本文整理汇总了Python中pydrake.multibody.plant.MultibodyPlant.world_body方法的典型用法代码示例。如果您正苦于以下问题：Python MultibodyPlant.world_body方法的具体用法？Python MultibodyPlant.world_body怎么用？Python MultibodyPlant.world_body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.world_body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_deprecated_tree_api
# 需要导入模块: from pydrake.multibody.plant import MultibodyPlant [as 别名]
# 或者: from pydrake.multibody.plant.MultibodyPlant import world_body [as 别名]
def test_deprecated_tree_api(self):
plant = MultibodyPlant()
plant.Finalize()
with warnings.catch_warnings(record=True) as w:
warnings.simplefilter('always', DrakeDeprecationWarning)
num_expected_warnings = [0]
def expect_new_warning(msg_part):
num_expected_warnings[0] += 1
self.assertEqual(len(w), num_expected_warnings[0])
self.assertIn(msg_part, str(w[-1].message))
tree = plant.tree()
expect_new_warning("`tree()`")
MobilizerIndex(0)
expect_new_warning("`MobilizerIndex`")
BodyNodeIndex(0)
expect_new_warning("`BodyNodeIndex`")
MultibodyForces(model=tree)
expect_new_warning("`MultibodyForces(plant)`")
element = plant.world_body()
self.assertIsInstance(element.get_parent_tree(), MultibodyTree)
expect_new_warning("`get_parent_tree()`")
# Check old spellings (no deprecation warnings).
self.check_old_spelling_exists(tree.CalcRelativeTransform)
self.check_old_spelling_exists(tree.CalcPointsPositions)
self.check_old_spelling_exists(
tree.CalcFrameGeometricJacobianExpressedInWorld)
self.check_old_spelling_exists(tree.EvalBodyPoseInWorld)
self.check_old_spelling_exists(tree.SetFreeBodyPoseOrThrow)
self.check_old_spelling_exists(tree.SetFreeBodySpatialVelocityOrThrow)
self.check_old_spelling_exists(tree.EvalBodySpatialVelocityInWorld)
self.check_old_spelling_exists(tree.GetPositionsFromArray)
self.check_old_spelling_exists(tree.GetVelocitiesFromArray)
self.check_old_spelling_exists(tree.CalcMassMatrixViaInverseDynamics)
self.check_old_spelling_exists(tree.CalcBiasTerm)
self.check_old_spelling_exists(tree.CalcInverseDynamics)
self.check_old_spelling_exists(tree.num_frames)
self.check_old_spelling_exists(tree.get_body)
self.check_old_spelling_exists(tree.get_joint)
self.check_old_spelling_exists(tree.get_joint_actuator)
self.check_old_spelling_exists(tree.get_frame)
self.check_old_spelling_exists(tree.GetModelInstanceName)
context = plant.CreateDefaultContext()
# All body poses.
X_WB, = tree.CalcAllBodyPosesInWorld(context)
self.assertIsInstance(X_WB, Isometry3)
v_WB, = tree.CalcAllBodySpatialVelocitiesInWorld(context)
self.assertIsInstance(v_WB, SpatialVelocity)