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 test_scoped_frame_names(self):
plant = MultibodyPlant(time_step=0.01)
frame = GetScopedFrameByName(plant, "world")
self.assertIsNotNone(GetScopedFrameName(plant, frame))