geometry: Provide shape type introspection

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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geometry: Provide shape type introspection #10403

Closed EricCousineau-TRI closed 5 years ago

EricCousineau-TRI commented 5 years ago

At present, there's no way to introspect what shapes are in a SceneGraph; at present, usages like meshcat_visualizer (and some usages of RViz translators, such as Anzu) call DisplatchLoadMessage, and then inspects the corresponding LCM message as a workaround.

\cc @calderpg-tri

calderpg commented 5 years ago

This functionality is also required for collision checkers in Anzu to load robot geometry from the Sdf model rather than the current solution of separately loading per-link collision geometry by hand.

SeanCurtis-TRI commented 5 years ago

FTR I wouldn't use connecting to alternative visualizers as a motivation. There is a plan/intention to provide visualizer-ports to SceneGraph (an initialization port and an update port) as per #8473. Also, this issue is a repeat of #9128.

EricCousineau-TRI commented 5 years ago

Aye, it is a duplicate. Closing.

(I guess I had searched for "geometry introspection", which that issue didn't show up...)