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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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geometry_visualization: Insufficient information for distinguishing multiple model instances #10402

Closed EricCousineau-TRI closed 5 years ago

EricCousineau-TRI commented 5 years ago

Relates #10293

@calderpg-tri is unable to visualize geometries using RViz due to lack of introspection and the fact that BuildLoadMessage does not incorporate model-instance-level information.

Specifically, he uses the meshcat-type approach, of getting the message from DispatchLoadMessage, then crawling through the objects to reconstruct stuff. Because GeometryState::frames_ is unordered, he can't work around this by unique-ifying names based on the ordering coming out of DispatchLoadMessage.

I'd suggest that first, we try to resolve #10293, which should resolve this issue as well.

IMO, I'd like the visualization methods not prepend the source name, but instead use model instances themselves. If we need more unique instances, then we should address that in another way, rather than relying on adding GUID source names.

\cc @SeanCurtis-TRI

jwnimmer-tri commented 5 years ago

Possibly choosing to parse lcmt_viewer_load_robot in order to bind in additional visualizers is where the whole story went wrong. Instead, could you use SceneGraphInspector directly (possibly with a bit more sugar for matching its IDs into MBP model instance IDs)?

EricCousineau-TRI commented 5 years ago

Possibly choosing to parse lcmt_viewer_load_robot in order to bind in additional visualizers is where the whole story went wrong.

Yup, definitely.

Was not aware of the level of info we had in SceneGraphInspector; will check.

EricCousineau-TRI commented 5 years ago

Per f2f with @jwnimmer-tri, will close this as a Drake issue as it's focused too much hacks 'n such. Will create an issue for the underlying issue (lack of Shape introspection).