本文整理汇总了Python中pydrake.multibody.plant.MultibodyPlant.get_generalized_contact_forces_output_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_generalized_contact_forces_output_port方法的具体用法？Python MultibodyPlant.get_generalized_contact_forces_output_port怎么用？Python MultibodyPlant.get_generalized_contact_forces_output_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_generalized_contact_forces_output_port方法的1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_generalized_contact_forces_output_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)