[pydrake] Bind RenderEngineGlParams (#16201)

Co-authored-by: Eric Cousineau <[email protected]>
RobotLocomotion · Dec 10, 2021 · 5357d9a · 5357d9a
1 parent feedf5d
commit 5357d9a
Show file tree

Hide file tree

Showing 4 changed files with 38 additions and 4 deletions.
diff --git a/bindings/pydrake/geometry_py_render.cc b/bindings/pydrake/geometry_py_render.cc
@@ -300,11 +300,25 @@ void DoScalarIndependentDefinitions(py::module m) {
       .def_readwrite("default_diffuse", &RenderEngineVtkParams::default_diffuse,
           doc.RenderEngineVtkParams.default_diffuse.doc);
 
-  m.def("MakeRenderEngineGl", &MakeRenderEngineGl, doc.MakeRenderEngineGl.doc);
-
   m.def("MakeRenderEngineVtk", &MakeRenderEngineVtk, py::arg("params"),
       doc.MakeRenderEngineVtk.doc);
 
+  {
+    using Class = RenderEngineGlParams;
+    constexpr auto& cls_doc = doc.RenderEngineGlParams;
+    py::class_<Class>(m, "RenderEngineGlParams", cls_doc.doc)
+        .def(ParamInit<Class>())
+        .def_readwrite(
+            "default_label", &Class::default_label, cls_doc.default_label.doc)
+        .def_readwrite("default_diffuse", &Class::default_diffuse,
+            cls_doc.default_diffuse.doc)
+        .def_readwrite("default_clear_color", &Class::default_clear_color,
+            cls_doc.default_clear_color.doc);
+  }
+
+  m.def("MakeRenderEngineGl", &MakeRenderEngineGl,
+      py::arg("params") = RenderEngineGlParams(), doc.MakeRenderEngineGl.doc);
+
   {
     py::class_<RenderLabel> render_label(m, "RenderLabel", doc.RenderLabel.doc);
     render_label

diff --git a/bindings/pydrake/test/geometry_render_engine_gl_test.py b/bindings/pydrake/test/geometry_render_engine_gl_test.py
@@ -12,10 +12,13 @@ class TestGeometry(unittest.TestCase):
     def test_render_engine_gl_api(self, T):
         SceneGraph = mut.SceneGraph_[T]
         scene_graph = SceneGraph()
+        label = mut.render.RenderLabel(10)
+        params = mut.render.RenderEngineGlParams(label=label)
         if 'darwin' in sys.platform:  # OpenGL is not supported on macOS.
             self.assertRaises(RuntimeError, mut.render.MakeRenderEngineGl)
         else:
             scene_graph.AddRenderer("gl_renderer",
-                                    mut.render.MakeRenderEngineGl())
+                                    mut.render.MakeRenderEngineGl(
+                                        params=params))
             self.assertTrue(scene_graph.HasRenderer("gl_renderer"))
             self.assertEqual(scene_graph.RendererCount(), 1)
diff --git a/bindings/pydrake/test/geometry_render_test.py b/bindings/pydrake/test/geometry_render_test.py
@@ -36,6 +36,22 @@ def test_render_engine_vtk_params(self):
         self.assertEqual(params.default_label, label)
         self.assertTrue((params.default_diffuse == diffuse).all())
 
+    def test_render_engine_gl_params(self):
+        # A default constructor exists.
+        mut.render.RenderEngineGlParams()
+
+        # The kwarg constructor also works.
+        label = mut.render.RenderLabel(10)
+        diffuse = mut.Rgba(1.0, 0.0, 0.0, 0.0)
+        params = mut.render.RenderEngineGlParams(
+            default_clear_color=diffuse,
+            default_label=label,
+            default_diffuse=diffuse,
+        )
+        self.assertEqual(params.default_clear_color, diffuse)
+        self.assertEqual(params.default_label, label)
+        self.assertEqual(params.default_diffuse, diffuse)
+
     def test_render_label(self):
         RenderLabel = mut.render.RenderLabel
         value = 10

diff --git a/bindings/pydrake/test/geometry_scene_graph_test.py b/bindings/pydrake/test/geometry_scene_graph_test.py
@@ -353,7 +353,8 @@ def test_query_object(self, T):
         render_params = mut.render.RenderEngineVtkParams()
         renderer_name = "test_renderer"
         scene_graph.AddRenderer(renderer_name,
-                                mut.render.MakeRenderEngineVtk(render_params))
+                                mut.render.MakeRenderEngineVtk(
+                                    params=render_params))
 
         context = scene_graph.CreateDefaultContext()
         pose_vector = FramePoseVector()