def test_model_directives(self):
model_dir = os.path.dirname(
FindResourceOrThrow("drake/multibody/parsing/test/"
"process_model_directives_test/package.xml"))
plant = MultibodyPlant(time_step=0.01)
parser = Parser(plant=plant)
parser.package_map().PopulateFromFolder(model_dir)
directives_file = model_dir + "/add_scoped_top.yaml"
directives = LoadModelDirectives(directives_file)
added_models = ProcessModelDirectives(directives=directives,
plant=plant,
parser=parser)
# Check for an instance.
model_names = [model.model_name for model in added_models]
self.assertIn("extra_model", model_names)
plant.GetModelInstanceByName("extra_model")
# Test that other bound symbols exist.
ModelInstanceInfo.model_name
ModelInstanceInfo.model_path
ModelInstanceInfo.parent_frame_name
ModelInstanceInfo.child_frame_name
ModelInstanceInfo.X_PC
ModelInstanceInfo.model_instance
AddFrame.name
AddFrame.X_PF
frame = GetScopedFrameByName(plant, "world")
self.assertIsNotNone(GetScopedFrameName(plant, frame))
def MustardExampleSystem():
builder = DiagramBuilder()
# Create the physics engine + scene graph.
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.0)
parser = Parser(plant)
AddPackagePaths(parser)
ProcessModelDirectives(
LoadModelDirectives(FindResource("models/mustard_w_cameras.yaml")),
plant, parser)
plant.Finalize()
# Add a visualizer just to help us see the object.
use_meshcat = False
if use_meshcat:
meshcat = builder.AddSystem(MeshcatVisualizer(scene_graph))
builder.Connect(scene_graph.get_query_output_port(),
meshcat.get_geometry_query_input_port())
AddRgbdSensors(builder, plant, scene_graph)
diagram = builder.Build()
diagram.set_name("depth_camera_demo_system")
return diagram
def test_process_model_directives(self):
"""Check the Process... overload using a Parser."""
(plant, parser, directives) = self._make_plant_parser_directives()
added_models = ProcessModelDirectives(directives=directives,
parser=parser)
model_names = [model.model_name for model in added_models]
self.assertIn("extra_model", model_names)
plant.GetModelInstanceByName("extra_model")
def test_model_directives(self):
model_dir = os.path.dirname(FindResourceOrThrow(
"drake/multibody/parsing/test/"
"process_model_directives_test/package.xml"))
plant = MultibodyPlant(time_step=0.01)
parser = Parser(plant=plant)
parser.package_map().PopulateFromFolder(model_dir)
directives_file = model_dir + "/add_scoped_top.yaml"
directives = LoadModelDirectives(directives_file)
added_models = ProcessModelDirectives(
directives=directives, plant=plant, parser=parser)
# Check for an instance.
model_names = [model.model_name for model in added_models]
self.assertIn("extra_model", model_names)
plant.GetModelInstanceByName("extra_model")