本文整理匯總了Python中pydrake.multibody.plant.MultibodyPlant.world_body方法的典型用法代碼示例。如果您正苦於以下問題：Python MultibodyPlant.world_body方法的具體用法？Python MultibodyPlant.world_body怎麽用？Python MultibodyPlant.world_body使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類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個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: test_deprecated_tree_api
# 需要導入模塊: from pydrake.multibody.plant import MultibodyPlant [as 別名]
# 或者: from pydrake.multibody.plant.MultibodyPlant import world_body [as 別名]
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)