def test_diff_ik_integrator(self):
file_name = FindResourceOrThrow(
"drake/multibody/benchmarks/acrobot/acrobot.sdf")
plant = MultibodyPlant(0.0)
Parser(plant).AddModelFromFile(file_name)
plant.Finalize()
context = plant.CreateDefaultContext()
frame = plant.GetFrameByName("Link2")
time_step = 0.1
parameters = mut.DifferentialInverseKinematicsParameters(2, 2)
integrator = mut.DifferentialInverseKinematicsIntegrator(
robot=plant,
frame_E=frame,
time_step=time_step,
parameters=parameters,
robot_context=context)
def test_diff_ik_integrator(self):
file_name = FindResourceOrThrow(
"drake/multibody/benchmarks/acrobot/acrobot.sdf")
plant = MultibodyPlant(0.0)
Parser(plant).AddModelFromFile(file_name)
plant.Finalize()
context = plant.CreateDefaultContext()
frame = plant.GetFrameByName("Link2")
time_step = 0.1
parameters = mut.DifferentialInverseKinematicsParameters(2, 2)
integrator = mut.DifferentialInverseKinematicsIntegrator(
robot=plant,
frame_E=frame,
time_step=time_step,
parameters=parameters,
robot_context=context,
log_only_when_result_state_changes=True)
integrator.get_mutable_parameters().set_timestep(0.2)
self.assertEqual(integrator.get_parameters().get_timestep(), 0.2)