本文整理汇总了Python中pydrake.multibody.plant.MultibodyPlant.get_actuation_input_port方法的典型用法代码示例。如果您正苦于以下问题：Python MultibodyPlant.get_actuation_input_port方法的具体用法？Python MultibodyPlant.get_actuation_input_port怎么用？Python MultibodyPlant.get_actuation_input_port使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类pydrake.multibody.plant.MultibodyPlant的用法示例。
在下文中一共展示了MultibodyPlant.get_actuation_input_port方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: test_model_instance_port_access
# 需要导入模块: from pydrake.multibody.plant import MultibodyPlant [as 别名]
# 或者: from pydrake.multibody.plant.MultibodyPlant import get_actuation_input_port [as 别名]
def test_model_instance_port_access(self):
# Create a MultibodyPlant with a kuka arm and a schunk gripper.
# the arm is welded to the world, the gripper is welded to the
# arm's end effector.
wsg50_sdf_path = FindResourceOrThrow(
"drake/manipulation/models/" +
"wsg_50_description/sdf/schunk_wsg_50.sdf")
iiwa_sdf_path = FindResourceOrThrow(
"drake/manipulation/models/" +
"iiwa_description/sdf/iiwa14_no_collision.sdf")
plant = MultibodyPlant(time_step=2e-3)
parser = Parser(plant)
iiwa_model = parser.AddModelFromFile(
file_name=iiwa_sdf_path, model_name='robot')
gripper_model = parser.AddModelFromFile(
file_name=wsg50_sdf_path, model_name='gripper')
plant.Finalize()
# Test that we can get an actuation input port and a continuous state
# output port.
self.assertIsInstance(
plant.get_actuation_input_port(iiwa_model), InputPort)
self.assertIsInstance(
plant.get_state_output_port(gripper_model), OutputPort)
self.assertIsInstance(
plant.get_generalized_contact_forces_output_port(
model_instance=gripper_model),
OutputPort)示例2: test_multibody_plant_api_via_parsing
# 需要导入模块: from pydrake.multibody.plant import MultibodyPlant [as 别名]
# 或者: from pydrake.multibody.plant.MultibodyPlant import get_actuation_input_port [as 别名]
def test_multibody_plant_api_via_parsing(self):
# TODO(eric.cousineau): Decouple this when construction can be done
# without parsing.
# This a subset of `multibody_plant_sdf_parser_test.cc`.
file_name = FindResourceOrThrow(
"drake/multibody/benchmarks/acrobot/acrobot.sdf")
plant = MultibodyPlant(time_step=0.01)
model_instance = Parser(plant).AddModelFromFile(file_name)
self.assertIsInstance(model_instance, ModelInstanceIndex)
plant.Finalize()
benchmark = MakeAcrobotPlant(AcrobotParameters(), True)
self.assertEqual(plant.num_bodies(), benchmark.num_bodies())
self.assertEqual(plant.num_joints(), benchmark.num_joints())
self.assertEqual(plant.num_actuators(), benchmark.num_actuators())
self.assertEqual(
plant.num_model_instances(), benchmark.num_model_instances() + 1)
self.assertEqual(plant.num_positions(), benchmark.num_positions())
self.assertEqual(
plant.num_positions(model_instance=model_instance),
benchmark.num_positions())
self.assertEqual(
plant.num_velocities(), benchmark.num_velocities())
self.assertEqual(
plant.num_multibody_states(), benchmark.num_multibody_states())
self.assertEqual(
plant.num_actuated_dofs(), benchmark.num_actuated_dofs())
self.assertTrue(plant.is_finalized())
self.assertTrue(plant.HasBodyNamed(name="Link1"))
self.assertTrue(plant.HasBodyNamed(
name="Link1", model_instance=model_instance))
self.assertTrue(plant.HasJointNamed(name="ShoulderJoint"))
self.assertTrue(plant.HasJointNamed(
name="ShoulderJoint", model_instance=model_instance))
shoulder = plant.GetJointByName(name="ShoulderJoint")
self._test_joint_api(shoulder)
np.testing.assert_array_equal(
shoulder.position_lower_limits(), [-np.inf])
np.testing.assert_array_equal(
shoulder.position_upper_limits(), [np.inf])
self.assertIs(shoulder, plant.GetJointByName(
name="ShoulderJoint", model_instance=model_instance))
self._test_joint_actuator_api(
plant.GetJointActuatorByName(name="ElbowJoint"))
self._test_body_api(plant.GetBodyByName(name="Link1"))
self.assertIs(
plant.GetBodyByName(name="Link1"),
plant.GetBodyByName(name="Link1", model_instance=model_instance))
self.assertEqual(len(plant.GetBodyIndices(model_instance)), 2)
self._test_frame_api(plant.GetFrameByName(name="Link1"))
self.assertIs(
plant.GetFrameByName(name="Link1"),
plant.GetFrameByName(name="Link1", model_instance=model_instance))
self.assertEqual(
model_instance, plant.GetModelInstanceByName(name="acrobot"))
self.assertIsInstance(
plant.get_actuation_input_port(), InputPort)
self.assertIsInstance(
plant.get_state_output_port(), OutputPort)
# Smoke test of deprecated methods.
with catch_drake_warnings(expected_count=2):
plant.get_continuous_state_output_port()
plant.get_continuous_state_output_port(model_instance)
self.assertIsInstance(
plant.get_contact_results_output_port(), OutputPort)
self.assertIsInstance(plant.num_frames(), int)
self.assertIsInstance(plant.get_body(body_index=BodyIndex(0)), Body)
self.assertIs(shoulder, plant.get_joint(joint_index=JointIndex(0)))
self.assertIsInstance(plant.get_joint_actuator(
actuator_index=JointActuatorIndex(0)), JointActuator)
self.assertIsInstance(
plant.get_frame(frame_index=FrameIndex(0)), Frame)
self.assertEqual("acrobot", plant.GetModelInstanceName(
model_instance=model_instance))