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plant_py.cc
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plant_py.cc
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#include "pybind11/eigen.h"
#include "pybind11/pybind11.h"
#include "pybind11/stl.h"
#include "drake/bindings/pydrake/common/cpp_template_pybind.h"
#include "drake/bindings/pydrake/common/default_scalars_pybind.h"
#include "drake/bindings/pydrake/common/deprecation_pybind.h"
#include "drake/bindings/pydrake/common/eigen_geometry_pybind.h"
#include "drake/bindings/pydrake/common/type_pack.h"
#include "drake/bindings/pydrake/common/value_pybind.h"
#include "drake/bindings/pydrake/documentation_pybind.h"
#include "drake/bindings/pydrake/pydrake_pybind.h"
#include "drake/common/eigen_types.h"
#include "drake/geometry/query_results/penetration_as_point_pair.h"
#include "drake/geometry/scene_graph.h"
#include "drake/math/rigid_transform.h"
#include "drake/multibody/plant/contact_results.h"
#include "drake/multibody/plant/contact_results_to_lcm.h"
#include "drake/multibody/plant/externally_applied_spatial_force.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/multibody/plant/point_pair_contact_info.h"
#include "drake/multibody/plant/propeller.h"
#include "drake/multibody/tree/spatial_inertia.h"
namespace drake {
namespace pydrake {
using std::string;
using geometry::SceneGraph;
using math::RigidTransform;
using systems::Context;
using systems::State;
namespace {
constexpr char doc_iso3_deprecation[] = R"""(
This API using Isometry3 is / will be deprecated soon with the resolution of
#9865. We only offer it for backwards compatibility. DO NOT USE!.
)""";
template <typename T>
int GetVariableSize(const multibody::MultibodyPlant<T>& plant,
multibody::JacobianWrtVariable wrt) {
switch (wrt) {
case multibody::JacobianWrtVariable::kQDot:
return plant.num_positions();
case multibody::JacobianWrtVariable::kV:
return plant.num_velocities();
}
DRAKE_UNREACHABLE();
}
Eigen::VectorBlock<const VectorX<double>> CopyIfNotPodType(
Eigen::VectorBlock<const VectorX<double>> x) {
// N.B. This references the existing vector's data, and does not perform a
// copy.
return x;
}
template <typename T>
VectorX<T> CopyIfNotPodType(Eigen::VectorBlock<const VectorX<T>> x) {
// N.B. This copies the vector's data.
// TODO(eric.cousineau): Remove this once #8116 is resolved.
return x;
}
/**
* Adds Python bindings for its contents to module `m`, for template `T`.
* @param m Module.
* @param T Template.
*/
template <typename T>
void DoScalarDependentDefinitions(py::module m, T) {
py::tuple param = GetPyParam<T>();
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
using namespace drake::multibody;
constexpr auto& doc = pydrake_doc.drake.multibody;
// PointPairContactInfo
{
using Class = PointPairContactInfo<T>;
constexpr auto& cls_doc = doc.PointPairContactInfo;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "PointPairContactInfo", param, cls_doc.doc);
cls // BR
.def(py::init<BodyIndex, BodyIndex, const Vector3<T>, const Vector3<T>,
const T&, const T&,
const geometry::PenetrationAsPointPair<T>>(),
py::arg("bodyA_index"), py::arg("bodyB_index"), py::arg("f_Bc_W"),
py::arg("p_WC"), py::arg("separation_speed"), py::arg("slip_speed"),
py::arg("point_pair"), cls_doc.ctor.doc)
.def("bodyA_index", &Class::bodyA_index, cls_doc.bodyA_index.doc)
.def("bodyB_index", &Class::bodyB_index, cls_doc.bodyB_index.doc)
.def("contact_force", &Class::contact_force, cls_doc.contact_force.doc)
.def("contact_point", &Class::contact_point, cls_doc.contact_point.doc)
.def("slip_speed", &Class::slip_speed, cls_doc.slip_speed.doc)
.def("separation_speed", &Class::separation_speed,
cls_doc.separation_speed.doc)
.def("point_pair", &Class::point_pair, cls_doc.point_pair.doc);
DefCopyAndDeepCopy(&cls);
}
// HydroelasticContactInfo
{
using Class = HydroelasticContactInfo<T>;
constexpr auto& cls_doc = doc.HydroelasticContactInfo;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "HydroelasticContactInfo", param, cls_doc.doc);
cls // BR
.def("contact_surface", &Class::contact_surface,
cls_doc.contact_surface.doc)
.def("F_Ac_W", &Class::F_Ac_W, cls_doc.F_Ac_W.doc);
DefCopyAndDeepCopy(&cls);
AddValueInstantiation<Class>(m);
}
// ContactResults
{
using Class = ContactResults<T>;
constexpr auto& cls_doc = doc.ContactResults;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "ContactResults", param, cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc)
.def("num_point_pair_contacts", &Class::num_point_pair_contacts,
cls_doc.num_point_pair_contacts.doc)
.def("point_pair_contact_info", &Class::point_pair_contact_info,
py::arg("i"), cls_doc.point_pair_contact_info.doc)
.def("num_hydroelastic_contacts", &Class::num_hydroelastic_contacts,
cls_doc.num_hydroelastic_contacts.doc)
.def("hydroelastic_contact_info", &Class::hydroelastic_contact_info,
py::arg("i"), cls_doc.hydroelastic_contact_info.doc);
DefCopyAndDeepCopy(&cls);
AddValueInstantiation<Class>(m);
}
// CoulombFriction
{
using Class = CoulombFriction<T>;
constexpr auto& cls_doc = doc.CoulombFriction;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "CoulombFriction", param, cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc_0args)
.def(py::init<const T&, const T&>(), py::arg("static_friction"),
py::arg("dynamic_friction"), cls_doc.ctor.doc_2args)
.def("static_friction", &Class::static_friction,
cls_doc.static_friction.doc)
.def("dynamic_friction", &Class::dynamic_friction,
cls_doc.dynamic_friction.doc);
DefCopyAndDeepCopy(&cls);
AddValueInstantiation<CoulombFriction<T>>(m);
m.def(
"CalcContactFrictionFromSurfaceProperties",
[](const multibody::CoulombFriction<T>& surface_properties1,
const multibody::CoulombFriction<T>& surface_properties2) {
return drake::multibody::CalcContactFrictionFromSurfaceProperties(
surface_properties1, surface_properties2);
},
py::arg("surface_properties1"), py::arg("surface_properties2"),
py_rvp::reference, doc.CalcContactFrictionFromSurfaceProperties.doc);
}
{
using Class = MultibodyPlant<T>;
constexpr auto& cls_doc = doc.MultibodyPlant;
auto cls = DefineTemplateClassWithDefault<Class, systems::LeafSystem<T>>(
m, "MultibodyPlant", param, cls_doc.doc);
// N.B. These are defined as they appear in the class declaration.
// Forwarded methods from `MultibodyTree`.
cls // BR
.def(py::init<double>(), py::arg("time_step"), cls_doc.ctor.doc)
.def("time_step", &Class::time_step, cls_doc.time_step.doc)
.def("num_bodies", &Class::num_bodies, cls_doc.num_bodies.doc)
.def("num_joints", &Class::num_joints, cls_doc.num_joints.doc)
.def("num_actuators", &Class::num_actuators, cls_doc.num_actuators.doc)
.def("num_force_elements", &Class::num_force_elements,
cls_doc.num_force_elements.doc)
.def("num_model_instances", &Class::num_model_instances,
cls_doc.num_model_instances.doc)
.def("num_positions",
overload_cast_explicit<int>(&Class::num_positions),
cls_doc.num_positions.doc_0args)
.def("num_positions",
overload_cast_explicit<int, ModelInstanceIndex>(
&Class::num_positions),
py::arg("model_instance"), cls_doc.num_positions.doc_1args)
.def("num_velocities",
overload_cast_explicit<int>(&Class::num_velocities),
cls_doc.num_velocities.doc_0args)
.def("num_velocities",
overload_cast_explicit<int, ModelInstanceIndex>(
&Class::num_velocities),
py::arg("model_instance"), cls_doc.num_velocities.doc_1args)
.def("num_multibody_states",
overload_cast_explicit<int>(&Class::num_multibody_states),
cls_doc.num_multibody_states.doc_0args)
.def("num_multibody_states",
overload_cast_explicit<int, ModelInstanceIndex>(
&Class::num_multibody_states),
py::arg("model_instance"), cls_doc.num_multibody_states.doc_1args)
.def("num_actuated_dofs",
overload_cast_explicit<int>(&Class::num_actuated_dofs),
cls_doc.num_actuated_dofs.doc_0args)
.def("num_actuated_dofs",
overload_cast_explicit<int, ModelInstanceIndex>(
&Class::num_actuated_dofs),
py::arg("model_instance"), cls_doc.num_actuated_dofs.doc_1args);
// Construction.
cls // BR
.def(
"AddJoint",
[](Class * self, std::unique_ptr<Joint<T>> joint) -> auto& {
return self->AddJoint(std::move(joint));
},
py::arg("joint"), py_rvp::reference_internal,
cls_doc.AddJoint.doc_1args)
.def("AddJointActuator", &Class::AddJointActuator,
py_rvp::reference_internal, py::arg("name"), py::arg("joint"),
py::arg("effort_limit") = std::numeric_limits<double>::infinity(),
cls_doc.AddJointActuator.doc)
.def(
"AddFrame",
[](Class * self, std::unique_ptr<Frame<T>> frame) -> auto& {
return self->AddFrame(std::move(frame));
},
py_rvp::reference_internal, py::arg("frame"), cls_doc.AddFrame.doc)
.def("AddModelInstance", &Class::AddModelInstance, py::arg("name"),
cls_doc.AddModelInstance.doc)
.def(
"AddRigidBody",
[](Class * self, const std::string& name,
const SpatialInertia<double>& s) -> auto& {
return self->AddRigidBody(name, s);
},
py::arg("name"), py::arg("M_BBo_B"), py_rvp::reference_internal,
cls_doc.AddRigidBody.doc_2args)
.def("AddRigidBody",
py::overload_cast<const std::string&, ModelInstanceIndex,
const SpatialInertia<double>&>(&Class::AddRigidBody),
py::arg("name"), py::arg("model_instance"), py::arg("M_BBo_B"),
py_rvp::reference_internal, cls_doc.AddRigidBody.doc_3args)
.def("WeldFrames",
py::overload_cast<const Frame<T>&, const Frame<T>&,
const RigidTransform<double>&>(&Class::WeldFrames),
py::arg("A"), py::arg("B"),
py::arg("X_AB") = RigidTransform<double>::Identity(),
py_rvp::reference_internal, cls_doc.WeldFrames.doc)
.def(
"WeldFrames",
[](Class* self, const Frame<T>& A, const Frame<T>& B,
const Isometry3<double>& X_AB) -> const WeldJoint<T>& {
WarnDeprecated(doc_iso3_deprecation);
return self->WeldFrames(A, B, RigidTransform<double>(X_AB));
},
py::arg("A"), py::arg("B"), py::arg("X_AB"),
py_rvp::reference_internal, doc_iso3_deprecation)
.def(
"AddForceElement",
[](Class * self,
std::unique_ptr<ForceElement<T>> force_element) -> auto& {
return self->template AddForceElement<ForceElement>(
std::move(force_element));
},
py::arg("force_element"), py_rvp::reference_internal,
cls_doc.AddForceElement.doc);
// Mathy bits
cls // BR
.def(
"CalcPointsPositions",
[](const Class* self, const Context<T>& context,
const Frame<T>& frame_B,
const Eigen::Ref<const MatrixX<T>>& p_BQi,
const Frame<T>& frame_A) {
MatrixX<T> p_AQi(p_BQi.rows(), p_BQi.cols());
self->CalcPointsPositions(
context, frame_B, p_BQi, frame_A, &p_AQi);
return p_AQi;
},
py::arg("context"), py::arg("frame_B"), py::arg("p_BQi"),
py::arg("frame_A"), cls_doc.CalcPointsPositions.doc)
// TODO(eric.cousineau): Include `CalcInverseDynamics` once there is an
// overload that (a) services MBP directly and (b) uses body
// association that is less awkward than implicit BodyNodeIndex.
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
.def("CalcCenterOfMassPosition",
overload_cast_explicit<Vector3<T>, const Context<T>&>(
&Class::CalcCenterOfMassPosition),
py::arg("context"),
cls_doc.CalcCenterOfMassPosition.doc_1args)
.def("CalcCenterOfMassPosition",
overload_cast_explicit<Vector3<T>, const Context<T>&,
const std::vector<ModelInstanceIndex>&>(
&Class::CalcCenterOfMassPosition),
py::arg("context"), py::arg("model_instances"),
cls_doc.CalcCenterOfMassPosition.doc_2args)
#pragma GCC diagnostic pop
.def("CalcCenterOfMassPositionInWorld",
overload_cast_explicit<Vector3<T>, const Context<T>&>(
&Class::CalcCenterOfMassPositionInWorld),
py::arg("context"),
cls_doc.CalcCenterOfMassPositionInWorld.doc_1args)
.def("CalcCenterOfMassPositionInWorld",
overload_cast_explicit<Vector3<T>, const Context<T>&,
const std::vector<ModelInstanceIndex>&>(
&Class::CalcCenterOfMassPositionInWorld),
py::arg("context"), py::arg("model_instances"),
cls_doc.CalcCenterOfMassPositionInWorld.doc_2args)
.def(
"CalcSpatialMomentumInWorldAboutPoint",
[](const Class* self, const Context<T>& context,
const Vector3<T>& p_WoP_W) {
return self->CalcSpatialMomentumInWorldAboutPoint(
context, p_WoP_W);
},
py::arg("context"), py::arg("p_WoP_W"),
cls_doc.CalcSpatialMomentumInWorldAboutPoint.doc_2args)
.def(
"CalcSpatialMomentumInWorldAboutPoint",
[](const Class* self, const Context<T>& context,
const std::vector<ModelInstanceIndex>& model_instances,
const Vector3<T>& p_WoP_W) {
return self->CalcSpatialMomentumInWorldAboutPoint(
context, model_instances, p_WoP_W);
},
py::arg("context"), py::arg("model_instances"), py::arg("p_WoP_W"),
cls_doc.CalcSpatialMomentumInWorldAboutPoint.doc_3args)
.def(
"CalcBiasCenterOfMassTranslationalAcceleration",
[](const Class* self, const Context<T>& context,
JacobianWrtVariable with_respect_to, const Frame<T>& frame_A,
const Frame<T>& frame_E) {
return self->CalcBiasCenterOfMassTranslationalAcceleration(
context, with_respect_to, frame_A, frame_E);
},
py::arg("context"), py::arg("with_respect_to"), py::arg("frame_A"),
py::arg("frame_E"),
cls_doc.CalcBiasCenterOfMassTranslationalAcceleration.doc)
.def(
"CalcJacobianCenterOfMassTranslationalVelocity",
[](const Class* self, const Context<T>& context,
JacobianWrtVariable with_respect_to, const Frame<T>& frame_A,
const Frame<T>& frame_E) {
Matrix3X<T> Js_v_ACcm_E(
3, GetVariableSize<T>(*self, with_respect_to));
self->CalcJacobianCenterOfMassTranslationalVelocity(
context, with_respect_to, frame_A, frame_E, &Js_v_ACcm_E);
return Js_v_ACcm_E;
},
py::arg("context"), py::arg("with_respect_to"), py::arg("frame_A"),
py::arg("frame_E"),
cls_doc.CalcJacobianCenterOfMassTranslationalVelocity.doc)
.def("GetFreeBodyPose", &Class::GetFreeBodyPose, py::arg("context"),
py::arg("body"), cls_doc.GetFreeBodyPose.doc)
.def("SetFreeBodyPose",
overload_cast_explicit<void, Context<T>*, const Body<T>&,
const RigidTransform<T>&>(&Class::SetFreeBodyPose),
py::arg("context"), py::arg("body"), py::arg("X_WB"),
cls_doc.SetFreeBodyPose.doc_3args)
.def(
"SetFreeBodyPose",
[](const Class* self, Context<T>* context, const Body<T>& body,
const Isometry3<T>& X_WB) {
WarnDeprecated(doc_iso3_deprecation);
return self->SetFreeBodyPose(
context, body, RigidTransform<T>(X_WB));
},
py::arg("context"), py::arg("body"), py::arg("X_WB"),
doc_iso3_deprecation)
.def("SetDefaultFreeBodyPose", &Class::SetDefaultFreeBodyPose,
py::arg("body"), py::arg("X_WB"),
cls_doc.SetDefaultFreeBodyPose.doc)
.def("GetDefaultFreeBodyPose", &Class::GetDefaultFreeBodyPose,
py::arg("body"), cls_doc.GetDefaultFreeBodyPose.doc)
.def(
"SetActuationInArray",
[](const Class* self, multibody::ModelInstanceIndex model_instance,
const Eigen::Ref<const VectorX<T>> u_instance,
Eigen::Ref<VectorX<T>> u) -> void {
self->SetActuationInArray(model_instance, u_instance, &u);
},
py::arg("model_instance"), py::arg("u_instance"), py::arg("u"),
cls_doc.SetActuationInArray.doc)
.def("GetPositionsFromArray", &Class::GetPositionsFromArray,
py::arg("model_instance"), py::arg("q"),
cls_doc.GetPositionsFromArray.doc)
.def(
"SetPositionsInArray",
[](const Class* self, multibody::ModelInstanceIndex model_instance,
const Eigen::Ref<const VectorX<T>> q_instance,
Eigen::Ref<VectorX<T>> q) -> void {
self->SetPositionsInArray(model_instance, q_instance, &q);
},
py::arg("model_instance"), py::arg("q_instance"), py::arg("q"),
cls_doc.SetPositionsInArray.doc)
.def("GetVelocitiesFromArray", &Class::GetVelocitiesFromArray,
py::arg("model_instance"), py::arg("v"),
cls_doc.GetVelocitiesFromArray.doc)
.def(
"SetVelocitiesInArray",
[](const Class* self, multibody::ModelInstanceIndex model_instance,
const Eigen::Ref<const VectorX<T>> v_instance,
Eigen::Ref<VectorX<T>> v) -> void {
self->SetVelocitiesInArray(model_instance, v_instance, &v);
},
py::arg("model_instance"), py::arg("v_instance"), py::arg("v"),
cls_doc.SetVelocitiesInArray.doc)
// TODO(eric.cousineau): Ensure all of these return either references,
// or copies, consistently. At present, `GetX(context)` returns a
// reference, while `GetX(context, model_instance)` returns a copy.
.def(
"GetPositions",
[](const Class* self, const Context<T>& context) {
// Reference.
return CopyIfNotPodType(self->GetPositions(context));
},
py::arg("context"), return_value_policy_for_scalar_type<T>(),
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(), cls_doc.GetPositions.doc_1args)
.def(
"GetPositions",
[](const Class* self, const Context<T>& context,
ModelInstanceIndex model_instance) {
// Copy.
return self->GetPositions(context, model_instance);
},
py::arg("context"), py::arg("model_instance"),
cls_doc.GetPositions.doc_2args)
.def(
"GetVelocities",
[](const Class* self, const Context<T>& context) {
// Reference.
return CopyIfNotPodType(self->GetVelocities(context));
},
py::arg("context"), return_value_policy_for_scalar_type<T>(),
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(), cls_doc.GetVelocities.doc_1args)
.def(
"GetVelocities",
[](const Class* self, const Context<T>& context,
ModelInstanceIndex model_instance) {
// Copy.
return self->GetVelocities(context, model_instance);
},
py::arg("context"), py::arg("model_instance"),
cls_doc.GetVelocities.doc_2args)
.def(
"SetFreeBodySpatialVelocity",
[](const Class* self, const Body<T>& body,
const SpatialVelocity<T>& V_WB, Context<T>* context) {
self->SetFreeBodySpatialVelocity(context, body, V_WB);
},
py::arg("body"), py::arg("V_WB"), py::arg("context"),
cls_doc.SetFreeBodySpatialVelocity.doc_3args)
.def("HasUniqueFreeBaseBody", &Class::HasUniqueFreeBaseBody,
py::arg("model_instance"), cls_doc.HasUniqueFreeBaseBody.doc)
.def("GetUniqueFreeBaseBodyOrThrow",
&Class::GetUniqueFreeBaseBodyOrThrow, py::arg("model_instance"),
cls_doc.GetUniqueFreeBaseBodyOrThrow.doc)
.def(
"EvalBodyPoseInWorld",
[](const Class* self, const Context<T>& context,
const Body<T>& body_B) {
return self->EvalBodyPoseInWorld(context, body_B);
},
py::arg("context"), py::arg("body"),
cls_doc.EvalBodyPoseInWorld.doc)
.def(
"EvalBodySpatialVelocityInWorld",
[](const Class* self, const Context<T>& context,
const Body<T>& body_B) {
return self->EvalBodySpatialVelocityInWorld(context, body_B);
},
py::arg("context"), py::arg("body"),
cls_doc.EvalBodySpatialVelocityInWorld.doc)
.def(
"CalcJacobianSpatialVelocity",
[](const Class* self, const systems::Context<T>& context,
JacobianWrtVariable with_respect_to, const Frame<T>& frame_B,
const Eigen::Ref<const Vector3<T>>& p_BP,
const Frame<T>& frame_A, const Frame<T>& frame_E) {
MatrixX<T> Js_V_ABp_E(
6, GetVariableSize<T>(*self, with_respect_to));
self->CalcJacobianSpatialVelocity(context, with_respect_to,
frame_B, p_BP, frame_A, frame_E, &Js_V_ABp_E);
return Js_V_ABp_E;
},
py::arg("context"), py::arg("with_respect_to"), py::arg("frame_B"),
py::arg("p_BP"), py::arg("frame_A"), py::arg("frame_E"),
cls_doc.CalcJacobianSpatialVelocity.doc)
.def(
"CalcJacobianAngularVelocity",
[](const Class* self, const Context<T>& context,
JacobianWrtVariable with_respect_to, const Frame<T>& frame_B,
const Frame<T>& frame_A, const Frame<T>& frame_E) {
Matrix3X<T> Js_w_AB_E(
3, GetVariableSize<T>(*self, with_respect_to));
self->CalcJacobianAngularVelocity(context, with_respect_to,
frame_B, frame_A, frame_E, &Js_w_AB_E);
return Js_w_AB_E;
},
py::arg("context"), py::arg("with_respect_to"), py::arg("frame_B"),
py::arg("frame_A"), py::arg("frame_E"),
cls_doc.CalcJacobianAngularVelocity.doc)
.def(
"CalcJacobianTranslationalVelocity",
[](const Class* self, const Context<T>& context,
JacobianWrtVariable with_respect_to, const Frame<T>& frame_B,
const Eigen::Ref<const Matrix3X<T>>& p_BoBi_B,
const Frame<T>& frame_A, const Frame<T>& frame_E) {
const int num_points = p_BoBi_B.cols();
MatrixX<T> Js_v_ABi_E(
3 * num_points, GetVariableSize<T>(*self, with_respect_to));
self->CalcJacobianTranslationalVelocity(context, with_respect_to,
frame_B, p_BoBi_B, frame_A, frame_E, &Js_v_ABi_E);
return Js_v_ABi_E;
},
py::arg("context"), py::arg("with_respect_to"), py::arg("frame_B"),
py::arg("p_BoBi_B"), py::arg("frame_A"), py::arg("frame_E"),
cls_doc.CalcJacobianTranslationalVelocity.doc)
.def(
"CalcSpatialAccelerationsFromVdot",
[](const Class* self, const Context<T>& context,
const VectorX<T>& known_vdot) {
std::vector<SpatialAcceleration<T>> A_WB_array(
self->num_bodies());
self->CalcSpatialAccelerationsFromVdot(
context, known_vdot, &A_WB_array);
return A_WB_array;
},
py::arg("context"), py::arg("known_vdot"),
cls_doc.CalcSpatialAccelerationsFromVdot.doc)
.def("CalcInverseDynamics", &Class::CalcInverseDynamics,
py::arg("context"), py::arg("known_vdot"),
py::arg("external_forces"), cls_doc.CalcInverseDynamics.doc)
.def("CalcForceElementsContribution",
&Class::CalcForceElementsContribution, py::arg("context"),
py::arg("forces"), cls_doc.CalcForceElementsContribution.doc)
.def("GetPositionLowerLimits", &Class::GetPositionLowerLimits,
cls_doc.GetPositionLowerLimits.doc)
.def("GetPositionUpperLimits", &Class::GetPositionUpperLimits,
cls_doc.GetPositionUpperLimits.doc)
.def("GetVelocityLowerLimits", &Class::GetVelocityLowerLimits,
cls_doc.GetVelocityLowerLimits.doc)
.def("GetVelocityUpperLimits", &Class::GetVelocityUpperLimits,
cls_doc.GetVelocityUpperLimits.doc)
.def("GetAccelerationLowerLimits", &Class::GetAccelerationLowerLimits,
cls_doc.GetAccelerationLowerLimits.doc)
.def("GetAccelerationUpperLimits", &Class::GetAccelerationUpperLimits,
cls_doc.GetAccelerationUpperLimits.doc)
.def(
"CalcMassMatrixViaInverseDynamics",
[](const Class* self, const Context<T>& context) {
MatrixX<T> H;
const int n = self->num_velocities();
H.resize(n, n);
self->CalcMassMatrixViaInverseDynamics(context, &H);
return H;
},
py::arg("context"))
.def(
"CalcBiasSpatialAcceleration",
[](const Class* self, const systems::Context<T>& context,
JacobianWrtVariable with_respect_to, const Frame<T>& frame_B,
const Eigen::Ref<const Vector3<T>>& p_BoBp_B,
const Frame<T>& frame_A, const Frame<T>& frame_E) {
return self->CalcBiasSpatialAcceleration(context, with_respect_to,
frame_B, p_BoBp_B, frame_A, frame_E);
},
py::arg("context"), py::arg("with_respect_to"), py::arg("frame_B"),
py::arg("p_BoBp_B"), py::arg("frame_A"), py::arg("frame_E"),
cls_doc.CalcBiasSpatialAcceleration.doc)
.def(
"CalcBiasTranslationalAcceleration",
[](const Class* self, const Context<T>& context,
JacobianWrtVariable with_respect_to, const Frame<T>& frame_B,
const Eigen::Ref<const Matrix3X<T>>& p_BoBi_B,
const Frame<T>& frame_A, const Frame<T>& frame_E) {
return self->CalcBiasTranslationalAcceleration(context,
with_respect_to, frame_B, p_BoBi_B, frame_A, frame_E);
},
py::arg("context"), py::arg("with_respect_to"), py::arg("frame_B"),
py::arg("p_BoBi_B"), py::arg("frame_A"), py::arg("frame_E"),
cls_doc.CalcBiasTranslationalAcceleration.doc)
.def(
"CalcBiasTerm",
[](const Class* self, const Context<T>& context) {
VectorX<T> Cv(self->num_velocities());
self->CalcBiasTerm(context, &Cv);
return Cv;
},
py::arg("context"), cls_doc.CalcBiasTerm.doc)
.def("CalcGravityGeneralizedForces",
&Class::CalcGravityGeneralizedForces, py::arg("context"),
cls_doc.CalcGravityGeneralizedForces.doc)
.def("MakeActuationMatrix", &Class::MakeActuationMatrix,
cls_doc.MakeActuationMatrix.doc)
.def(
"MapVelocityToQDot",
[](const Class* self, const Context<T>& context,
const Eigen::Ref<const VectorX<T>>& v) {
VectorX<T> qdot(self->num_positions());
self->MapVelocityToQDot(context, v, &qdot);
return qdot;
},
py::arg("context"), py::arg("v"), cls_doc.MapVelocityToQDot.doc)
.def(
"MapQDotToVelocity",
[](const Class* self, const Context<T>& context,
const Eigen::Ref<const VectorX<T>>& qdot) {
VectorX<T> v(self->num_velocities());
self->MapQDotToVelocity(context, qdot, &v);
return v;
},
py::arg("context"), py::arg("qdot"), cls_doc.MapQDotToVelocity.doc)
.def("CalcRelativeTransform", &Class::CalcRelativeTransform,
py::arg("context"), py::arg("frame_A"), py::arg("frame_B"),
cls_doc.CalcRelativeTransform.doc);
// Topology queries.
cls // BR
.def("num_frames", &Class::num_frames, cls_doc.num_frames.doc)
.def("get_body", &Class::get_body, py::arg("body_index"),
py_rvp::reference_internal, cls_doc.get_body.doc)
.def("get_joint", &Class::get_joint, py::arg("joint_index"),
py_rvp::reference_internal, cls_doc.get_joint.doc)
.def("get_mutable_joint", &Class::get_mutable_joint,
py::arg("joint_index"), py_rvp::reference_internal,
cls_doc.get_mutable_joint.doc)
.def("get_joint_actuator", &Class::get_joint_actuator,
py::arg("actuator_index"), py_rvp::reference_internal,
cls_doc.get_joint_actuator.doc)
.def("get_frame", &Class::get_frame, py::arg("frame_index"),
py_rvp::reference_internal, cls_doc.get_frame.doc)
.def("gravity_field", &Class::gravity_field, py_rvp::reference_internal,
cls_doc.gravity_field.doc)
.def("mutable_gravity_field", &Class::mutable_gravity_field,
py_rvp::reference_internal, cls_doc.mutable_gravity_field.doc)
.def("GetJointIndices", &Class::GetJointIndices,
py::arg("model_instance"), cls_doc.GetJointIndices.doc)
.def("GetModelInstanceName",
overload_cast_explicit<const string&, ModelInstanceIndex>(
&Class::GetModelInstanceName),
py::arg("model_instance"), py_rvp::reference_internal,
cls_doc.GetModelInstanceName.doc)
.def("HasModelInstanceNamed", &Class::HasModelInstanceNamed,
py::arg("name"), cls_doc.HasModelInstanceNamed.doc)
.def("HasBodyNamed",
overload_cast_explicit<bool, const string&>(&Class::HasBodyNamed),
py::arg("name"), cls_doc.HasBodyNamed.doc_1args)
.def("HasBodyNamed",
overload_cast_explicit<bool, const string&, ModelInstanceIndex>(
&Class::HasBodyNamed),
py::arg("name"), py::arg("model_instance"),
cls_doc.HasBodyNamed.doc_2args)
.def("HasJointNamed",
overload_cast_explicit<bool, const string&>(&Class::HasJointNamed),
py::arg("name"), cls_doc.HasJointNamed.doc_1args)
.def("HasJointNamed",
overload_cast_explicit<bool, const string&, ModelInstanceIndex>(
&Class::HasJointNamed),
py::arg("name"), py::arg("model_instance"),
cls_doc.HasJointNamed.doc_2args)
.def("HasJointActuatorNamed",
overload_cast_explicit<bool, const string&>(
&Class::HasJointActuatorNamed),
py::arg("name"), cls_doc.HasJointActuatorNamed.doc_1args)
.def("HasJointActuatorNamed",
overload_cast_explicit<bool, const string&, ModelInstanceIndex>(
&Class::HasJointActuatorNamed),
py::arg("name"), py::arg("model_instance"),
cls_doc.HasJointActuatorNamed.doc_2args)
.def("GetFrameByName",
overload_cast_explicit<const Frame<T>&, const string&>(
&Class::GetFrameByName),
py::arg("name"), py_rvp::reference_internal,
cls_doc.GetFrameByName.doc_1args)
.def("GetFrameByName",
overload_cast_explicit<const Frame<T>&, const string&,
ModelInstanceIndex>(&Class::GetFrameByName),
py::arg("name"), py::arg("model_instance"),
py_rvp::reference_internal, cls_doc.GetFrameByName.doc_2args)
.def("GetBodyByName",
overload_cast_explicit<const Body<T>&, const string&>(
&Class::GetBodyByName),
py::arg("name"), py_rvp::reference_internal,
cls_doc.GetBodyByName.doc_1args)
.def("GetBodyByName",
overload_cast_explicit<const Body<T>&, const string&,
ModelInstanceIndex>(&Class::GetBodyByName),
py::arg("name"), py::arg("model_instance"),
py_rvp::reference_internal, cls_doc.GetBodyByName.doc_2args)
.def("GetBodyFrameIdOrThrow", &Class::GetBodyFrameIdOrThrow,
py::arg("body_index"), cls_doc.GetBodyFrameIdOrThrow.doc)
.def("GetBodyIndices", &Class::GetBodyIndices,
py::arg("model_instance"), cls_doc.GetBodyIndices.doc)
.def(
"GetJointByName",
[](const Class* self, const string& name,
std::optional<ModelInstanceIndex> model_instance) -> auto& {
return self->GetJointByName(name, model_instance);
},
py::arg("name"), py::arg("model_instance") = std::nullopt,
py_rvp::reference_internal, cls_doc.GetJointByName.doc)
.def(
"GetMutableJointByName",
[](Class * self, const string& name,
std::optional<ModelInstanceIndex> model_instance) -> auto& {
return self->GetMutableJointByName(name, model_instance);
},
py::arg("name"), py::arg("model_instance") = std::nullopt,
py_rvp::reference_internal, cls_doc.GetJointByName.doc)
.def("GetJointActuatorByName",
overload_cast_explicit<const JointActuator<T>&, const string&>(
&Class::GetJointActuatorByName),
py::arg("name"), py_rvp::reference_internal,
cls_doc.GetJointActuatorByName.doc_1args)
.def("GetModelInstanceByName",
overload_cast_explicit<ModelInstanceIndex, const string&>(
&Class::GetModelInstanceByName),
py::arg("name"), py_rvp::reference_internal,
cls_doc.GetModelInstanceByName.doc)
.def(
"GetBodiesWeldedTo",
[](const Class& self, const Body<T>& body) {
auto welded_bodies = self.GetBodiesWeldedTo(body);
return py_keep_alive_iterable<py::list>(
py::cast(welded_bodies), py::cast(&self));
},
py::arg("body"), cls_doc.GetBodiesWeldedTo.doc)
.def("GetTopologyGraphvizString", &Class::GetTopologyGraphvizString,
cls_doc.GetTopologyGraphvizString.doc);
// Geometry.
cls // BR
.def("RegisterAsSourceForSceneGraph",
&Class::RegisterAsSourceForSceneGraph, py::arg("scene_graph"),
cls_doc.RegisterAsSourceForSceneGraph.doc)
.def("RegisterVisualGeometry",
py::overload_cast<const Body<T>&, const RigidTransform<double>&,
const geometry::Shape&, const std::string&,
const Vector4<double>&>(&Class::RegisterVisualGeometry),
py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
py::arg("diffuse_color"),
cls_doc.RegisterVisualGeometry
.doc_5args_body_X_BG_shape_name_diffuse_color)
.def(
"RegisterVisualGeometry",
[](Class* self, const Body<T>& body, const Isometry3<double>& X_BG,
const geometry::Shape& shape, const std::string& name,
const Vector4<double>& diffuse_color,
geometry::SceneGraph<T>* scene_graph) {
WarnDeprecated(doc_iso3_deprecation);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
if (!self->geometry_source_is_registered()) {
self->RegisterAsSourceForSceneGraph(scene_graph);
}
return self->RegisterVisualGeometry(body,
RigidTransform<double>(X_BG), shape, name, diffuse_color);
#pragma GCC diagnostic pop
},
py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
py::arg("diffuse_color"), py::arg("scene_graph") = nullptr,
doc_iso3_deprecation)
.def("RegisterCollisionGeometry",
py::overload_cast<const Body<T>&, const RigidTransform<double>&,
const geometry::Shape&, const std::string&,
geometry::ProximityProperties>(
&Class::RegisterCollisionGeometry),
py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
py::arg("properties"),
cls_doc.RegisterCollisionGeometry
.doc_5args_body_X_BG_shape_name_properties)
.def("RegisterCollisionGeometry",
py::overload_cast<const Body<T>&, const RigidTransform<double>&,
const geometry::Shape&, const std::string&,
const CoulombFriction<double>&>(
&Class::RegisterCollisionGeometry),
py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
py::arg("coulomb_friction"),
cls_doc.RegisterCollisionGeometry
.doc_5args_body_X_BG_shape_name_coulomb_friction)
.def("GetFloatingBaseBodies", &Class::GetFloatingBaseBodies,
cls_doc.GetFloatingBaseBodies.doc)
.def("get_source_id", &Class::get_source_id, cls_doc.get_source_id.doc)
.def("get_geometry_query_input_port",
&Class::get_geometry_query_input_port, py_rvp::reference_internal,
cls_doc.get_geometry_query_input_port.doc)
.def("get_geometry_poses_output_port",
&Class::get_geometry_poses_output_port, py_rvp::reference_internal,
cls_doc.get_geometry_poses_output_port.doc)
.def("geometry_source_is_registered",
&Class::geometry_source_is_registered,
cls_doc.geometry_source_is_registered.doc)
.def("GetBodyFromFrameId", &Class::GetBodyFromFrameId,
py_rvp::reference_internal, cls_doc.GetBodyFromFrameId.doc)
.def("GetBodyFrameIdIfExists", &Class::GetBodyFrameIdIfExists,
py::arg("body_index"), py_rvp::reference_internal,
cls_doc.GetBodyFrameIdIfExists.doc)
.def("GetCollisionGeometriesForBody",
&Class::GetCollisionGeometriesForBody, py::arg("body"),
py_rvp::reference_internal,
cls_doc.GetCollisionGeometriesForBody.doc)
.def("num_collision_geometries", &Class::num_collision_geometries,
cls_doc.num_collision_geometries.doc)
.def("CollectRegisteredGeometries", &Class::CollectRegisteredGeometries,
py::arg("bodies"), cls_doc.CollectRegisteredGeometries.doc);
// Port accessors.
cls // BR
.def("get_actuation_input_port",
overload_cast_explicit<const systems::InputPort<T>&>(
&Class::get_actuation_input_port),
py_rvp::reference_internal,
cls_doc.get_actuation_input_port.doc_0args)
.def("get_actuation_input_port",
overload_cast_explicit<const systems::InputPort<T>&,
multibody::ModelInstanceIndex>(
&Class::get_actuation_input_port),
py::arg("model_instance"), py_rvp::reference_internal,
cls_doc.get_actuation_input_port.doc_1args)
.def("get_applied_generalized_force_input_port",
overload_cast_explicit<const systems::InputPort<T>&>(
&Class::get_applied_generalized_force_input_port),
py_rvp::reference_internal,
cls_doc.get_applied_generalized_force_input_port.doc)
.def("get_applied_spatial_force_input_port",
overload_cast_explicit<const systems::InputPort<T>&>(
&Class::get_applied_spatial_force_input_port),
py_rvp::reference_internal,
cls_doc.get_applied_spatial_force_input_port.doc)
.def("get_body_poses_output_port",
overload_cast_explicit<const systems::OutputPort<T>&>(
&Class::get_body_poses_output_port),
py_rvp::reference_internal, cls_doc.get_body_poses_output_port.doc)
.def("get_body_spatial_velocities_output_port",
overload_cast_explicit<const systems::OutputPort<T>&>(
&Class::get_body_spatial_velocities_output_port),
py_rvp::reference_internal,
cls_doc.get_body_spatial_velocities_output_port.doc)
.def("get_body_spatial_accelerations_output_port",
overload_cast_explicit<const systems::OutputPort<T>&>(
&Class::get_body_spatial_accelerations_output_port),
py_rvp::reference_internal,
cls_doc.get_body_spatial_accelerations_output_port.doc)
.def("get_state_output_port",
overload_cast_explicit<const systems::OutputPort<T>&>(
&Class::get_state_output_port),
py_rvp::reference_internal, cls_doc.get_state_output_port.doc_0args)
.def("get_state_output_port",
overload_cast_explicit<const systems::OutputPort<T>&,
multibody::ModelInstanceIndex>(&Class::get_state_output_port),
py::arg("model_instance"), py_rvp::reference_internal,
cls_doc.get_state_output_port.doc_1args)
.def("get_generalized_acceleration_output_port",
overload_cast_explicit<const systems::OutputPort<T>&>(
&Class::get_generalized_acceleration_output_port),
py_rvp::reference_internal,
cls_doc.get_generalized_acceleration_output_port.doc_0args)
.def("get_generalized_acceleration_output_port",
overload_cast_explicit<const systems::OutputPort<T>&,
multibody::ModelInstanceIndex>(
&Class::get_generalized_acceleration_output_port),
py::arg("model_instance"), py_rvp::reference_internal,
cls_doc.get_generalized_acceleration_output_port.doc_1args)
.def("get_reaction_forces_output_port",
overload_cast_explicit<const systems::OutputPort<T>&>(
&Class::get_reaction_forces_output_port),
py_rvp::reference_internal,
cls_doc.get_reaction_forces_output_port.doc)
.def("get_contact_results_output_port",
overload_cast_explicit<const systems::OutputPort<T>&>(
&Class::get_contact_results_output_port),
py_rvp::reference_internal,
cls_doc.get_contact_results_output_port.doc)
.def("get_generalized_contact_forces_output_port",
overload_cast_explicit<const systems::OutputPort<T>&,
multibody::ModelInstanceIndex>(
&Class::get_generalized_contact_forces_output_port),
py_rvp::reference_internal, py::arg("model_instance"),
cls_doc.get_generalized_contact_forces_output_port.doc);
// Property accessors.
cls // BR
.def("world_body", &Class::world_body, py_rvp::reference_internal,
cls_doc.world_body.doc)
.def("world_frame", &Class::world_frame, py_rvp::reference_internal,
cls_doc.world_frame.doc)
.def("is_finalized", &Class::is_finalized, cls_doc.is_finalized.doc)
.def("Finalize", py::overload_cast<>(&Class::Finalize),
cls_doc.Finalize.doc)
.def("set_contact_model", &Class::set_contact_model, py::arg("model"),
cls_doc.set_contact_model.doc)
.def("get_contact_model", &Class::get_contact_model,
cls_doc.get_contact_model.doc)
.def("set_penetration_allowance", &Class::set_penetration_allowance,
py::arg("penetration_allowance") = 0.001,
cls_doc.set_penetration_allowance.doc)
.def("get_contact_penalty_method_time_scale",
&Class::get_contact_penalty_method_time_scale,
cls_doc.get_contact_penalty_method_time_scale.doc)
.def("set_stiction_tolerance", &Class::set_stiction_tolerance,
py::arg("v_stiction") = 0.001, cls_doc.set_stiction_tolerance.doc);
// Position and velocity accessors and mutators.
cls // BR
.def(
"GetMutablePositionsAndVelocities",
[](const MultibodyPlant<T>* self,
Context<T>* context) -> Eigen::Ref<VectorX<T>> {
return self->GetMutablePositionsAndVelocities(context);
},
py_rvp::reference, py::arg("context"),
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(),
cls_doc.GetMutablePositionsAndVelocities.doc)
.def(
"GetMutablePositions",
[](const MultibodyPlant<T>* self,
Context<T>* context) -> Eigen::Ref<VectorX<T>> {
return self->GetMutablePositions(context);
},
py_rvp::reference, py::arg("context"),
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(), cls_doc.GetMutablePositions.doc_1args)
.def(
"GetMutableVelocities",
[](const MultibodyPlant<T>* self,
Context<T>* context) -> Eigen::Ref<VectorX<T>> {
return self->GetMutableVelocities(context);
},
py_rvp::reference, py::arg("context"),
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(), cls_doc.GetMutableVelocities.doc_1args)
.def(
"GetPositions",
[](const MultibodyPlant<T>* self, const Context<T>& context)
-> VectorX<T> { return self->GetPositions(context); },
py_rvp::reference, py::arg("context"),
cls_doc.GetPositions.doc_1args)
.def(
"GetPositions",
[](const MultibodyPlant<T>* self, const Context<T>& context,
multibody::ModelInstanceIndex model_instance) -> VectorX<T> {
return self->GetPositions(context, model_instance);
},
py_rvp::reference, py::arg("context"), py::arg("model_instance"),
cls_doc.GetPositions.doc_2args)
.def(
"SetPositions",
[](const MultibodyPlant<T>* self, Context<T>* context,
const VectorX<T>& q) { self->SetPositions(context, q); },
py_rvp::reference, py::arg("context"), py::arg("q"),
cls_doc.SetPositions.doc_2args)
.def(
"SetPositions",
[](const MultibodyPlant<T>* self, Context<T>* context,
multibody::ModelInstanceIndex model_instance,
const VectorX<T>& q) {
self->SetPositions(context, model_instance, q);
},
py_rvp::reference, py::arg("context"), py::arg("model_instance"),
py::arg("q"), cls_doc.SetPositions.doc_2args)
.def(
"GetVelocities",
[](const MultibodyPlant<T>* self, const Context<T>& context)
-> VectorX<T> { return self->GetVelocities(context); },
py_rvp::reference, py::arg("context"),
cls_doc.GetVelocities.doc_1args)
.def(
"GetVelocities",
[](const MultibodyPlant<T>* self, const Context<T>& context,
multibody::ModelInstanceIndex model_instance) -> VectorX<T> {
return self->GetVelocities(context, model_instance);
},
py_rvp::reference, py::arg("context"), py::arg("model_instance"),
cls_doc.GetVelocities.doc_2args)
.def(
"SetVelocities",
[](const MultibodyPlant<T>* self, Context<T>* context,
const VectorX<T>& v) { self->SetVelocities(context, v); },
py_rvp::reference, py::arg("context"), py::arg("v"),
cls_doc.SetVelocities.doc_2args)
.def(
"SetVelocities",
[](const MultibodyPlant<T>* self, Context<T>* context,
ModelInstanceIndex model_instance, const VectorX<T>& v) {
self->SetVelocities(context, model_instance, v);
},
py_rvp::reference, py::arg("context"), py::arg("model_instance"),
py::arg("v"), cls_doc.SetVelocities.doc_3args)
.def(
"GetPositionsAndVelocities",
[](const MultibodyPlant<T>* self,
const Context<T>& context) -> VectorX<T> {
return self->GetPositionsAndVelocities(context);
},
py_rvp::reference, py::arg("context"),
cls_doc.GetPositionsAndVelocities.doc_1args)
.def(
"GetPositionsAndVelocities",
[](const MultibodyPlant<T>* self, const Context<T>& context,