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Python MultibodyPlant.get_state_output_port方法代码示例

本文整理汇总了Python中pydrake.multibody.plant.MultibodyPlant.get_state_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_state_output_port方法的具体用法?Python MultibodyPlant.get_state_output_port怎么用?Python MultibodyPlant.get_state_output_port使用的例子?那么恭喜您, 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pydrake.multibody.plant.MultibodyPlant的用法示例。


在下文中一共展示了MultibodyPlant.get_state_output_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_state_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)
开发者ID:RobotLocomotion,项目名称:drake,代码行数:31,代码来源:plant_test.py

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_state_output_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))
开发者ID:RobotLocomotion,项目名称:drake,代码行数:75,代码来源:plant_test.py


注:本文中的pydrake.multibody.plant.MultibodyPlant.get_state_output_port方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台,相关代码片段筛选自各路编程大神贡献的开源项目,源码版权归原作者所有,传播和使用请参考对应项目的License;未经允许,请勿转载。