVector_[AutoDiffXd]) → None¶ Clears all values, resetting the size to zero.

frame_ids
(self: pydrake.geometry.FramePoseVector_[AutoDiffXd]) → List[pydrake.geometry.FrameId]¶ Provides a range object for all of the frame ids in the vector. This is intended to be used as:
for (FrameId id : this_vector.frame_ids()) { ... // Obtain the KinematicsValue of an id by ``this_vector.value(id)`` ... }

has_id
(self: pydrake.geometry.FramePoseVector_[AutoDiffXd], id: pydrake.geometry.FrameId) → bool¶ Reports true if the given id is a member of this data.

set_value
(*args, **kwargs)¶ Overloaded function.
 set_value(self: pydrake.geometry.FramePoseVector_[AutoDiffXd], id: pydrake.geometry.FrameId, value: pydrake.math.RigidTransform_[AutoDiffXd]) > None
Sets the kinematics
value
for the frame indicated by the givenid
. set_value(self: pydrake.geometry.FramePoseVector_[AutoDiffXd], id: pydrake.geometry.FrameId, value: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) > None
Sets the kinematics
value
for the frame indicated by the givenid
. */ (Deprecated.) Deprecated:
 Use RigidTransform instead of Isometry3. This will be removed from Drake on or after 20191101.

size
(self: pydrake.geometry.FramePoseVector_[AutoDiffXd]) → int¶ Returns number of frame_ids().

value
(self: pydrake.geometry.FramePoseVector_[AutoDiffXd], id: pydrake.geometry.FrameId) → pydrake.math.RigidTransform_[AutoDiffXd]¶ Returns the value associated with the given
id
.Raises: RuntimeError if id
is not in the specified set of ids.
 Template parameter

class
pydrake.geometry.
FramePoseVector_[float]
¶ A FrameKinematicsVector is used to report kinematics data for registered frames (identified by unique FrameId values) to SceneGraph. It serves as the basis of FramePoseVector, FrameVelocityVector, and FrameAccelerationVector.
template <typename T> class MySystem : public LeafSystem<T> { public: MySystem() { ... this>DeclareAbstractOutputPort( &AllocInConstructorSystem::CalcFramePoseOutput); ... } private: void CalcFramePoseOutput(const Context<T>& context, geometry::FramePoseVector<T>* poses) const { poses>clear(); for (int i = 0; i < static_cast<int>(frame_ids_.size()); ++i) { poses>set_value(frame_ids_[i], poses_[i]); } } std::vector<FrameId> frame_ids_; std::vector<RigidTransform<T>> poses_; };
If a System only ever emits a single frame (or smallconstantnumber of frames), then there’s a shorter alternative way to write a Calc method, using an initializer_list:
void CalcFramePoseOutput(const Context<T>& context, geometry::FramePoseVector<T>* poses) const { const RigidTransform<T>& pose = ...; poses = {{frame_id_, pose}}; }
N.B. When the systems framework calls the
Calc
method, the value pointed to byposes
is in an unspecified state. The implementation ofCalc
must always ensure thatposes
contains the correct value upon return, no matter what value it started with. The easy ways to do this are to call eitherposes>clear()
or the assignment operator*poses = ...
. Template parameter
KinematicsValue
:  The underlying data type of for the order of kinematics data (e.g., pose, velocity, or acceleration).
One should never interact with the FrameKinematicsVector class directly. Instead, the FramePoseVector, FrameVelocityVector, and FrameAccelerationVector classes are aliases of the FrameKinematicsVector instantiated on specific data types (RigidTransform, SpatialVector, and SpatialAcceleration, respectively). Each of these data types are templated on Eigen scalars. All supported combinations of data type and scalar type are already available to link against in the containing library. No other values for KinematicsValue are supported.
Currently, the following data types with the following scalar types are supported:
Alias  Instantiation  Scalar types —————–———— FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  double FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  AutoDiffXd FramePoseVector  FrameKinematicsVector<RigidTransform<Scalar>>  Expression

clear
(self: pydrake.geometry.FramePoseVector_[float]) → None¶ Clears all values, resetting the size to zero.

frame_ids
(self: pydrake.geometry.FramePoseVector_[float]) → List[pydrake.geometry.FrameId]¶ Provides a range object for all of the frame ids in the vector. This is intended to be used as:
for (FrameId id : this_vector.frame_ids()) { ... // Obtain the KinematicsValue of an id by ``this_vector.value(id)`` ... }

has_id
(self: pydrake.geometry.FramePoseVector_[float], id: pydrake.geometry.FrameId) → bool¶ Reports true if the given id is a member of this data.

set_value
(*args, **kwargs)¶ Overloaded function.
 set_value(self: pydrake.geometry.FramePoseVector_[float], id: pydrake.geometry.FrameId, value: pydrake.math.RigidTransform_[float]) > None
Sets the kinematics
value
for the frame indicated by the givenid
. set_value(self: pydrake.geometry.FramePoseVector_[float], id: pydrake.geometry.FrameId, value: pydrake.common.eigen_geometry.Isometry3_[float]) > None
Sets the kinematics
value
for the frame indicated by the givenid
. */ (Deprecated.) Deprecated:
 Use RigidTransform instead of Isometry3. This will be removed from Drake on or after 20191101.

size
(self: pydrake.geometry.FramePoseVector_[float]) → int¶ Returns number of frame_ids().

value
(self: pydrake.geometry.FramePoseVector_[float], id: pydrake.geometry.FrameId) → pydrake.math.RigidTransform_[float]¶ Returns the value associated with the given
id
.Raises: RuntimeError if id
is not in the specified set of ids.
 Template parameter

class
pydrake.geometry.
GeometryId
¶ Type used to identify geometry instances in SceneGraph.

static
get_new_id
() → pydrake.geometry.GeometryId¶ Generates a new identifier for this id type. This new identifier will be different from all previous identifiers created. This method does not make any guarantees about the values of ids from successive invocations. This method is guaranteed to be thread safe.

get_value
(self: pydrake.geometry.GeometryId) → int¶ Extracts the underlying representation from the identifier. This is considered invalid for invalid ids and is strictly enforced in Debug builds.

is_valid
(self: pydrake.geometry.GeometryId) → bool¶ Reports if the id is valid.

static

class
pydrake.geometry.
HalfSpace
¶ Bases:
pydrake.geometry.Shape
Definition of a half space. In its canonical frame, the plane defining the boundary of the half space is that frame’s z = 0 plane. By implication, the plane’s normal points in the +z direction and the origin lies on the plane. Other shapes are considered to be penetrating the half space if there exists a point on the test shape that lies on the side of the plane opposite the normal.

class
pydrake.geometry.
Mesh
¶ Bases:
pydrake.geometry.Shape
Limited support for meshes. Meshes declared as such will not serve in proximity queries or rendering queries. However, they will be propagated to drake_visualizer. The mesh is dispatched to drake visualizer via the filename. The mesh is not parsed/loaded by Drake.

pydrake.geometry.
PenetrationAsPointPair
¶

template
pydrake.geometry.
PenetrationAsPointPair_
¶ Instantiations:
PenetrationAsPointPair_[float]
,PenetrationAsPointPair_[AutoDiffXd]

class
PenetrationAsPointPair_[float]
¶ A characterization of the intersection of two penetrating geometries. The characterization consists of a pair of points and a normal. The points represent a point on each geometry that most deeply penetrates the other geometry (in the normal direction). For convenience, the penetration depth is provided and is equal to:
depth =
(p_WCb  p_WCa) ⋅ nhat_BA_W
(depth is strictly positive when there is penetration and otherwise not defined.)
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

depth
¶ The penetration depth.

id_A
¶ The id of the first geometry in the contact.

id_B
¶ The id of the second geometry in the contact.

nhat_BA_W
¶ The unitlength normal which defines the penetration direction, pointing from geometry B into geometry A, measured and expressed in the world frame. It approximates the normal to the plane on which the contact patch lies.

p_WCa
¶ The point on A that most deeply penetrates B, measured and expressed in the world frame.

p_WCb
¶ The point on B that most deeply penetrates A, measured and expressed in the world frame.
 Template parameter

class

class
pydrake.geometry.
PenetrationAsPointPair_[AutoDiffXd]
¶ A characterization of the intersection of two penetrating geometries. The characterization consists of a pair of points and a normal. The points represent a point on each geometry that most deeply penetrates the other geometry (in the normal direction). For convenience, the penetration depth is provided and is equal to:
depth =
(p_WCb  p_WCa) ⋅ nhat_BA_W
(depth is strictly positive when there is penetration and otherwise not defined.)
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

depth
¶ The penetration depth.

id_A
¶ The id of the first geometry in the contact.

id_B
¶ The id of the second geometry in the contact.

nhat_BA_W
¶ The unitlength normal which defines the penetration direction, pointing from geometry B into geometry A, measured and expressed in the world frame. It approximates the normal to the plane on which the contact patch lies.

p_WCa
¶ The point on A that most deeply penetrates B, measured and expressed in the world frame.

p_WCb
¶ The point on B that most deeply penetrates A, measured and expressed in the world frame.
 Template parameter

class
pydrake.geometry.
PenetrationAsPointPair_[float]
¶ A characterization of the intersection of two penetrating geometries. The characterization consists of a pair of points and a normal. The points represent a point on each geometry that most deeply penetrates the other geometry (in the normal direction). For convenience, the penetration depth is provided and is equal to:
depth =
(p_WCb  p_WCa) ⋅ nhat_BA_W
(depth is strictly positive when there is penetration and otherwise not defined.)
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

depth
¶ The penetration depth.

id_A
¶ The id of the first geometry in the contact.

id_B
¶ The id of the second geometry in the contact.

nhat_BA_W
¶ The unitlength normal which defines the penetration direction, pointing from geometry B into geometry A, measured and expressed in the world frame. It approximates the normal to the plane on which the contact patch lies.

p_WCa
¶ The point on A that most deeply penetrates B, measured and expressed in the world frame.

p_WCb
¶ The point on B that most deeply penetrates A, measured and expressed in the world frame.
 Template parameter

pydrake.geometry.
QueryObject
¶ alias of
pydrake.geometry.QueryObject_[float]

template
pydrake.geometry.
QueryObject_
¶ Instantiations:
QueryObject_[float]
,QueryObject_[AutoDiffXd]

class
QueryObject_[float]
¶ The QueryObject serves as a mechanism to perform geometry queries on the world’s geometry. The SceneGraph has an abstractvalued port that contains a QueryObject (i.e., a QueryObjectvalued output port).
To perform geometry queries on SceneGraph:  a LeafSystem must have a QueryObjectvalued input port and connect it to the corresponding query output port on SceneGraph,  the querying LeafSystem can evaluate the input port, retrieving a
const QueryObject&
in return, and, finally,  invoke the appropriate method on the QueryObject.The const reference returned by the input port is considered “live”  it is linked to the context, system, and cache (making full use of all of those mechanisms). This const reference should never be persisted; doing so can lead to erroneous query results. It is simpler and more advisable to acquire it for evaluation in a limited scope (e.g., CalcTimeDerivatives()) and then discard it. If a QueryObject is needed for many separate functions in a LeafSystem, each should reevaluate the input port. The underlying caching mechanism should make the cost of this negligible.
The QueryObject can be copied. The copied instance is no longer “live”; it is now “baked”. Essentially, it freezes the state of the live scene graph in its current configuration and disconnects it from the system and context. This means, even if the original context changes values, the copied/baked instance will always reproduce the same query results. This baking process is not cheap and should not be done without consideration.
A QueryObject cannot be converted to a different scalar type. A QueryObject of scalar type T can only be acquired from the output port of a SceneGraph of type T evaluated on a corresponding Context, also of type T.
QueryObject’s support for arbitrary scalar type is incomplete. Not all queries support all scalar types to the same degree. In some cases the level of support is obvious (such as when the query is declared explicitly in terms of a doublevalued scalar – see ComputePointPairPenetration()). In other cases, where the query is expressed in terms of scalar
T
, the query may have restrictions. If a query has restricted scalar support, it is included in the query’s documentation. Template parameter
T
:  The scalar type. Must be a valid Eigen scalar.
Instantiated templates for the following kinds of T’s are provided:
 double
 AutoDiffXd
They are already available to link against in the containing library. No other values for T are currently supported.

ComputePointPairPenetration
(self: pydrake.geometry.QueryObject_[float]) → List[drake::geometry::PenetrationAsPointPair<double>]¶ Computes the penetrations across all pairs of geometries in the world. Only reports results for penetrating geometries; if two geometries are separated, there will be no result for that pair. Pairs of anchored geometry are also not reported. The penetration between two geometries is characterized as a point pair (see PenetrationAsPointPair). This method is affected by collision filtering.
Scalar support
This method only provides doublevalued penetration results.
Returns: A vector populated with all detected penetrations characterized as point pairs.

ComputeSignedDistancePairwiseClosestPoints
(self: pydrake.geometry.QueryObject_[float], max_distance: float = inf) → List[drake::geometry::SignedDistancePair<double>]¶ Computes the signed distance together with the nearest points across all pairs of geometries in the world. Reports both the separating geometries and penetrating geometries.
This query provides φ(A, B), the signed distance between two objects A and B.
If the objects do not overlap (i.e., A ⋂ B = ∅), φ > 0 and represents the minimal distance between the two objects. More formally: φ = min(Aₚ  Bₚ) ∀ Aₚ ∈ A and Bₚ ∈ B.
Note
The pair (Aₚ, Bₚ) is a “witness” of the distance. The pair need not be unique (think of two parallel planes).
If the objects touch or overlap (i.e., A ⋂ B ≠ ∅), φ ≤ 0 and can be interpreted as the negative penetration depth. It is the smallest length of the vector v, such that by shifting one object along that vector relative to the other, the two objects will no longer be overlapping. More formally, φ(A, B) = min v. s.t (Tᵥ · A) ⋂ B = ∅ where Tᵥ is a rigid transformation that displaces A by the vector v, namely Tᵥ · A = {u + v  ∀ u ∈ A}. By implication, there exist points Aₚ and Bₚ on the surfaces of objects A and B, respectively, such that Aₚ + v = Bₚ, Aₚ ∈ A ∩ B, Bₚ ∈ A ∩ B. These points are the witnesses to the penetration.
This method is affected by collision filtering; geometry pairs that have been filtered will not produce signed distance query results.
Notice that this is an O(N²) operation, where N is the number of geometries remaining in the world after applying collision filter. We report the distance between dynamic objects, and between dynamic and anchored objects. We DO NOT report the distance between two anchored objects.
Scalar support
This function does not support halfspaces. If an unfiltered pair contains a halfspace, an exception will be thrown for all scalar types. Otherwise, this query supports all other pairs of Drake geometry types for
double
. ForAutoDiffXd
, it only supports distance between spherebox and spheresphere. If there are any unfiltered geometry pairs that include other geometries, the AutoDiff throws an exception. Parameter
max_distance
:  The maximum distance at which distance data is reported.
Returns: The signed distance for all unfiltered geometry pairs whose distance is less than or equal to max_distance
. Parameter

ComputeSignedDistanceToPoint
(self: pydrake.geometry.QueryObject_[float], p_WQ: numpy.ndarray[float64[3, 1]], threshold: float = inf) → List[drake::geometry::SignedDistanceToPoint<double>]¶ Computes the signed distances and gradients to a query point from each geometry in the scene.
Warning
Currently supports spheres, boxes, and cylinders only. Silently ignores other kinds of geometries, which will be added later.
This query provides φᵢ(p), φᵢ:ℝ³→ℝ, the signed distance to the position p of a query point from geometry Gᵢ in the scene. It returns an array of the signed distances from all geometries.
Optionally you can specify a threshold distance that will filter out any object beyond the threshold. By default, we report distances from the query point to every object.
This query also provides the gradient vector ∇φᵢ(p) of the signed distance function from geometry Gᵢ. Note that, in general, if p is outside Gᵢ, then ∇φᵢ(p) equals the unit vector in the direction from the nearest point Nᵢ on Gᵢ’s surface to p. If p is inside Gᵢ, then ∇φᵢ(p) is in the direction from p to Nᵢ. This observation is written formally as:
∇φᵢ(p) = (p  Nᵢ)/p  Nᵢ if p is outside Gᵢ
∇φᵢ(p) = (p  Nᵢ)/p  Nᵢ if p is inside Gᵢ
Note that ∇φᵢ(p) is also defined on Gᵢ’s surface, but we cannot use the above formula.
Scalar support
This query only supports computing distances from the point to spheres, boxes, and cylinders for both
double
andAutoDiffXd
scalar types. If the SceneGraph contains any other geometry shapes, they will be silently ignored.Note
For a sphere G, the signed distance function φᵢ(p) has an undefined gradient vector at the center of the sphere–every point on the sphere’s surface has the same distance to the center. In this case, we will assign ∇φᵢ(p) the unit vector Gx (xdirectional vector of G’s frame) expressed in World frame.
Note
For a box, at a point p on an edge or a corner of the box, the signed distance function φᵢ(p) has an undefined gradient vector. In this case, we will assign a unit vector in the direction of the average of the outward face unit normals of the incident faces of the edge or the corner. A point p is considered being on a face, or an edge, or a corner of the box if it lies within a certain tolerance from them.
Note
For a box B, if a point p is inside the box, and it is equidistant to to multiple nearest faces, the signed distance function φᵢ(p) at p will have an undefined gradient vector. There is a nearest point candidate associated with each nearest face. In this case, we arbitrarily pick the point Nᵢ associated with one of the nearest faces. Please note that, due to the possible round off error arising from applying a pose X_WG to B, there is no guarantee which of the nearest faces will be used.
Note
The signed distance function is a continuous function with respect to the position of the query point, but its gradient vector field may not be continuous. Specifically at a position equidistant to multiple nearest points, its gradient vector field is not continuous.
Note
For a convex object, outside the object at positive distance from the boundary, the signed distance function is smooth (having continuous firstorder partial derivatives).
 Parameter
p_WQ
:  Position of a query point Q in world frame W.
 Parameter
threshold
:  We ignore any object beyond this distance. By default, it is infinity, so we report distances from the query point to every object.
 Returns
signed_distances
:  A vector populated with perobject signed distance values (and supporting data). See SignedDistanceToPoint.
 Parameter

FindCollisionCandidates
(self: pydrake.geometry.QueryObject_[float]) → List[drake::SortedPair<drake::geometry::GeometryId>]¶ Applies a conservative culling mechanism to create a subset of all possible geometry pairs based on nonzero intersections. A geometry pair that is absent from the results is either a) culled by collision filters or b) known to be separated. The caller is responsible for confirming that the remaining, unculled geometry pairs are actually in collision.

RenderColorImage
(self: pydrake.geometry.QueryObject_[float], camera: pydrake.geometry.render.CameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float], show_window: bool = False) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)2>¶ Renders an RGB image for the given
camera
posed with respect to the indicated parent frame P. Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
show_window
:  If true, the render window will be displayed.
 Parameter
color_image_out
:  The rendered color image.
 Parameter

RenderDepthImage
(self: pydrake.geometry.QueryObject_[float], camera: pydrake.geometry.render.DepthCameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float]) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)6>¶ Renders a depth image for the given
camera
posed with respect to the indicated parent frame P.In contrast to the other rendering methods, rendering depth images doesn’t provide the option to display the window; generally, basic depth images are not readily communicative to humans.
 Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
depth_image_out
:  The rendered depth image.
 Parameter

RenderLabelImage
(self: pydrake.geometry.QueryObject_[float], camera: pydrake.geometry.render.CameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float], show_window: bool = False) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)7>¶ Renders a label image for the given
camera
posed with respect to the indicated parent frame P. Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
show_window
:  If true, the render window will be displayed.
 Parameter
label_image_out
:  The rendered label image.
 Parameter

inspector
(self: pydrake.geometry.QueryObject_[float]) → pydrake.geometry.SceneGraphInspector_[float]¶ Provides an inspector for the topological structure of the underlying scene graph data (see SceneGraphInspector for details).
 Template parameter

class

class
pydrake.geometry.
QueryObject_[AutoDiffXd]
¶ The QueryObject serves as a mechanism to perform geometry queries on the world’s geometry. The SceneGraph has an abstractvalued port that contains a QueryObject (i.e., a QueryObjectvalued output port).
To perform geometry queries on SceneGraph:  a LeafSystem must have a QueryObjectvalued input port and connect it to the corresponding query output port on SceneGraph,  the querying LeafSystem can evaluate the input port, retrieving a
const QueryObject&
in return, and, finally,  invoke the appropriate method on the QueryObject.The const reference returned by the input port is considered “live”  it is linked to the context, system, and cache (making full use of all of those mechanisms). This const reference should never be persisted; doing so can lead to erroneous query results. It is simpler and more advisable to acquire it for evaluation in a limited scope (e.g., CalcTimeDerivatives()) and then discard it. If a QueryObject is needed for many separate functions in a LeafSystem, each should reevaluate the input port. The underlying caching mechanism should make the cost of this negligible.
The QueryObject can be copied. The copied instance is no longer “live”; it is now “baked”. Essentially, it freezes the state of the live scene graph in its current configuration and disconnects it from the system and context. This means, even if the original context changes values, the copied/baked instance will always reproduce the same query results. This baking process is not cheap and should not be done without consideration.
A QueryObject cannot be converted to a different scalar type. A QueryObject of scalar type T can only be acquired from the output port of a SceneGraph of type T evaluated on a corresponding Context, also of type T.
QueryObject’s support for arbitrary scalar type is incomplete. Not all queries support all scalar types to the same degree. In some cases the level of support is obvious (such as when the query is declared explicitly in terms of a doublevalued scalar – see ComputePointPairPenetration()). In other cases, where the query is expressed in terms of scalar
T
, the query may have restrictions. If a query has restricted scalar support, it is included in the query’s documentation. Template parameter
T
:  The scalar type. Must be a valid Eigen scalar.
Instantiated templates for the following kinds of T’s are provided:
 double
 AutoDiffXd
They are already available to link against in the containing library. No other values for T are currently supported.

ComputePointPairPenetration
(self: pydrake.geometry.QueryObject_[AutoDiffXd]) → List[pydrake.geometry.PenetrationAsPointPair_[float]]¶ Computes the penetrations across all pairs of geometries in the world. Only reports results for penetrating geometries; if two geometries are separated, there will be no result for that pair. Pairs of anchored geometry are also not reported. The penetration between two geometries is characterized as a point pair (see PenetrationAsPointPair). This method is affected by collision filtering.
Scalar support
This method only provides doublevalued penetration results.
Returns: A vector populated with all detected penetrations characterized as point pairs.

ComputeSignedDistancePairwiseClosestPoints
(self: pydrake.geometry.QueryObject_[AutoDiffXd], max_distance: float = inf) → List[drake::geometry::SignedDistancePair<Eigen::AutoDiffScalar<Eigen::Matrix<double, 1, 1, 0, 1, 1> > >]¶ Computes the signed distance together with the nearest points across all pairs of geometries in the world. Reports both the separating geometries and penetrating geometries.
This query provides φ(A, B), the signed distance between two objects A and B.
If the objects do not overlap (i.e., A ⋂ B = ∅), φ > 0 and represents the minimal distance between the two objects. More formally: φ = min(Aₚ  Bₚ) ∀ Aₚ ∈ A and Bₚ ∈ B.
Note
The pair (Aₚ, Bₚ) is a “witness” of the distance. The pair need not be unique (think of two parallel planes).
If the objects touch or overlap (i.e., A ⋂ B ≠ ∅), φ ≤ 0 and can be interpreted as the negative penetration depth. It is the smallest length of the vector v, such that by shifting one object along that vector relative to the other, the two objects will no longer be overlapping. More formally, φ(A, B) = min v. s.t (Tᵥ · A) ⋂ B = ∅ where Tᵥ is a rigid transformation that displaces A by the vector v, namely Tᵥ · A = {u + v  ∀ u ∈ A}. By implication, there exist points Aₚ and Bₚ on the surfaces of objects A and B, respectively, such that Aₚ + v = Bₚ, Aₚ ∈ A ∩ B, Bₚ ∈ A ∩ B. These points are the witnesses to the penetration.
This method is affected by collision filtering; geometry pairs that have been filtered will not produce signed distance query results.
Notice that this is an O(N²) operation, where N is the number of geometries remaining in the world after applying collision filter. We report the distance between dynamic objects, and between dynamic and anchored objects. We DO NOT report the distance between two anchored objects.
Scalar support
This function does not support halfspaces. If an unfiltered pair contains a halfspace, an exception will be thrown for all scalar types. Otherwise, this query supports all other pairs of Drake geometry types for
double
. ForAutoDiffXd
, it only supports distance between spherebox and spheresphere. If there are any unfiltered geometry pairs that include other geometries, the AutoDiff throws an exception. Parameter
max_distance
:  The maximum distance at which distance data is reported.
Returns: The signed distance for all unfiltered geometry pairs whose distance is less than or equal to max_distance
. Parameter

ComputeSignedDistanceToPoint
(self: pydrake.geometry.QueryObject_[AutoDiffXd], p_WQ: numpy.ndarray[object[3, 1]], threshold: float = inf) → List[drake::geometry::SignedDistanceToPoint<Eigen::AutoDiffScalar<Eigen::Matrix<double, 1, 1, 0, 1, 1> > >]¶ Computes the signed distances and gradients to a query point from each geometry in the scene.
Warning
Currently supports spheres, boxes, and cylinders only. Silently ignores other kinds of geometries, which will be added later.
This query provides φᵢ(p), φᵢ:ℝ³→ℝ, the signed distance to the position p of a query point from geometry Gᵢ in the scene. It returns an array of the signed distances from all geometries.
Optionally you can specify a threshold distance that will filter out any object beyond the threshold. By default, we report distances from the query point to every object.
This query also provides the gradient vector ∇φᵢ(p) of the signed distance function from geometry Gᵢ. Note that, in general, if p is outside Gᵢ, then ∇φᵢ(p) equals the unit vector in the direction from the nearest point Nᵢ on Gᵢ’s surface to p. If p is inside Gᵢ, then ∇φᵢ(p) is in the direction from p to Nᵢ. This observation is written formally as:
∇φᵢ(p) = (p  Nᵢ)/p  Nᵢ if p is outside Gᵢ
∇φᵢ(p) = (p  Nᵢ)/p  Nᵢ if p is inside Gᵢ
Note that ∇φᵢ(p) is also defined on Gᵢ’s surface, but we cannot use the above formula.
Scalar support
This query only supports computing distances from the point to spheres, boxes, and cylinders for both
double
andAutoDiffXd
scalar types. If the SceneGraph contains any other geometry shapes, they will be silently ignored.Note
For a sphere G, the signed distance function φᵢ(p) has an undefined gradient vector at the center of the sphere–every point on the sphere’s surface has the same distance to the center. In this case, we will assign ∇φᵢ(p) the unit vector Gx (xdirectional vector of G’s frame) expressed in World frame.
Note
For a box, at a point p on an edge or a corner of the box, the signed distance function φᵢ(p) has an undefined gradient vector. In this case, we will assign a unit vector in the direction of the average of the outward face unit normals of the incident faces of the edge or the corner. A point p is considered being on a face, or an edge, or a corner of the box if it lies within a certain tolerance from them.
Note
For a box B, if a point p is inside the box, and it is equidistant to to multiple nearest faces, the signed distance function φᵢ(p) at p will have an undefined gradient vector. There is a nearest point candidate associated with each nearest face. In this case, we arbitrarily pick the point Nᵢ associated with one of the nearest faces. Please note that, due to the possible round off error arising from applying a pose X_WG to B, there is no guarantee which of the nearest faces will be used.
Note
The signed distance function is a continuous function with respect to the position of the query point, but its gradient vector field may not be continuous. Specifically at a position equidistant to multiple nearest points, its gradient vector field is not continuous.
Note
For a convex object, outside the object at positive distance from the boundary, the signed distance function is smooth (having continuous firstorder partial derivatives).
 Parameter
p_WQ
:  Position of a query point Q in world frame W.
 Parameter
threshold
:  We ignore any object beyond this distance. By default, it is infinity, so we report distances from the query point to every object.
 Returns
signed_distances
:  A vector populated with perobject signed distance values (and supporting data). See SignedDistanceToPoint.
 Parameter

FindCollisionCandidates
(self: pydrake.geometry.QueryObject_[AutoDiffXd]) → List[drake::SortedPair<drake::geometry::GeometryId>]¶ Applies a conservative culling mechanism to create a subset of all possible geometry pairs based on nonzero intersections. A geometry pair that is absent from the results is either a) culled by collision filters or b) known to be separated. The caller is responsible for confirming that the remaining, unculled geometry pairs are actually in collision.

RenderColorImage
(self: pydrake.geometry.QueryObject_[AutoDiffXd], camera: pydrake.geometry.render.CameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float], show_window: bool = False) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)2>¶ Renders an RGB image for the given
camera
posed with respect to the indicated parent frame P. Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
show_window
:  If true, the render window will be displayed.
 Parameter
color_image_out
:  The rendered color image.
 Parameter

RenderDepthImage
(self: pydrake.geometry.QueryObject_[AutoDiffXd], camera: pydrake.geometry.render.DepthCameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float]) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)6>¶ Renders a depth image for the given
camera
posed with respect to the indicated parent frame P.In contrast to the other rendering methods, rendering depth images doesn’t provide the option to display the window; generally, basic depth images are not readily communicative to humans.
 Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
depth_image_out
:  The rendered depth image.
 Parameter

RenderLabelImage
(self: pydrake.geometry.QueryObject_[AutoDiffXd], camera: pydrake.geometry.render.CameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float], show_window: bool = False) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)7>¶ Renders a label image for the given
camera
posed with respect to the indicated parent frame P. Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
show_window
:  If true, the render window will be displayed.
 Parameter
label_image_out
:  The rendered label image.
 Parameter

inspector
(self: pydrake.geometry.QueryObject_[AutoDiffXd]) → pydrake.geometry.SceneGraphInspector_[AutoDiffXd]¶ Provides an inspector for the topological structure of the underlying scene graph data (see SceneGraphInspector for details).
 Template parameter

class
pydrake.geometry.
QueryObject_[float]
¶ The QueryObject serves as a mechanism to perform geometry queries on the world’s geometry. The SceneGraph has an abstractvalued port that contains a QueryObject (i.e., a QueryObjectvalued output port).
To perform geometry queries on SceneGraph:  a LeafSystem must have a QueryObjectvalued input port and connect it to the corresponding query output port on SceneGraph,  the querying LeafSystem can evaluate the input port, retrieving a
const QueryObject&
in return, and, finally,  invoke the appropriate method on the QueryObject.The const reference returned by the input port is considered “live”  it is linked to the context, system, and cache (making full use of all of those mechanisms). This const reference should never be persisted; doing so can lead to erroneous query results. It is simpler and more advisable to acquire it for evaluation in a limited scope (e.g., CalcTimeDerivatives()) and then discard it. If a QueryObject is needed for many separate functions in a LeafSystem, each should reevaluate the input port. The underlying caching mechanism should make the cost of this negligible.
The QueryObject can be copied. The copied instance is no longer “live”; it is now “baked”. Essentially, it freezes the state of the live scene graph in its current configuration and disconnects it from the system and context. This means, even if the original context changes values, the copied/baked instance will always reproduce the same query results. This baking process is not cheap and should not be done without consideration.
A QueryObject cannot be converted to a different scalar type. A QueryObject of scalar type T can only be acquired from the output port of a SceneGraph of type T evaluated on a corresponding Context, also of type T.
QueryObject’s support for arbitrary scalar type is incomplete. Not all queries support all scalar types to the same degree. In some cases the level of support is obvious (such as when the query is declared explicitly in terms of a doublevalued scalar – see ComputePointPairPenetration()). In other cases, where the query is expressed in terms of scalar
T
, the query may have restrictions. If a query has restricted scalar support, it is included in the query’s documentation. Template parameter
T
:  The scalar type. Must be a valid Eigen scalar.
Instantiated templates for the following kinds of T’s are provided:
 double
 AutoDiffXd
They are already available to link against in the containing library. No other values for T are currently supported.

ComputePointPairPenetration
(self: pydrake.geometry.QueryObject_[float]) → List[drake::geometry::PenetrationAsPointPair<double>]¶ Computes the penetrations across all pairs of geometries in the world. Only reports results for penetrating geometries; if two geometries are separated, there will be no result for that pair. Pairs of anchored geometry are also not reported. The penetration between two geometries is characterized as a point pair (see PenetrationAsPointPair). This method is affected by collision filtering.
Scalar support
This method only provides doublevalued penetration results.
Returns: A vector populated with all detected penetrations characterized as point pairs.

ComputeSignedDistancePairwiseClosestPoints
(self: pydrake.geometry.QueryObject_[float], max_distance: float = inf) → List[drake::geometry::SignedDistancePair<double>]¶ Computes the signed distance together with the nearest points across all pairs of geometries in the world. Reports both the separating geometries and penetrating geometries.
This query provides φ(A, B), the signed distance between two objects A and B.
If the objects do not overlap (i.e., A ⋂ B = ∅), φ > 0 and represents the minimal distance between the two objects. More formally: φ = min(Aₚ  Bₚ) ∀ Aₚ ∈ A and Bₚ ∈ B.
Note
The pair (Aₚ, Bₚ) is a “witness” of the distance. The pair need not be unique (think of two parallel planes).
If the objects touch or overlap (i.e., A ⋂ B ≠ ∅), φ ≤ 0 and can be interpreted as the negative penetration depth. It is the smallest length of the vector v, such that by shifting one object along that vector relative to the other, the two objects will no longer be overlapping. More formally, φ(A, B) = min v. s.t (Tᵥ · A) ⋂ B = ∅ where Tᵥ is a rigid transformation that displaces A by the vector v, namely Tᵥ · A = {u + v  ∀ u ∈ A}. By implication, there exist points Aₚ and Bₚ on the surfaces of objects A and B, respectively, such that Aₚ + v = Bₚ, Aₚ ∈ A ∩ B, Bₚ ∈ A ∩ B. These points are the witnesses to the penetration.
This method is affected by collision filtering; geometry pairs that have been filtered will not produce signed distance query results.
Notice that this is an O(N²) operation, where N is the number of geometries remaining in the world after applying collision filter. We report the distance between dynamic objects, and between dynamic and anchored objects. We DO NOT report the distance between two anchored objects.
Scalar support
This function does not support halfspaces. If an unfiltered pair contains a halfspace, an exception will be thrown for all scalar types. Otherwise, this query supports all other pairs of Drake geometry types for
double
. ForAutoDiffXd
, it only supports distance between spherebox and spheresphere. If there are any unfiltered geometry pairs that include other geometries, the AutoDiff throws an exception. Parameter
max_distance
:  The maximum distance at which distance data is reported.
Returns: The signed distance for all unfiltered geometry pairs whose distance is less than or equal to max_distance
. Parameter

ComputeSignedDistanceToPoint
(self: pydrake.geometry.QueryObject_[float], p_WQ: numpy.ndarray[float64[3, 1]], threshold: float = inf) → List[drake::geometry::SignedDistanceToPoint<double>]¶ Computes the signed distances and gradients to a query point from each geometry in the scene.
Warning
Currently supports spheres, boxes, and cylinders only. Silently ignores other kinds of geometries, which will be added later.
This query provides φᵢ(p), φᵢ:ℝ³→ℝ, the signed distance to the position p of a query point from geometry Gᵢ in the scene. It returns an array of the signed distances from all geometries.
Optionally you can specify a threshold distance that will filter out any object beyond the threshold. By default, we report distances from the query point to every object.
This query also provides the gradient vector ∇φᵢ(p) of the signed distance function from geometry Gᵢ. Note that, in general, if p is outside Gᵢ, then ∇φᵢ(p) equals the unit vector in the direction from the nearest point Nᵢ on Gᵢ’s surface to p. If p is inside Gᵢ, then ∇φᵢ(p) is in the direction from p to Nᵢ. This observation is written formally as:
∇φᵢ(p) = (p  Nᵢ)/p  Nᵢ if p is outside Gᵢ
∇φᵢ(p) = (p  Nᵢ)/p  Nᵢ if p is inside Gᵢ
Note that ∇φᵢ(p) is also defined on Gᵢ’s surface, but we cannot use the above formula.
Scalar support
This query only supports computing distances from the point to spheres, boxes, and cylinders for both
double
andAutoDiffXd
scalar types. If the SceneGraph contains any other geometry shapes, they will be silently ignored.Note
For a sphere G, the signed distance function φᵢ(p) has an undefined gradient vector at the center of the sphere–every point on the sphere’s surface has the same distance to the center. In this case, we will assign ∇φᵢ(p) the unit vector Gx (xdirectional vector of G’s frame) expressed in World frame.
Note
For a box, at a point p on an edge or a corner of the box, the signed distance function φᵢ(p) has an undefined gradient vector. In this case, we will assign a unit vector in the direction of the average of the outward face unit normals of the incident faces of the edge or the corner. A point p is considered being on a face, or an edge, or a corner of the box if it lies within a certain tolerance from them.
Note
For a box B, if a point p is inside the box, and it is equidistant to to multiple nearest faces, the signed distance function φᵢ(p) at p will have an undefined gradient vector. There is a nearest point candidate associated with each nearest face. In this case, we arbitrarily pick the point Nᵢ associated with one of the nearest faces. Please note that, due to the possible round off error arising from applying a pose X_WG to B, there is no guarantee which of the nearest faces will be used.
Note
The signed distance function is a continuous function with respect to the position of the query point, but its gradient vector field may not be continuous. Specifically at a position equidistant to multiple nearest points, its gradient vector field is not continuous.
Note
For a convex object, outside the object at positive distance from the boundary, the signed distance function is smooth (having continuous firstorder partial derivatives).
 Parameter
p_WQ
:  Position of a query point Q in world frame W.
 Parameter
threshold
:  We ignore any object beyond this distance. By default, it is infinity, so we report distances from the query point to every object.
 Returns
signed_distances
:  A vector populated with perobject signed distance values (and supporting data). See SignedDistanceToPoint.
 Parameter

FindCollisionCandidates
(self: pydrake.geometry.QueryObject_[float]) → List[drake::SortedPair<drake::geometry::GeometryId>]¶ Applies a conservative culling mechanism to create a subset of all possible geometry pairs based on nonzero intersections. A geometry pair that is absent from the results is either a) culled by collision filters or b) known to be separated. The caller is responsible for confirming that the remaining, unculled geometry pairs are actually in collision.

RenderColorImage
(self: pydrake.geometry.QueryObject_[float], camera: pydrake.geometry.render.CameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float], show_window: bool = False) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)2>¶ Renders an RGB image for the given
camera
posed with respect to the indicated parent frame P. Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
show_window
:  If true, the render window will be displayed.
 Parameter
color_image_out
:  The rendered color image.
 Parameter

RenderDepthImage
(self: pydrake.geometry.QueryObject_[float], camera: pydrake.geometry.render.DepthCameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float]) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)6>¶ Renders a depth image for the given
camera
posed with respect to the indicated parent frame P.In contrast to the other rendering methods, rendering depth images doesn’t provide the option to display the window; generally, basic depth images are not readily communicative to humans.
 Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
depth_image_out
:  The rendered depth image.
 Parameter

RenderLabelImage
(self: pydrake.geometry.QueryObject_[float], camera: pydrake.geometry.render.CameraProperties, parent_frame: pydrake.geometry.FrameId, X_PC: pydrake.math.RigidTransform_[float], show_window: bool = False) → drake::systems::sensors::Image<(drake::systems::sensors::PixelType)7>¶ Renders a label image for the given
camera
posed with respect to the indicated parent frame P. Parameter
camera
:  The intrinsic properties of the camera.
 Parameter
parent_frame
:  The id for the camera’s parent frame.
 Parameter
X_PC
:  The pose of the camera body in the world frame.
 Parameter
show_window
:  If true, the render window will be displayed.
 Parameter
label_image_out
:  The rendered label image.
 Parameter

inspector
(self: pydrake.geometry.QueryObject_[float]) → pydrake.geometry.SceneGraphInspector_[float]¶ Provides an inspector for the topological structure of the underlying scene graph data (see SceneGraphInspector for details).
 Template parameter

class
pydrake.geometry.
Role
¶ General enumeration for indicating geometry role.
Members:
kUnassigned :
kProximity :
kIllustration :
kPerception :

kIllustration
= Role.kIllustration¶

kPerception
= Role.kPerception¶

kProximity
= Role.kProximity¶

kUnassigned
= Role.kUnassigned¶

name
¶ (self – handle) > str


pydrake.geometry.
SceneGraph
¶ alias of
pydrake.geometry.SceneGraph_[float]

pydrake.geometry.
SceneGraphInspector
¶

template
pydrake.geometry.
SceneGraphInspector_
¶ Instantiations:
SceneGraphInspector_[float]
,SceneGraphInspector_[AutoDiffXd]

class
SceneGraphInspector_[float]
¶ The SceneGraphInspector serves as a mechanism to query the topological structure of a SceneGraph instance. The topological structure consists of all of the SceneGraph data that does not depend on input pose data. Including, but not limited to:
 names of frames and geometries
 hierarchies (parents of geometries, parents of frames, etc.)
 geometry parameters (e.g., contact, rendering, visualization)
 fixed poses of geometries relative to frames
In contrast, the following pieces of data do depend on input pose data and cannot be performed with the SceneGraphInspector (see the QueryObject instead):
 world pose of frames or geometry
 collision queries
 proximity queries
A SceneGraphInspector cannot be instantiated explicitly. Nor can it be copied or moved. A reference to a SceneGraphInspector instance can be acquired from
 a SceneGraph instance (to inspect the state of the system’s model), or
 a QueryObject instance (to inspect the state of the scene graph data stored
in the context).
The reference should not be persisted (and, as previously indicated, cannot be copied). SceneGraphInspector instances are cheap; they can be created, queried, and thrown out. If there is any doubt about the valid lifespan of a SceneGraphInspector, throw out the old instance and request a new instance.
 Template parameter
T
:  The scalar of the associated SceneGraph instance. The template parameter is provided for the sake of compatibility, although no queries (or their results) depend on the scalar.

GetFrameId
(self: pydrake.geometry.SceneGraphInspector_[float], geometry_id: pydrake.geometry.GeometryId) → pydrake.geometry.FrameId¶ Reports the id of the frame to which the given geometry with the given
id
is registered.Raises: RuntimeError if id
does not map to a registered geometry.

class

class
pydrake.geometry.
SceneGraphInspector_[AutoDiffXd]
¶ The SceneGraphInspector serves as a mechanism to query the topological structure of a SceneGraph instance. The topological structure consists of all of the SceneGraph data that does not depend on input pose data. Including, but not limited to:
 names of frames and geometries
 hierarchies (parents of geometries, parents of frames, etc.)
 geometry parameters (e.g., contact, rendering, visualization)
 fixed poses of geometries relative to frames
In contrast, the following pieces of data do depend on input pose data and cannot be performed with the SceneGraphInspector (see the QueryObject instead):
 world pose of frames or geometry
 collision queries
 proximity queries
A SceneGraphInspector cannot be instantiated explicitly. Nor can it be copied or moved. A reference to a SceneGraphInspector instance can be acquired from
 a SceneGraph instance (to inspect the state of the system’s model), or
 a QueryObject instance (to inspect the state of the scene graph data stored
in the context).
The reference should not be persisted (and, as previously indicated, cannot be copied). SceneGraphInspector instances are cheap; they can be created, queried, and thrown out. If there is any doubt about the valid lifespan of a SceneGraphInspector, throw out the old instance and request a new instance.
 Template parameter
T
:  The scalar of the associated SceneGraph instance. The template parameter is provided for the sake of compatibility, although no queries (or their results) depend on the scalar.

GetFrameId
(self: pydrake.geometry.SceneGraphInspector_[AutoDiffXd], geometry_id: pydrake.geometry.GeometryId) → pydrake.geometry.FrameId¶ Reports the id of the frame to which the given geometry with the given
id
is registered.Raises: RuntimeError if id
does not map to a registered geometry.

class
pydrake.geometry.
SceneGraphInspector_[float]
¶ The SceneGraphInspector serves as a mechanism to query the topological structure of a SceneGraph instance. The topological structure consists of all of the SceneGraph data that does not depend on input pose data. Including, but not limited to:
 names of frames and geometries
 hierarchies (parents of geometries, parents of frames, etc.)
 geometry parameters (e.g., contact, rendering, visualization)
 fixed poses of geometries relative to frames
In contrast, the following pieces of data do depend on input pose data and cannot be performed with the SceneGraphInspector (see the QueryObject instead):
 world pose of frames or geometry
 collision queries
 proximity queries
A SceneGraphInspector cannot be instantiated explicitly. Nor can it be copied or moved. A reference to a SceneGraphInspector instance can be acquired from
 a SceneGraph instance (to inspect the state of the system’s model), or
 a QueryObject instance (to inspect the state of the scene graph data stored
in the context).
The reference should not be persisted (and, as previously indicated, cannot be copied). SceneGraphInspector instances are cheap; they can be created, queried, and thrown out. If there is any doubt about the valid lifespan of a SceneGraphInspector, throw out the old instance and request a new instance.
 Template parameter
T
:  The scalar of the associated SceneGraph instance. The template parameter is provided for the sake of compatibility, although no queries (or their results) depend on the scalar.

GetFrameId
(self: pydrake.geometry.SceneGraphInspector_[float], geometry_id: pydrake.geometry.GeometryId) → pydrake.geometry.FrameId¶ Reports the id of the frame to which the given geometry with the given
id
is registered.Raises: RuntimeError if id
does not map to a registered geometry.

template
pydrake.geometry.
SceneGraph_
¶ Instantiations:
SceneGraph_[float]
,SceneGraph_[AutoDiffXd]

class
SceneGraph_[float]
¶ Bases:
pydrake.systems.framework.LeafSystem_[float]
SceneGraph serves as the nexus for all geometry (and geometrybased operations) in a Diagram. Through SceneGraph, other systems that introduce geometry can register that geometry as part of a common global domain, including it in geometric queries (e.g., cars controlled by one LeafSystem can be observed by a different sensor system). SceneGraph provides the interface for registering the geometry, updating its position based on the current context, and performing geometric queries.
@system{SceneGraph, @input_port{source_pose{0}} @input_port{…} @input_port{source_pose{N1}}, @output_port{lcm_visualization} @output_port{query} }
Only registered “geometry sources” can introduce geometry into SceneGraph. Geometry sources will typically be other leaf systems, but, in the case of anchored (i.e., stationary) geometry, it could also be some other block of code (e.g., adding a common ground plane with which all systems’ geometries interact). For dynamic geometry (geometry whose pose depends on a Context), the geometry source must also provide pose values for all of the geometries the source owns, via a port connection on SceneGraph. For N geometry sources, the SceneGraph instance will have N pose input ports.
The basic workflow for interacting with SceneGraph is:
 Register as a geometry source, acquiring a unique SourceId.
 Register geometry (anchored and dynamic) with the system.
 Connect source’s geometry output ports to the corresponding SceneGraph
input ports.  Implement appropriate
Calc*
methods on the geometry output ports to update geometry pose values.For each registered geometry source, there is one input port for each order of kinematics values (e.g., pose, velocity, and acceleration). If a source registers a frame, it must connect to these ports (although, in the current version, only pose is supported). Failure to connect to the port (or to provide valid kinematics values) will lead to runtime exceptions.
pose port: An abstractvalued port providing an instance of FramePoseVector. For each registered frame, this “pose vector” maps the registered FrameId to a pose value. All registered frames must be accounted for and only frames registered by a source can be included in its output port. See the details in FrameKinematicsVector for details on how to provide values for this port.
SceneGraph has two output ports:
query port: An abstractvalued port containing an instance of QueryObject. It provides a “ticket” for downstream LeafSystem instances to perform geometric queries on the SceneGraph. To perform geometric queries, downstream LeafSystem instances acquire the QueryObject from SceneGraph’s output port and provide it as a parameter to one of SceneGraph’s query methods (e.g., SceneGraph::ComputeContact()). This assumes that the querying system has access to a const pointer to the connected SceneGraph instance. Use get_query_output_port() to acquire the output port for the query handle.
lcm visualization port: An abstractvalued port containing an instance of PoseBundle. This is a convenience port designed to feed LCM update messages to drake_visualizer for the purpose of visualizing the state of the world’s geometry. Additional uses of this port are strongly discouraged; instead, use an appropriate geometric query to obtain the state of the world’s geometry.
LeafSystem instances can relate to SceneGraph in one of two ways: as a consumer that performs queries, or as a producer that introduces geometry into the shared world and defines its contextdependent kinematics values. It is reasonable for systems to perform either role singly, or both.
Consumer
Consumers perform geometric queries upon the world geometry. SceneGraph serves those queries. As indicated above, in order for a LeafSystem to act as a consumer, it must: 1. define a QueryObjectvalued input port and connect it to SceneGraph’s corresponding output port, and 2. have a reference to the connected SceneGraph instance.
With those two requirements satisfied, a LeafSystem can perform geometry queries by: 1. evaluating the QueryObject input port, and 2. passing the returned query object into the appropriate query method on SceneGraph (e.g., SceneGraph::ComputeContact()).
Producer
All producers introduce geometry into the shared geometric world. This is called registering geometry. Depending on what exactly has been registered, a producer may also have to update kinematics. Producers themselves must be registered with SceneGraph as producers (a.k.a. geometry sources). They do this by acquiring a SourceId (via SceneGraph::RegisterSource()). The SourceId serves as a unique handle through which the producer’s identity is validated and its ownership of its registered geometry is maintained.
Registering Geometry
SceneGraph cannot know what geometry should be part of the shared world. Other systems are responsible for introducing geometry into the world. This process (defining geometry and informing SceneGraph) is called registering the geometry. The source that registers the geometry “owns” the geometry; the source’s unique SourceId is required to perform any operations on the geometry registered with that SourceId. Geometry can be registered as anchored or dynamic.
Dynamic geometry can move; more specifically, its kinematics (e.g., pose) depends on a system’s Context. Particularly, dynamic geometry is fixed to a frame whose kinematics values depend on a context. As the frame moves, the geometries fixed to it move with it. Therefore, to register dynamic geometry a frame must be registered first. These registered frames serve as the basis for repositioning geometry in the shared world. The geometry source is responsible for providing uptodate kinematics values for those registered frames upon request (via an appropriate output port on the source LeafSystem connecting to the appropriate input port on SceneGraph). The work flow is as follows: 1. A LeafSystem registers itself as a geometry source, acquiring a SourceId (RegisterSource()). 2. The source registers a frame (GeometrySource::RegisterFrame()).  A frame always has a “parent” frame. It can implicitly be the world frame, or another frame registered by the source. 3. Register one or more geometries to a frame (GeometrySource::RegisterGeometry()).  The registered geometry is posed relative to the frame to which it is fixed.  The geometry can also be posed relative to another registered geometry. It will be affixed to that geometry’s frame.
Anchored geometry is independent of the context (i.e., it doesn’t move). Anchored geometries are always affixed to the immobile world frame. As such, registering a frame is not required for registering anchored geometry (see GeometrySource::RegisterAnchoredGeometry()). However, the source still “owns” the anchored geometry.
Updating Kinematics
Registering dynamic geometry implies a contract between the geometry source and SceneGraph. The geometry source must do the following:  It must provide, populate, and connect two output ports: the “id” port and the “pose” port.  The id port must contain all the frame ids returned as a result of frame registration.  The pose port must contain one pose per registered frame; the pose value is expressed relative to the registered frame’s parent frame. As mentioned above, the iᵗʰ pose value should describe the frame indicated by the iᵗʰ id in the id output port.
Failure to meet these requirements will lead to a runtime error.
Many (and eventually all) methods that configure the population of SceneGraph have two variants that differ by whether they accept a mutable Context or not. When no Context is provided, this SceneGraph instance’s underlying model is modified. When the SceneGraph instance allocates a context, its model is copied into that context.
The second variant causes SceneGraph to modify the data stored in the provided Context to be modified instead of the internal model.
The two interfaces can be used interchangeably. However, modifications to
this
SceneGraph’s underlying model will not affect previously allocated Context instances. A new Context should be allocated after modifying the model.Note
In this initial version, the only methods with the Contextmodifying variant are those methods that do not change the the semantics of the input or output ports. Modifications that make such changes must be coordinated across systems.
 Template parameter
T
:  The scalar type. Must be a valid Eigen scalar.
Instantiated templates for the following kinds of T’s are provided:
 double
 AutoDiffXd
They are already available to link against in the containing library. No other values for T are currently supported.

AddRenderer
(self: pydrake.geometry.SceneGraph_[float], renderer_name: str, renderer: pydrake.geometry.render.RenderEngine) → None¶ Adds a new render engine to this SceneGraph. The SceneGraph owns the render engine. The render engine’s name should be referenced in the render::CameraProperties “CameraProperties” provided in the render queries (see QueryObject::RenderColorImage() as an example).
There is no restriction on when a renderer is added relative to geometry registration and role assignment. Given a representative sequence of registration and perception role assignment, the addition of the renderer can be introduced anywhere in the sequence and the end result would be the same.
GeometryId id1 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id1, PerceptionProperties()); GeometryId id2 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id2, PerceptionProperties()); GeometryId id3 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id3, PerceptionProperties());
 Parameter
name
:  The unique name of the renderer.
 Parameter
renderer
:  The
renderer
to add.
Raises: RuntimeError if the name is not unique.  Parameter

RegisterSource
(self: pydrake.geometry.SceneGraph_[float], name: str = '') → pydrake.geometry.SourceId¶ Registers a new source to the geometry system. The caller must save the returned SourceId; it is the token by which all other operations on the geometry world are conducted.
This source id can be used to register arbitrary anchored geometry. But if dynamic geometry is registered (via RegisterGeometry/RegisterFrame), then the contextdependent pose values must be provided on an input port. See get_source_pose_port().
This method modifies the underlying model and requires a new Context to be allocated.
 Parameter
name
:  The optional name of the source. If none is provided (or the empty string) a default name will be defined by SceneGraph’s logic.
Raises: RuntimeError if the name is not unique.  Parameter

get_pose_bundle_output_port
(self: pydrake.geometry.SceneGraph_[float]) → pydrake.systems.framework.OutputPort_[float]¶ Returns the output port which produces the PoseBundle for LCM communication to drake visualizer.

get_query_output_port
(self: pydrake.geometry.SceneGraph_[float]) → pydrake.systems.framework.OutputPort_[float]¶ Returns the output port which produces the QueryObject for performing geometric queries.

get_source_pose_port
(self: pydrake.geometry.SceneGraph_[float], arg0: pydrake.geometry.SourceId) → pydrake.systems.framework.InputPort_[float]¶ Given a valid source
id
, returns a pose input port associated with thatid
. This port is used to communicate pose data for registered frames.Raises: RuntimeError if the source_id is not recognized.

static
world_frame_id
() → pydrake.geometry.FrameId¶ Reports the identifier for the world frame.

class

class
pydrake.geometry.
SceneGraph_[AutoDiffXd]
¶ Bases:
pydrake.systems.framework.LeafSystem_[AutoDiffXd]
SceneGraph serves as the nexus for all geometry (and geometrybased operations) in a Diagram. Through SceneGraph, other systems that introduce geometry can register that geometry as part of a common global domain, including it in geometric queries (e.g., cars controlled by one LeafSystem can be observed by a different sensor system). SceneGraph provides the interface for registering the geometry, updating its position based on the current context, and performing geometric queries.
@system{SceneGraph, @input_port{source_pose{0}} @input_port{…} @input_port{source_pose{N1}}, @output_port{lcm_visualization} @output_port{query} }
Only registered “geometry sources” can introduce geometry into SceneGraph. Geometry sources will typically be other leaf systems, but, in the case of anchored (i.e., stationary) geometry, it could also be some other block of code (e.g., adding a common ground plane with which all systems’ geometries interact). For dynamic geometry (geometry whose pose depends on a Context), the geometry source must also provide pose values for all of the geometries the source owns, via a port connection on SceneGraph. For N geometry sources, the SceneGraph instance will have N pose input ports.
The basic workflow for interacting with SceneGraph is:
 Register as a geometry source, acquiring a unique SourceId.
 Register geometry (anchored and dynamic) with the system.
 Connect source’s geometry output ports to the corresponding SceneGraph
input ports.  Implement appropriate
Calc*
methods on the geometry output ports to update geometry pose values.For each registered geometry source, there is one input port for each order of kinematics values (e.g., pose, velocity, and acceleration). If a source registers a frame, it must connect to these ports (although, in the current version, only pose is supported). Failure to connect to the port (or to provide valid kinematics values) will lead to runtime exceptions.
pose port: An abstractvalued port providing an instance of FramePoseVector. For each registered frame, this “pose vector” maps the registered FrameId to a pose value. All registered frames must be accounted for and only frames registered by a source can be included in its output port. See the details in FrameKinematicsVector for details on how to provide values for this port.
SceneGraph has two output ports:
query port: An abstractvalued port containing an instance of QueryObject. It provides a “ticket” for downstream LeafSystem instances to perform geometric queries on the SceneGraph. To perform geometric queries, downstream LeafSystem instances acquire the QueryObject from SceneGraph’s output port and provide it as a parameter to one of SceneGraph’s query methods (e.g., SceneGraph::ComputeContact()). This assumes that the querying system has access to a const pointer to the connected SceneGraph instance. Use get_query_output_port() to acquire the output port for the query handle.
lcm visualization port: An abstractvalued port containing an instance of PoseBundle. This is a convenience port designed to feed LCM update messages to drake_visualizer for the purpose of visualizing the state of the world’s geometry. Additional uses of this port are strongly discouraged; instead, use an appropriate geometric query to obtain the state of the world’s geometry.
LeafSystem instances can relate to SceneGraph in one of two ways: as a consumer that performs queries, or as a producer that introduces geometry into the shared world and defines its contextdependent kinematics values. It is reasonable for systems to perform either role singly, or both.
Consumer
Consumers perform geometric queries upon the world geometry. SceneGraph serves those queries. As indicated above, in order for a LeafSystem to act as a consumer, it must: 1. define a QueryObjectvalued input port and connect it to SceneGraph’s corresponding output port, and 2. have a reference to the connected SceneGraph instance.
With those two requirements satisfied, a LeafSystem can perform geometry queries by: 1. evaluating the QueryObject input port, and 2. passing the returned query object into the appropriate query method on SceneGraph (e.g., SceneGraph::ComputeContact()).
Producer
All producers introduce geometry into the shared geometric world. This is called registering geometry. Depending on what exactly has been registered, a producer may also have to update kinematics. Producers themselves must be registered with SceneGraph as producers (a.k.a. geometry sources). They do this by acquiring a SourceId (via SceneGraph::RegisterSource()). The SourceId serves as a unique handle through which the producer’s identity is validated and its ownership of its registered geometry is maintained.
Registering Geometry
SceneGraph cannot know what geometry should be part of the shared world. Other systems are responsible for introducing geometry into the world. This process (defining geometry and informing SceneGraph) is called registering the geometry. The source that registers the geometry “owns” the geometry; the source’s unique SourceId is required to perform any operations on the geometry registered with that SourceId. Geometry can be registered as anchored or dynamic.
Dynamic geometry can move; more specifically, its kinematics (e.g., pose) depends on a system’s Context. Particularly, dynamic geometry is fixed to a frame whose kinematics values depend on a context. As the frame moves, the geometries fixed to it move with it. Therefore, to register dynamic geometry a frame must be registered first. These registered frames serve as the basis for repositioning geometry in the shared world. The geometry source is responsible for providing uptodate kinematics values for those registered frames upon request (via an appropriate output port on the source LeafSystem connecting to the appropriate input port on SceneGraph). The work flow is as follows: 1. A LeafSystem registers itself as a geometry source, acquiring a SourceId (RegisterSource()). 2. The source registers a frame (GeometrySource::RegisterFrame()).  A frame always has a “parent” frame. It can implicitly be the world frame, or another frame registered by the source. 3. Register one or more geometries to a frame (GeometrySource::RegisterGeometry()).  The registered geometry is posed relative to the frame to which it is fixed.  The geometry can also be posed relative to another registered geometry. It will be affixed to that geometry’s frame.
Anchored geometry is independent of the context (i.e., it doesn’t move). Anchored geometries are always affixed to the immobile world frame. As such, registering a frame is not required for registering anchored geometry (see GeometrySource::RegisterAnchoredGeometry()). However, the source still “owns” the anchored geometry.
Updating Kinematics
Registering dynamic geometry implies a contract between the geometry source and SceneGraph. The geometry source must do the following:  It must provide, populate, and connect two output ports: the “id” port and the “pose” port.  The id port must contain all the frame ids returned as a result of frame registration.  The pose port must contain one pose per registered frame; the pose value is expressed relative to the registered frame’s parent frame. As mentioned above, the iᵗʰ pose value should describe the frame indicated by the iᵗʰ id in the id output port.
Failure to meet these requirements will lead to a runtime error.
Many (and eventually all) methods that configure the population of SceneGraph have two variants that differ by whether they accept a mutable Context or not. When no Context is provided, this SceneGraph instance’s underlying model is modified. When the SceneGraph instance allocates a context, its model is copied into that context.
The second variant causes SceneGraph to modify the data stored in the provided Context to be modified instead of the internal model.
The two interfaces can be used interchangeably. However, modifications to
this
SceneGraph’s underlying model will not affect previously allocated Context instances. A new Context should be allocated after modifying the model.Note
In this initial version, the only methods with the Contextmodifying variant are those methods that do not change the the semantics of the input or output ports. Modifications that make such changes must be coordinated across systems.
 Template parameter
T
:  The scalar type. Must be a valid Eigen scalar.
Instantiated templates for the following kinds of T’s are provided:
 double
 AutoDiffXd
They are already available to link against in the containing library. No other values for T are currently supported.

AddRenderer
(self: pydrake.geometry.SceneGraph_[AutoDiffXd], renderer_name: str, renderer: pydrake.geometry.render.RenderEngine) → None¶ Adds a new render engine to this SceneGraph. The SceneGraph owns the render engine. The render engine’s name should be referenced in the render::CameraProperties “CameraProperties” provided in the render queries (see QueryObject::RenderColorImage() as an example).
There is no restriction on when a renderer is added relative to geometry registration and role assignment. Given a representative sequence of registration and perception role assignment, the addition of the renderer can be introduced anywhere in the sequence and the end result would be the same.
GeometryId id1 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id1, PerceptionProperties()); GeometryId id2 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id2, PerceptionProperties()); GeometryId id3 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id3, PerceptionProperties());
 Parameter
name
:  The unique name of the renderer.
 Parameter
renderer
:  The
renderer
to add.
Raises: RuntimeError if the name is not unique.  Parameter

RegisterSource
(self: pydrake.geometry.SceneGraph_[AutoDiffXd], name: str = '') → pydrake.geometry.SourceId¶ Registers a new source to the geometry system. The caller must save the returned SourceId; it is the token by which all other operations on the geometry world are conducted.
This source id can be used to register arbitrary anchored geometry. But if dynamic geometry is registered (via RegisterGeometry/RegisterFrame), then the contextdependent pose values must be provided on an input port. See get_source_pose_port().
This method modifies the underlying model and requires a new Context to be allocated.
 Parameter
name
:  The optional name of the source. If none is provided (or the empty string) a default name will be defined by SceneGraph’s logic.
Raises: RuntimeError if the name is not unique.  Parameter

get_pose_bundle_output_port
(self: pydrake.geometry.SceneGraph_[AutoDiffXd]) → pydrake.systems.framework.OutputPort_[AutoDiffXd]¶ Returns the output port which produces the PoseBundle for LCM communication to drake visualizer.

get_query_output_port
(self: pydrake.geometry.SceneGraph_[AutoDiffXd]) → pydrake.systems.framework.OutputPort_[AutoDiffXd]¶ Returns the output port which produces the QueryObject for performing geometric queries.

get_source_pose_port
(self: pydrake.geometry.SceneGraph_[AutoDiffXd], arg0: pydrake.geometry.SourceId) → pydrake.systems.framework.InputPort_[AutoDiffXd]¶ Given a valid source
id
, returns a pose input port associated with thatid
. This port is used to communicate pose data for registered frames.Raises: RuntimeError if the source_id is not recognized.

static
world_frame_id
() → pydrake.geometry.FrameId¶ Reports the identifier for the world frame.

class
pydrake.geometry.
SceneGraph_[float]
¶ Bases:
pydrake.systems.framework.LeafSystem_[float]
SceneGraph serves as the nexus for all geometry (and geometrybased operations) in a Diagram. Through SceneGraph, other systems that introduce geometry can register that geometry as part of a common global domain, including it in geometric queries (e.g., cars controlled by one LeafSystem can be observed by a different sensor system). SceneGraph provides the interface for registering the geometry, updating its position based on the current context, and performing geometric queries.
@system{SceneGraph, @input_port{source_pose{0}} @input_port{…} @input_port{source_pose{N1}}, @output_port{lcm_visualization} @output_port{query} }
Only registered “geometry sources” can introduce geometry into SceneGraph. Geometry sources will typically be other leaf systems, but, in the case of anchored (i.e., stationary) geometry, it could also be some other block of code (e.g., adding a common ground plane with which all systems’ geometries interact). For dynamic geometry (geometry whose pose depends on a Context), the geometry source must also provide pose values for all of the geometries the source owns, via a port connection on SceneGraph. For N geometry sources, the SceneGraph instance will have N pose input ports.
The basic workflow for interacting with SceneGraph is:
 Register as a geometry source, acquiring a unique SourceId.
 Register geometry (anchored and dynamic) with the system.
 Connect source’s geometry output ports to the corresponding SceneGraph
input ports.  Implement appropriate
Calc*
methods on the geometry output ports to update geometry pose values.For each registered geometry source, there is one input port for each order of kinematics values (e.g., pose, velocity, and acceleration). If a source registers a frame, it must connect to these ports (although, in the current version, only pose is supported). Failure to connect to the port (or to provide valid kinematics values) will lead to runtime exceptions.
pose port: An abstractvalued port providing an instance of FramePoseVector. For each registered frame, this “pose vector” maps the registered FrameId to a pose value. All registered frames must be accounted for and only frames registered by a source can be included in its output port. See the details in FrameKinematicsVector for details on how to provide values for this port.
SceneGraph has two output ports:
query port: An abstractvalued port containing an instance of QueryObject. It provides a “ticket” for downstream LeafSystem instances to perform geometric queries on the SceneGraph. To perform geometric queries, downstream LeafSystem instances acquire the QueryObject from SceneGraph’s output port and provide it as a parameter to one of SceneGraph’s query methods (e.g., SceneGraph::ComputeContact()). This assumes that the querying system has access to a const pointer to the connected SceneGraph instance. Use get_query_output_port() to acquire the output port for the query handle.
lcm visualization port: An abstractvalued port containing an instance of PoseBundle. This is a convenience port designed to feed LCM update messages to drake_visualizer for the purpose of visualizing the state of the world’s geometry. Additional uses of this port are strongly discouraged; instead, use an appropriate geometric query to obtain the state of the world’s geometry.
LeafSystem instances can relate to SceneGraph in one of two ways: as a consumer that performs queries, or as a producer that introduces geometry into the shared world and defines its contextdependent kinematics values. It is reasonable for systems to perform either role singly, or both.
Consumer
Consumers perform geometric queries upon the world geometry. SceneGraph serves those queries. As indicated above, in order for a LeafSystem to act as a consumer, it must: 1. define a QueryObjectvalued input port and connect it to SceneGraph’s corresponding output port, and 2. have a reference to the connected SceneGraph instance.
With those two requirements satisfied, a LeafSystem can perform geometry queries by: 1. evaluating the QueryObject input port, and 2. passing the returned query object into the appropriate query method on SceneGraph (e.g., SceneGraph::ComputeContact()).
Producer
All producers introduce geometry into the shared geometric world. This is called registering geometry. Depending on what exactly has been registered, a producer may also have to update kinematics. Producers themselves must be registered with SceneGraph as producers (a.k.a. geometry sources). They do this by acquiring a SourceId (via SceneGraph::RegisterSource()). The SourceId serves as a unique handle through which the producer’s identity is validated and its ownership of its registered geometry is maintained.
Registering Geometry
SceneGraph cannot know what geometry should be part of the shared world. Other systems are responsible for introducing geometry into the world. This process (defining geometry and informing SceneGraph) is called registering the geometry. The source that registers the geometry “owns” the geometry; the source’s unique SourceId is required to perform any operations on the geometry registered with that SourceId. Geometry can be registered as anchored or dynamic.
Dynamic geometry can move; more specifically, its kinematics (e.g., pose) depends on a system’s Context. Particularly, dynamic geometry is fixed to a frame whose kinematics values depend on a context. As the frame moves, the geometries fixed to it move with it. Therefore, to register dynamic geometry a frame must be registered first. These registered frames serve as the basis for repositioning geometry in the shared world. The geometry source is responsible for providing uptodate kinematics values for those registered frames upon request (via an appropriate output port on the source LeafSystem connecting to the appropriate input port on SceneGraph). The work flow is as follows: 1. A LeafSystem registers itself as a geometry source, acquiring a SourceId (RegisterSource()). 2. The source registers a frame (GeometrySource::RegisterFrame()).  A frame always has a “parent” frame. It can implicitly be the world frame, or another frame registered by the source. 3. Register one or more geometries to a frame (GeometrySource::RegisterGeometry()).  The registered geometry is posed relative to the frame to which it is fixed.  The geometry can also be posed relative to another registered geometry. It will be affixed to that geometry’s frame.
Anchored geometry is independent of the context (i.e., it doesn’t move). Anchored geometries are always affixed to the immobile world frame. As such, registering a frame is not required for registering anchored geometry (see GeometrySource::RegisterAnchoredGeometry()). However, the source still “owns” the anchored geometry.
Updating Kinematics
Registering dynamic geometry implies a contract between the geometry source and SceneGraph. The geometry source must do the following:  It must provide, populate, and connect two output ports: the “id” port and the “pose” port.  The id port must contain all the frame ids returned as a result of frame registration.  The pose port must contain one pose per registered frame; the pose value is expressed relative to the registered frame’s parent frame. As mentioned above, the iᵗʰ pose value should describe the frame indicated by the iᵗʰ id in the id output port.
Failure to meet these requirements will lead to a runtime error.
Many (and eventually all) methods that configure the population of SceneGraph have two variants that differ by whether they accept a mutable Context or not. When no Context is provided, this SceneGraph instance’s underlying model is modified. When the SceneGraph instance allocates a context, its model is copied into that context.
The second variant causes SceneGraph to modify the data stored in the provided Context to be modified instead of the internal model.
The two interfaces can be used interchangeably. However, modifications to
this
SceneGraph’s underlying model will not affect previously allocated Context instances. A new Context should be allocated after modifying the model.Note
In this initial version, the only methods with the Contextmodifying variant are those methods that do not change the the semantics of the input or output ports. Modifications that make such changes must be coordinated across systems.
 Template parameter
T
:  The scalar type. Must be a valid Eigen scalar.
Instantiated templates for the following kinds of T’s are provided:
 double
 AutoDiffXd
They are already available to link against in the containing library. No other values for T are currently supported.

AddRenderer
(self: pydrake.geometry.SceneGraph_[float], renderer_name: str, renderer: pydrake.geometry.render.RenderEngine) → None¶ Adds a new render engine to this SceneGraph. The SceneGraph owns the render engine. The render engine’s name should be referenced in the render::CameraProperties “CameraProperties” provided in the render queries (see QueryObject::RenderColorImage() as an example).
There is no restriction on when a renderer is added relative to geometry registration and role assignment. Given a representative sequence of registration and perception role assignment, the addition of the renderer can be introduced anywhere in the sequence and the end result would be the same.
GeometryId id1 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id1, PerceptionProperties()); GeometryId id2 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id2, PerceptionProperties()); GeometryId id3 = scene_graph.RegisterGeometry(source_id, ...); scene_graph.AssignRole(source_id, id3, PerceptionProperties());
 Parameter
name
:  The unique name of the renderer.
 Parameter
renderer
:  The
renderer
to add.
Raises: RuntimeError if the name is not unique.  Parameter

RegisterSource
(self: pydrake.geometry.SceneGraph_[float], name: str = '') → pydrake.geometry.SourceId¶ Registers a new source to the geometry system. The caller must save the returned SourceId; it is the token by which all other operations on the geometry world are conducted.
This source id can be used to register arbitrary anchored geometry. But if dynamic geometry is registered (via RegisterGeometry/RegisterFrame), then the contextdependent pose values must be provided on an input port. See get_source_pose_port().
This method modifies the underlying model and requires a new Context to be allocated.
 Parameter
name
:  The optional name of the source. If none is provided (or the empty string) a default name will be defined by SceneGraph’s logic.
Raises: RuntimeError if the name is not unique.  Parameter

get_pose_bundle_output_port
(self: pydrake.geometry.SceneGraph_[float]) → pydrake.systems.framework.OutputPort_[float]¶ Returns the output port which produces the PoseBundle for LCM communication to drake visualizer.

get_query_output_port
(self: pydrake.geometry.SceneGraph_[float]) → pydrake.systems.framework.OutputPort_[float]¶ Returns the output port which produces the QueryObject for performing geometric queries.

get_source_pose_port
(self: pydrake.geometry.SceneGraph_[float], arg0: pydrake.geometry.SourceId) → pydrake.systems.framework.InputPort_[float]¶ Given a valid source
id
, returns a pose input port associated with thatid
. This port is used to communicate pose data for registered frames.Raises: RuntimeError if the source_id is not recognized.

static
world_frame_id
() → pydrake.geometry.FrameId¶ Reports the identifier for the world frame.

class
pydrake.geometry.
Shape
¶ The base interface for all shape specifications. It has no public constructor and cannot be instantiated directly. The Shape class has two key properties:
 it is cloneable, and
 it can be “reified” (see ShapeReifier).
When you add a new subclass of Shape, you must:
1. add a pure virtual function ImplementGeometry() for the new shape in ShapeReifier. 2. define ImplementGeometry() for the new shape in the subclasses of ShapeReifier. 3. modify CopyShapeOrThrow() of ProximityEngine to support the new shape and add an instance of the new shape to the CopySemantics test in proximity_engine_test.cc. 4. test the new shape in the class BoxPenetrationTest of proximity_engine_test.cc
Otherwise, you might get a runtime error. We do not have an automatic way to enforce them at compile time.

pydrake.geometry.
SignedDistancePair
¶

template
pydrake.geometry.
SignedDistancePair_
¶ Instantiations:
SignedDistancePair_[float]
,SignedDistancePair_[AutoDiffXd]

class
SignedDistancePair_[float]
¶ The data for reporting the signed distance between two geometries, A and B. It provides the id’s of the two geometries, the witness points Ca and Cb on the surfaces of A and B, the signed distance, and nhat_BA_W a direction of fastest increasing distance (always unit length and always point outward from B’s surface).
 When A and B are separated, distance > 0.
 When A and B are touching or penetrating, distance <= 0.
 By definition, nhat_AB_W must be in the opposite direction of nhat_BA_W.
 (p_WCa  p_Wcb) = distance · nhat_BA_W.
 In some cases, nhat_BA_W is not unique, and is_nhat_BA_W_unique is false.
Warning
For two geometries that are just touching (i.e., distance = 0), the underlying code can guarantee a correct value for nhat_BA_W only when one geometry is a sphere, and the other geometry is a sphere, a box, or a cylinder. Otherwise, the underlying code is not in place yet to guarantee a correct value for nhat_BA_W when surfaces are just touching, and the vector will be populated by NaN values.
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

distance
¶ The signed distance between p_ACa and p_BCb.

id_A
¶ The id of the first geometry in the pair.

id_B
¶ The id of the second geometry in the pair.

is_nhat_BA_W_unique
¶

nhat_BA_W
¶ A direction of fastest increasing distance.

p_ACa
¶ The witness point on geometry A’s surface, expressed in A’s frame.

p_BCb
¶ The witness point on geometry B’s surface, expressed in B’s frame.

class

class
pydrake.geometry.
SignedDistancePair_[AutoDiffXd]
¶ The data for reporting the signed distance between two geometries, A and B. It provides the id’s of the two geometries, the witness points Ca and Cb on the surfaces of A and B, the signed distance, and nhat_BA_W a direction of fastest increasing distance (always unit length and always point outward from B’s surface).
 When A and B are separated, distance > 0.
 When A and B are touching or penetrating, distance <= 0.
 By definition, nhat_AB_W must be in the opposite direction of nhat_BA_W.
 (p_WCa  p_Wcb) = distance · nhat_BA_W.
 In some cases, nhat_BA_W is not unique, and is_nhat_BA_W_unique is false.
Warning
For two geometries that are just touching (i.e., distance = 0), the underlying code can guarantee a correct value for nhat_BA_W only when one geometry is a sphere, and the other geometry is a sphere, a box, or a cylinder. Otherwise, the underlying code is not in place yet to guarantee a correct value for nhat_BA_W when surfaces are just touching, and the vector will be populated by NaN values.
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

distance
¶ The signed distance between p_ACa and p_BCb.

id_A
¶ The id of the first geometry in the pair.

id_B
¶ The id of the second geometry in the pair.

is_nhat_BA_W_unique
¶

nhat_BA_W
¶ A direction of fastest increasing distance.

p_ACa
¶ The witness point on geometry A’s surface, expressed in A’s frame.

p_BCb
¶ The witness point on geometry B’s surface, expressed in B’s frame.

class
pydrake.geometry.
SignedDistancePair_[float]
¶ The data for reporting the signed distance between two geometries, A and B. It provides the id’s of the two geometries, the witness points Ca and Cb on the surfaces of A and B, the signed distance, and nhat_BA_W a direction of fastest increasing distance (always unit length and always point outward from B’s surface).
 When A and B are separated, distance > 0.
 When A and B are touching or penetrating, distance <= 0.
 By definition, nhat_AB_W must be in the opposite direction of nhat_BA_W.
 (p_WCa  p_Wcb) = distance · nhat_BA_W.
 In some cases, nhat_BA_W is not unique, and is_nhat_BA_W_unique is false.
Warning
For two geometries that are just touching (i.e., distance = 0), the underlying code can guarantee a correct value for nhat_BA_W only when one geometry is a sphere, and the other geometry is a sphere, a box, or a cylinder. Otherwise, the underlying code is not in place yet to guarantee a correct value for nhat_BA_W when surfaces are just touching, and the vector will be populated by NaN values.
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

distance
¶ The signed distance between p_ACa and p_BCb.

id_A
¶ The id of the first geometry in the pair.

id_B
¶ The id of the second geometry in the pair.

is_nhat_BA_W_unique
¶

nhat_BA_W
¶ A direction of fastest increasing distance.

p_ACa
¶ The witness point on geometry A’s surface, expressed in A’s frame.

p_BCb
¶ The witness point on geometry B’s surface, expressed in B’s frame.

pydrake.geometry.
SignedDistanceToPoint
¶

template
pydrake.geometry.
SignedDistanceToPoint_
¶ Instantiations:
SignedDistanceToPoint_[float]
,SignedDistanceToPoint_[AutoDiffXd]

class
SignedDistanceToPoint_[float]
¶ The data for reporting the signed distance from a query point to a geometry. Reports the result of a signed distance query between a query point Q and geometry G. This includes G’s id, the signed distance, the nearest point N on the surface of G, and the gradient of the signed distance with respect to the position of Q. Generally, the gradient of the signed distance function is not defined everywhere. The value reported in this struct depends on the query function returning it. Refer to the query function’s documentation for what value it will report for otherwise undefined gradient values.
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

distance
¶ The signed distance from the query point Q to the nearest point N on the surface of geometry G. It is positive if Q is outside G. It is negative if Q is inside G. It is zero if Q is on the boundary of G.

grad_W
¶ The gradient vector of the distance function with respect to the query point Q, expressed in world frame W.

id_G
¶ The id of the geometry G to which we measure distance from the query point Q.

p_GN
¶ The position of the nearest point N on G’s surface from the query point Q, expressed in G’s frame.
 Template parameter

class

class
pydrake.geometry.
SignedDistanceToPoint_[AutoDiffXd]
¶ The data for reporting the signed distance from a query point to a geometry. Reports the result of a signed distance query between a query point Q and geometry G. This includes G’s id, the signed distance, the nearest point N on the surface of G, and the gradient of the signed distance with respect to the position of Q. Generally, the gradient of the signed distance function is not defined everywhere. The value reported in this struct depends on the query function returning it. Refer to the query function’s documentation for what value it will report for otherwise undefined gradient values.
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

distance
¶ The signed distance from the query point Q to the nearest point N on the surface of geometry G. It is positive if Q is outside G. It is negative if Q is inside G. It is zero if Q is on the boundary of G.

grad_W
¶ The gradient vector of the distance function with respect to the query point Q, expressed in world frame W.

id_G
¶ The id of the geometry G to which we measure distance from the query point Q.

p_GN
¶ The position of the nearest point N on G’s surface from the query point Q, expressed in G’s frame.
 Template parameter

class
pydrake.geometry.
SignedDistanceToPoint_[float]
¶ The data for reporting the signed distance from a query point to a geometry. Reports the result of a signed distance query between a query point Q and geometry G. This includes G’s id, the signed distance, the nearest point N on the surface of G, and the gradient of the signed distance with respect to the position of Q. Generally, the gradient of the signed distance function is not defined everywhere. The value reported in this struct depends on the query function returning it. Refer to the query function’s documentation for what value it will report for otherwise undefined gradient values.
 Template parameter
T
:  The underlying scalar type. Must be a valid Eigen scalar.

distance
¶ The signed distance from the query point Q to the nearest point N on the surface of geometry G. It is positive if Q is outside G. It is negative if Q is inside G. It is zero if Q is on the boundary of G.

grad_W
¶ The gradient vector of the distance function with respect to the query point Q, expressed in world frame W.

id_G
¶ The id of the geometry G to which we measure distance from the query point Q.

p_GN
¶ The position of the nearest point N on G’s surface from the query point Q, expressed in G’s frame.
 Template parameter

class
pydrake.geometry.
SourceId
¶ Type used to identify geometry sources in SceneGraph.

static
get_new_id
() → pydrake.geometry.SourceId¶ Generates a new identifier for this id type. This new identifier will be different from all previous identifiers created. This method does not make any guarantees about the values of ids from successive invocations. This method is guaranteed to be thread safe.

get_value
(self: pydrake.geometry.SourceId) → int¶ Extracts the underlying representation from the identifier. This is considered invalid for invalid ids and is strictly enforced in Debug builds.

is_valid
(self: pydrake.geometry.SourceId) → bool¶ Reports if the id is valid.

static

class
pydrake.geometry.
Sphere
¶ Bases:
pydrake.geometry.Shape
Definition of sphere. It is centered in its canonical frame with the given radius.