本文整理汇总了Python中pydrake.multibody.plant.MultibodyPlant.num_actuators方法的典型用法代码示例。如果您正苦于以下问题：Python MultibodyPlant.num_actuators方法的具体用法？Python MultibodyPlant.num_actuators怎么用？Python MultibodyPlant.num_actuators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.num_actuators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_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 num_actuators [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))示例2: test_inverse_dynamics_controller
# 需要导入模块: from pydrake.multibody.plant import MultibodyPlant [as 别名]
# 或者: from pydrake.multibody.plant.MultibodyPlant import num_actuators [as 别名]
def test_inverse_dynamics_controller(self):
sdf_path = FindResourceOrThrow(
"drake/manipulation/models/" +
"iiwa_description/sdf/iiwa14_no_collision.sdf")
plant = MultibodyPlant(time_step=0.01)
Parser(plant).AddModelFromFile(sdf_path)
plant.WeldFrames(plant.world_frame(),
plant.GetFrameByName("iiwa_link_0"))
plant.Finalize()
# We verify the (known) size of the model.
kNumPositions = 7
kNumVelocities = 7
kNumActuators = 7
kStateSize = kNumPositions + kNumVelocities
self.assertEqual(plant.num_positions(), kNumPositions)
self.assertEqual(plant.num_velocities(), kNumVelocities)
self.assertEqual(plant.num_actuators(), kNumActuators)
kp = np.array([1., 2., 3., 4., 5., 6., 7.])
ki = np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7])
kd = np.array([.5, 1., 1.5, 2., 2.5, 3., 3.5])
controller = InverseDynamicsController(robot=plant,
kp=kp,
ki=ki,
kd=kd,
has_reference_acceleration=True)
context = controller.CreateDefaultContext()
output = controller.AllocateOutput()
estimated_state_port = 0
desired_state_port = 1
desired_acceleration_port = 2
control_port = 0
self.assertEqual(
controller.get_input_port(desired_acceleration_port).size(),
kNumVelocities)
self.assertEqual(
controller.get_input_port(estimated_state_port).size(), kStateSize)
self.assertEqual(
controller.get_input_port(desired_state_port).size(), kStateSize)
self.assertEqual(
controller.get_output_port(control_port).size(), kNumVelocities)
# Current state.
q = np.array([-0.3, -0.2, -0.1, 0.0, 0.1, 0.2, 0.3])
v = np.array([-0.9, -0.6, -0.3, 0.0, 0.3, 0.6, 0.9])
x = np.concatenate([q, v])
# Reference state and acceleration.
q_r = q + 0.1*np.ones_like(q)
v_r = v + 0.1*np.ones_like(v)
x_r = np.concatenate([q_r, v_r])
vd_r = np.array([1., 2., 3., 4., 5., 6., 7.])
integral_term = np.array([-1., -2., -3., -4., -5., -6., -7.])
vd_d = vd_r + kp*(q_r-q) + kd*(v_r-v) + ki*integral_term
context.FixInputPort(estimated_state_port, BasicVector(x))
context.FixInputPort(desired_state_port, BasicVector(x_r))
context.FixInputPort(desired_acceleration_port, BasicVector(vd_r))
controller.set_integral_value(context, integral_term)
# Set the plant's context.
plant_context = plant.CreateDefaultContext()
x_plant = plant.GetMutablePositionsAndVelocities(plant_context)
x_plant[:] = x
# Compute the expected value of the generalized forces using
# inverse dynamics.
tau_id = plant.CalcInverseDynamics(
plant_context, vd_d, MultibodyForces(plant))
# Verify the result.
controller.CalcOutput(context, output)
self.assertTrue(np.allclose(output.get_vector_data(0).CopyToVector(),
tau_id))