py geometry: Bind overload of SceneGraph.RemoveRole (RobotLocomotion#…

…13731) * py geometry: Bind overload of SceneGraph.RemoveRole
qingfengpu001 · Jul 22, 2020 · 93b387c · 93b387c
1 parent 0060f1b
commit 93b387c
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Showing 3 changed files with 24 additions and 1 deletion.
diff --git a/bindings/pydrake/geometry_py.cc b/bindings/pydrake/geometry_py.cc
@@ -362,6 +362,16 @@ void DoScalarDependentDefinitions(py::module m, T) {
             py::arg("properties"), py::arg("assign") = RoleAssign::kNew,
             cls_doc.AssignRole.doc_illustration_context)
         // - End: AssignRole Overloads.
+        // - Begin: RemoveRole Overloads
+        .def(
+            "RemoveRole",
+            [](Class& self, SourceId source_id, GeometryId geometry_id,
+                Role role) {
+              return self.RemoveRole(source_id, geometry_id, role);
+            },
+            py::arg("source_id"), py::arg("geometry_id"), py::arg("role"),
+            cls_doc.RemoveRole.doc_geometry_direct)
+        // - End: RemoveRole Overloads.
         .def_static("world_frame_id", &Class::world_frame_id,
             cls_doc.world_frame_id.doc);
   }

diff --git a/bindings/pydrake/test/geometry_test.py b/bindings/pydrake/test/geometry_test.py
@@ -139,6 +139,18 @@ def test_scene_graph_api(self, T):
             inspector.CloneGeometryInstance(geometry_id=global_geometry),
             mut.GeometryInstance)
 
+        roles = [
+            mut.Role.kProximity,
+            mut.Role.kPerception,
+            mut.Role.kIllustration,
+        ]
+        for role in roles:
+            self.assertEqual(
+                scene_graph.RemoveRole(
+                    source_id=global_source, geometry_id=global_geometry,
+                    role=role),
+                1)
+
     def test_connect_drake_visualizer(self):
         # Test visualization API.
         T = float

diff --git a/geometry/scene_graph.h b/geometry/scene_graph.h
@@ -701,7 +701,8 @@ class SceneGraph final : public systems::LeafSystem<T> {
                             b) `geometry_id` does not map to a registered
                             geometry,
                             c) `geometry_id` does not belong to `source_id`, or
-                            d) the context has already been allocated.  */
+                            d) the context has already been allocated.
+   @pydrake_mkdoc_identifier{geometry_direct}  */
   int RemoveRole(SourceId source_id, GeometryId geometry_id, Role role);
 
   /** systems::Context-modifying variant of