本文整理汇总了Python中pydrake.multibody.plant.MultibodyPlant.gravity_field方法的典型用法代码示例。如果您正苦于以下问题：Python MultibodyPlant.gravity_field方法的具体用法？Python MultibodyPlant.gravity_field怎么用？Python MultibodyPlant.gravity_field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类pydrake.multibody.plant.MultibodyPlant的用法示例。
在下文中一共展示了MultibodyPlant.gravity_field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_multibody_dynamics
# 需要导入模块: from pydrake.multibody.plant import MultibodyPlant [as 别名]
# 或者: from pydrake.multibody.plant.MultibodyPlant import gravity_field [as 别名]
def test_multibody_dynamics(self):
file_name = FindResourceOrThrow(
"drake/multibody/benchmarks/acrobot/acrobot.sdf")
plant = MultibodyPlant()
Parser(plant).AddModelFromFile(file_name)
# Getting ready for when we set foot on Mars :-).
gravity_vector = np.array([0.0, 0.0, -3.71])
plant.mutable_gravity_field().set_gravity_vector(gravity_vector)
np.testing.assert_equal(plant.gravity_field().gravity_vector(),
gravity_vector)
plant.Finalize()
context = plant.CreateDefaultContext()
# Set an arbitrary configuration away from the model's fixed point.
plant.SetPositions(context, [0.1, 0.2])
M = plant.CalcMassMatrixViaInverseDynamics(context)
Cv = plant.CalcBiasTerm(context)
self.assertTrue(M.shape == (2, 2))
self.assert_sane(M)
self.assertTrue(Cv.shape == (2, ))
self.assert_sane(Cv, nonzero=False)
nv = plant.num_velocities()
vd_d = np.zeros(nv)
tau = plant.CalcInverseDynamics(
context, vd_d, MultibodyForces(plant))
self.assertEqual(tau.shape, (2,))
self.assert_sane(tau, nonzero=False)
# - Existence checks.
# Gravity leads to non-zero potential energy.
self.assertNotEqual(plant.CalcPotentialEnergy(context), 0)
plant.CalcConservativePower(context)
tau_g = plant.CalcGravityGeneralizedForces(context)
self.assertEqual(tau_g.shape, (nv,))
self.assert_sane(tau_g, nonzero=True)
B = plant.MakeActuationMatrix()
np.testing.assert_equal(B, np.array([[0.], [1.]]))
forces = MultibodyForces(plant=plant)
plant.CalcForceElementsContribution(context=context, forces=forces)
# Test generalized forces.
forces.mutable_generalized_forces()[:] = 1
np.testing.assert_equal(forces.generalized_forces(), 1)
forces.SetZero()
np.testing.assert_equal(forces.generalized_forces(), 0)
# Test body force accessors and mutators.
link2 = plant.GetBodyByName("Link2")
self.assertIsInstance(
link2.GetForceInWorld(context, forces), SpatialForce)
forces.SetZero()
F_expected = np.array([1, 2, 3, 4, 5, 6])
link2.AddInForceInWorld(
context, F_Bo_W=SpatialForce(F=F_expected), forces=forces)
np.testing.assert_equal(
link2.GetForceInWorld(context, forces).get_coeffs(), F_expected)
link2.AddInForce(
context, p_BP_E=[0, 0, 0], F_Bp_E=SpatialForce(F=F_expected),
frame_E=plant.world_frame(), forces=forces)
# Also check accumulation.
np.testing.assert_equal(
link2.GetForceInWorld(context, forces).get_coeffs(),
2 * F_expected)