mbp: Propagate de-beetlejuicing

bindings/pydrake/examples/multibody/cart_pole_passive_simulation.py

@@ -33,10 +33,10 @@ def main():
     builder = DiagramBuilder()
     scene_graph = builder.AddSystem(SceneGraph())
     cart_pole = builder.AddSystem(MultibodyPlant(time_step=args.time_step))
-    AddModelFromSdfFile(
-        file_name=file_name, plant=cart_pole, scene_graph=scene_graph)
+    cart_pole.RegisterAsSourceForSceneGraph(scene_graph)
+    AddModelFromSdfFile(file_name=file_name, plant=cart_pole)
     cart_pole.AddForceElement(UniformGravityFieldElement([0, 0, -9.81]))
-    cart_pole.Finalize(scene_graph)
+    cart_pole.Finalize()
     assert cart_pole.geometry_source_is_registered()
 
     builder.Connect(

bindings/pydrake/manipulation/test/planner_test.py

@@ -65,8 +65,7 @@ def test_mbp_overloads(self):
         file_name = FindResourceOrThrow(
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
         plant = MultibodyPlant()
-        AddModelFromSdfFile(
-            file_name=file_name, plant=plant, scene_graph=None)
+        AddModelFromSdfFile(file_name=file_name, plant=plant)
         plant.Finalize()
 
         context = plant.CreateDefaultContext()

bindings/pydrake/manipulation/test/simple_ui_test.py

@@ -19,7 +19,7 @@ def test_joint_slider(self):
         file_name = FindResourceOrThrow(
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
         plant = MultibodyPlant()
-        AddModelFromSdfFile(file_name=file_name, plant=plant, scene_graph=None)
+        AddModelFromSdfFile(file_name=file_name, plant=plant)
         plant.Finalize()
 
         slider = JointSliders(robot=plant, lower_limit=-5., upper_limit=5.,

bindings/pydrake/multibody/test/inverse_kinematics_test.py

@@ -27,7 +27,7 @@ def setUp(self):
             "drake/bindings/pydrake/multibody/test/two_bodies.sdf")
         self.plant = MultibodyPlant(time_step=0.01)
         model_instance = AddModelFromSdfFile(
-            file_name=file_name, plant=self.plant, scene_graph=None)
+            file_name=file_name, plant=self.plant)
         self.plant.Finalize()
         self.body1_frame = self.plant.GetBodyByName("body1").body_frame()
         self.body2_frame = self.plant.GetBodyByName("body2").body_frame()

bindings/pydrake/multibody/test/multibody_tree_test.py

@@ -113,7 +113,7 @@ def test_multibody_plant_api_via_parsing(self):
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
         plant = MultibodyPlant(time_step=0.01)
         model_instance = AddModelFromSdfFile(
-            file_name=file_name, plant=plant, scene_graph=None)
+            file_name=file_name, plant=plant)
         self.assertIsInstance(model_instance, ModelInstanceIndex)
         plant.Finalize()
         benchmark = MakeAcrobotPlant(AcrobotParameters(), True)
@@ -213,13 +213,12 @@ def test_multibody_plant_parsing(self):
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
         plant = MultibodyPlant(time_step=0.01)
         model_instance = AddModelFromSdfFile(
-            file_name=file_name, plant=plant, scene_graph=None)
+            file_name=file_name, plant=plant)
         self.assertIsInstance(model_instance, ModelInstanceIndex)
 
         plant = MultibodyPlant(time_step=0.01)
         model_instance = AddModelFromSdfFile(
-            file_name=file_name, model_name="acrobot", plant=plant,
-            scene_graph=None)
+            file_name=file_name, model_name="acrobot", plant=plant)
 
     def test_multibody_tree_kinematics(self):
         file_name = FindResourceOrThrow(
@@ -327,11 +326,9 @@ def test_model_instance_state_access(self):
         plant = MultibodyPlant(timestep)
 
         iiwa_model = AddModelFromSdfFile(
-            file_name=iiwa_sdf_path, model_name='robot',
-            scene_graph=None, plant=plant)
+            file_name=iiwa_sdf_path, model_name='robot', plant=plant)
         gripper_model = AddModelFromSdfFile(
-            file_name=wsg50_sdf_path, model_name='gripper',
-            scene_graph=None, plant=plant)
+            file_name=wsg50_sdf_path, model_name='gripper', plant=plant)
 
         # Weld the base of arm and gripper to reduce the number of states.
         X_EeGripper = Isometry3.Identity()

bindings/pydrake/systems/drawing_graphviz_example.py

@@ -24,10 +24,10 @@
 builder = DiagramBuilder()
 scene_graph = builder.AddSystem(SceneGraph())
 cart_pole = builder.AddSystem(MultibodyPlant())
-AddModelFromSdfFile(
-    file_name=file_name, plant=cart_pole, scene_graph=scene_graph)
+cart_pole.RegisterAsSourceForSceneGraph(scene_graph)
+AddModelFromSdfFile(file_name=file_name, plant=cart_pole)
 cart_pole.AddForceElement(UniformGravityFieldElement([0, 0, -9.81]))
-cart_pole.Finalize(scene_graph)
+cart_pole.Finalize()
 assert cart_pole.geometry_source_is_registered()
 
 builder.Connect(

examples/allegro_hand/joint_control/allegro_single_object_simulation.cc

@@ -64,6 +64,7 @@ void DoMain() {
 
   MultibodyPlant<double>& plant =
       *builder.AddSystem<MultibodyPlant>(FLAGS_max_time_step);
+  plant.RegisterAsSourceForSceneGraph(&scene_graph);
   std::string hand_model_path;
   if (FLAGS_use_right_hand)
     hand_model_path = FindResourceOrThrow(
@@ -76,10 +77,8 @@ void DoMain() {
 
   const std::string object_model_path = FindResourceOrThrow(
       "drake/examples/allegro_hand/joint_control/simple_mug.sdf");
-  multibody::parsing::AddModelFromSdfFile(hand_model_path, &plant,
-                                          &scene_graph);
-  multibody::parsing::AddModelFromSdfFile(object_model_path, &plant,
-                                          &scene_graph);
+  multibody::parsing::AddModelFromSdfFile(hand_model_path, &plant);
+  multibody::parsing::AddModelFromSdfFile(object_model_path, &plant);
 
   // Weld the hand to the world frame
   const auto& joint_hand_root = plant.GetBodyByName("hand_root");
@@ -93,7 +92,7 @@ void DoMain() {
         -9.81 * Eigen::Vector3d::UnitZ());
 
   // Finished building the plant
-  plant.Finalize(&scene_graph);
+  plant.Finalize();
 
   // Visualization
   geometry::ConnectDrakeVisualizer(&builder, scene_graph);

examples/allegro_hand/run_allegro_constant_load_demo.cc

@@ -60,6 +60,7 @@ void DoMain() {
 
   MultibodyPlant<double>& plant = *builder.AddSystem<MultibodyPlant>
                                   (FLAGS_max_time_step);
+  plant.RegisterAsSourceForSceneGraph(&scene_graph);
   std::string full_name;
   if (FLAGS_use_right_hand)
     full_name = FindResourceOrThrow("drake/manipulation/models/"
@@ -68,8 +69,7 @@ void DoMain() {
     full_name = FindResourceOrThrow("drake/manipulation/models/"
       "allegro_hand_description/sdf/allegro_hand_description_left.sdf");
 
-  multibody::parsing::AddModelFromSdfFile(
-                          full_name, &plant, &scene_graph);
+  multibody::parsing::AddModelFromSdfFile(full_name, &plant);
 
   // Weld the hand to the world frame
   const auto& joint_hand_root = plant.GetBodyByName("hand_root");
@@ -82,7 +82,7 @@ void DoMain() {
         -9.81 * Eigen::Vector3d::UnitZ());
 
   // Now the model is complete.
-  plant.Finalize(&scene_graph);
+  plant.Finalize();
 
   DRAKE_DEMAND(plant.num_actuators() == 16);
   DRAKE_DEMAND(plant.num_actuated_dofs() == 16);

examples/kuka_iiwa_arm/controlled_kuka/controlled_kuka_multibody_demo.cc

@@ -63,7 +63,7 @@ int DoMain() {
       -9.81 * Vector3<double>::UnitZ());
 
   // Now the model is complete.
-  kuka_plant.Finalize(&scene_graph);
+  kuka_plant.Finalize();
   DRAKE_THROW_UNLESS(kuka_plant.num_positions() == 7);
   // Sanity check on the availability of the optional source id before using it.
   DRAKE_DEMAND(!!kuka_plant.get_source_id());

examples/manipulation_station/manipulation_station.cc

@@ -114,14 +114,15 @@ ManipulationStation<T>::ManipulationStation(double time_step)
   // the raw pointers, which should stay valid for the lifetime of the Diagram.
   plant_ = owned_plant_.get();
   scene_graph_ = owned_scene_graph_.get();
+  plant_->RegisterAsSourceForSceneGraph(scene_graph_);
 
   // Add the table and 80/20 workcell frame.
   const double dx_table_center_to_robot_base = 0.3257;
   const double dz_table_top_robot_base = 0.0127;
   const std::string table_sdf_path = FindResourceOrThrow(
       "drake/examples/manipulation_station/models/amazon_table_simplified.sdf");
   const auto table =
-      AddModelFromSdfFile(table_sdf_path, "table", plant_, scene_graph_);
+      AddModelFromSdfFile(table_sdf_path, "table", plant_);
   plant_->WeldFrames(
       plant_->world_frame(), plant_->GetFrameByName("amazon_table", table),
       RigidTransform<double>(
@@ -133,7 +134,7 @@ ManipulationStation<T>::ManipulationStation(double time_step)
       "drake/manipulation/models/iiwa_description/"
       "sdf/iiwa14_no_collision.sdf");
   iiwa_model_ =
-      AddModelFromSdfFile(iiwa_sdf_path, "iiwa", plant_, scene_graph_);
+      AddModelFromSdfFile(iiwa_sdf_path, "iiwa", plant_);
   plant_->WeldFrames(plant_->world_frame(),
                      plant_->GetFrameByName("iiwa_link_0", iiwa_model_));
 
@@ -142,7 +143,7 @@ ManipulationStation<T>::ManipulationStation(double time_step)
       "drake/manipulation/models/"
       "wsg_50_description/sdf/schunk_wsg_50.sdf");
   wsg_model_ =
-      AddModelFromSdfFile(wsg_sdf_path, "gripper", plant_, scene_graph_);
+      AddModelFromSdfFile(wsg_sdf_path, "gripper", plant_);
   const Isometry3d wsg_pose =
       RigidTransform<double>(
           RollPitchYaw<double>(M_PI_2, 0, M_PI_2).ToRotationMatrix(),
@@ -191,7 +192,7 @@ void ManipulationStation<T>::AddCupboard() {
   const std::string sdf_path = FindResourceOrThrow(
       "drake/examples/manipulation_station/models/cupboard.sdf");
   const auto cupboard =
-      AddModelFromSdfFile(sdf_path, "cupboard", plant_, scene_graph_);
+      AddModelFromSdfFile(sdf_path, "cupboard", plant_);
   plant_->WeldFrames(
       plant_->world_frame(), plant_->GetFrameByName("cupboard_body", cupboard),
       RigidTransform<double>(
@@ -208,7 +209,7 @@ void ManipulationStation<T>::Finalize() {
   //   - cannot finalize plant until all of my objects are added, and
   //   - cannot wire up my diagram until we have finalized the plant.
 
-  plant_->Finalize(scene_graph_);
+  plant_->Finalize();
 
   systems::DiagramBuilder<T> builder;
 

examples/multibody/acrobot/run_lqr.cc

@@ -115,7 +115,7 @@ int do_main() {
       -9.81 * Vector3<double>::UnitZ());
 
   // We are done defining the model.
-  acrobot.Finalize(&scene_graph);
+  acrobot.Finalize();
 
   DRAKE_DEMAND(acrobot.num_actuators() == 1);
   DRAKE_DEMAND(acrobot.num_actuated_dofs() == 1);

examples/multibody/bouncing_ball/make_bouncing_ball_plant.cc

@@ -39,34 +39,33 @@ MakeBouncingBallPlant(double radius, double mass,
     // A half-space for the ground geometry.
     plant->RegisterCollisionGeometry(
         plant->world_body(), HalfSpace::MakePose(normal_W, point_W),
-        HalfSpace(), "collision", surface_friction, scene_graph);
+        HalfSpace(), "collision", surface_friction);
 
     // Add visual for the ground.
     plant->RegisterVisualGeometry(
         plant->world_body(), HalfSpace::MakePose(normal_W, point_W),
-        HalfSpace(), "visual", scene_graph);
+        HalfSpace(), "visual");
 
     // Add sphere geometry for the ball.
     plant->RegisterCollisionGeometry(
         ball,
         /* Pose X_BG of the geometry frame G in the ball frame B. */
         Isometry3<double>::Identity(), Sphere(radius), "collision",
-            surface_friction, scene_graph);
+            surface_friction);
 
     // Add visual for the ball.
     const VisualMaterial orange(Vector4<double>(1.0, 0.55, 0.0, 1.0));
     plant->RegisterVisualGeometry(
         ball,
         /* Pose X_BG of the geometry frame G in the ball frame B. */
-        Isometry3<double>::Identity(), Sphere(radius), "visual", orange,
-        scene_graph);
+        Isometry3<double>::Identity(), Sphere(radius), "visual", orange);
   }
 
   // Gravity acting in the -z direction.
   plant->AddForceElement<UniformGravityFieldElement>(gravity_W);
 
   // We are done creating the plant.
-  plant->Finalize(scene_graph);
+  plant->Finalize();
 
   return plant;
 }

examples/multibody/cart_pole/cart_pole_passive_simulation.cc

@@ -62,7 +62,7 @@ int do_main() {
       -9.81 * Vector3<double>::UnitZ());
 
   // Now the model is complete.
-  cart_pole.Finalize(&scene_graph);
+  cart_pole.Finalize();
 
   // Sanity check on the availability of the optional source id before using it.
   DRAKE_DEMAND(cart_pole.geometry_source_is_registered());

examples/multibody/cylinder_with_multicontact/make_cylinder_plant.cc

@@ -21,8 +21,7 @@ using drake::multibody::UnitInertia;
 using Eigen::Isometry3d;
 
 void AddCylinderWithMultiContact(
-    MultibodyPlant<double>* plant, SceneGraph<double>* scene_graph,
-    const RigidBody<double>& body,
+    MultibodyPlant<double>* plant, const RigidBody<double>& body,
     double radius, double length, const CoulombFriction<double>& friction,
     double contact_spheres_radius, int num_contacts) {
   const VisualMaterial orange(Vector4<double>(1.0, 0.55, 0.0, 1.0));
@@ -32,8 +31,7 @@ void AddCylinderWithMultiContact(
   plant->RegisterVisualGeometry(
       body,
       /* Pose X_BG of the geometry frame G in the cylinder body frame B. */
-      Isometry3d::Identity(), Cylinder(radius, length), "visual", orange,
-      scene_graph);
+      Isometry3d::Identity(), Cylinder(radius, length), "visual", orange);
 
   // Add a bunch of little spheres to simulate "multi-contact".
   for (int i = 0; i < num_contacts; ++i) {
@@ -48,25 +46,24 @@ void AddCylinderWithMultiContact(
         body,
         X_BG,
         Sphere(contact_spheres_radius), "collision_top_" + std::to_string(i),
-        friction, scene_graph);
+        friction);
     plant->RegisterVisualGeometry(
         body,
         X_BG,
-        Sphere(contact_spheres_radius), "visual_top_" + std::to_string(i), red,
-        scene_graph);
+        Sphere(contact_spheres_radius), "visual_top_" + std::to_string(i), red);
 
     // Bottom spheres:
     X_BG.translation() << x, y, -length / 2;
     plant->RegisterCollisionGeometry(
         body,
         X_BG,
         Sphere(contact_spheres_radius), "collision_bottom_" + std::to_string(i),
-        friction, scene_graph);
+        friction);
     plant->RegisterVisualGeometry(
         body,
         X_BG,
         Sphere(contact_spheres_radius), "visual_bottom_" + std::to_string(i),
-        red, scene_graph);
+        red);
   }
 }
 
@@ -95,7 +92,7 @@ MakeCylinderPlant(double radius, double length, double mass,
 
   // Add geometry to the cylinder for both contact and visualization.
   AddCylinderWithMultiContact(
-      plant.get(), scene_graph,
+      plant.get(),
       cylinder, radius, length, surface_friction,
       contact_radius, num_contact_spheres);
 
@@ -107,17 +104,17 @@ MakeCylinderPlant(double radius, double length, double mass,
   plant->RegisterCollisionGeometry(
       plant->world_body(),
       HalfSpace::MakePose(normal_W, point_W), HalfSpace(), "collision",
-      surface_friction, scene_graph);
+      surface_friction);
 
   // Add visual for the ground.
   plant->RegisterVisualGeometry(
       plant->world_body(), HalfSpace::MakePose(normal_W, point_W),
-      HalfSpace(), "visual", scene_graph);
+      HalfSpace(), "visual");
 
   plant->AddForceElement<UniformGravityFieldElement>(gravity_W);
 
   // We are done creating the plant.
-  plant->Finalize(scene_graph);
+  plant->Finalize();
 
   return plant;
 }