def test_mbp_overloads(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")
parameters = mut.DifferentialInverseKinematicsParameters(2, 2)
mut.DoDifferentialInverseKinematics(plant, context, np.zeros(6), frame,
parameters)
mut.DoDifferentialInverseKinematics(plant, context, RigidTransform(),
frame, parameters)
def test_mbp_overloads(self):
file_name = FindResourceOrThrow(
"drake/multibody/benchmarks/acrobot/acrobot.sdf")
plant = MultibodyPlant()
AddModelFromSdfFile(file_name=file_name, plant=plant, scene_graph=None)
plant.Finalize()
context = plant.CreateDefaultContext()
frame = plant.GetFrameByName("Link2")
parameters = mut.DifferentialInverseKinematicsParameters(2, 2)
mut.DoDifferentialInverseKinematics(plant, context, np.zeros(6), frame,
parameters)
mut.DoDifferentialInverseKinematics(plant, context,
Isometry3.Identity(), frame,
parameters)
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)