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adding support for model instances in our common utils functions #353

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8dcb549
adding support for model instances in our common utils functions
yangwill Nov 6, 2023
132cc81
cleaning up code as per comments
yangwill Nov 14, 2023
35d9c45
fixing compile issues, renaming base to pelvis for cassie examples
yangwill Nov 14, 2023
36c292c
renaming hardcoded base link for cassie examples
yangwill Nov 14, 2023
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1 change: 1 addition & 0 deletions bindings/pydairlib/multibody/BUILD.bazel
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ pybind_py_library(
cc_deps = [
"//multibody:multipose_visualizer",
"//multibody:utils",
"//multibody:visualization_utils",
"@drake//:drake_shared_library",
],
cc_so_name = "multibody",
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20 changes: 17 additions & 3 deletions bindings/pydairlib/multibody/multibody_py.cc
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Expand Up @@ -5,6 +5,7 @@

#include "multibody/multibody_utils.h"
#include "multibody/multipose_visualizer.h"
#include "multibody/visualization_utils.h"

namespace py = pybind11;

Expand All @@ -22,12 +23,18 @@ PYBIND11_MODULE(multibody, m) {
.def(py::init<std::string, int, std::string>())
.def(py::init<std::string, int, double, std::string>())
.def(py::init<std::string, int, Eigen::VectorXd, std::string>())
.def("DrawPoses", &MultiposeVisualizer::DrawPoses, py::arg("poses"));
.def("DrawPoses", &MultiposeVisualizer::DrawPoses, py::arg("poses"))
.def("GetMeshcat", &MultiposeVisualizer::GetMeshcat);

m.def("ConnectTrajectoryVisualizer",
&dairlib::multibody::ConnectTrajectoryVisualizer, py::arg("plant"),
py::arg("builder"), py::arg("scene_graph"), py::arg("trajectory"));

m.def("MakeNameToPositionsMap",
&dairlib::multibody::MakeNameToPositionsMap<double>, py::arg("plant"))
py::overload_cast<const drake::multibody::MultibodyPlant<double>&>(&dairlib::multibody::MakeNameToPositionsMap<double>),
py::arg("plant"))
.def("MakeNameToVelocitiesMap",
&dairlib::multibody::MakeNameToVelocitiesMap<double>,
py::overload_cast<const drake::multibody::MultibodyPlant<double>&>(&dairlib::multibody::MakeNameToVelocitiesMap<double>),
py::arg("plant"))
.def("MakeNameToActuatorsMap",
&dairlib::multibody::MakeNameToActuatorsMap<double>,
Expand All @@ -38,10 +45,17 @@ PYBIND11_MODULE(multibody, m) {
.def("CreateActuatorNameVectorFromMap",
&dairlib::multibody::CreateActuatorNameVectorFromMap<double>,
py::arg("plant"))
.def("CreateWithSpringsToWithoutSpringsMapPos",
&dairlib::multibody::CreateWithSpringsToWithoutSpringsMapPos<double>,
py::arg("plant_w_spr"), py::arg("plant_wo_spr"))
.def("CreateWithSpringsToWithoutSpringsMapVel",
&dairlib::multibody::CreateWithSpringsToWithoutSpringsMapVel<double>,
py::arg("plant_w_spr"), py::arg("plant_wo_spr"))
.def("AddFlatTerrain", &dairlib::multibody::AddFlatTerrain<double>,
py::arg("plant"), py::arg("scene_graph"), py::arg("mu_static"),
py::arg("mu_kinetic"),
py::arg("normal_W") = Eigen::Vector3d(0, 0, 1),
py::arg("stiffness") = 0, py::arg("dissipation_rate") = 0,
py::arg("show_ground") = 1);
}

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35 changes: 27 additions & 8 deletions bindings/pydairlib/systems/robot_lcm_systems_py.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@
#include "drake/multibody/plant/multibody_plant.h"

namespace py = pybind11;
using py_rvp = py::return_value_policy;

namespace dairlib {
namespace pydairlib {
Expand All @@ -18,32 +17,52 @@ PYBIND11_MODULE(robot_lcm_systems, m) {

using drake::multibody::MultibodyPlant;
using systems::RobotOutputSender;
using py_rvp = py::return_value_policy;

py::class_<systems::RobotOutputReceiver, drake::systems::LeafSystem<double>>(
m, "RobotOutputReceiver")
.def(py::init<const MultibodyPlant<double>&>());
.def(py::init<const MultibodyPlant<double>&>())
.def(py::init<const MultibodyPlant<double>&,
drake::multibody::ModelInstanceIndex>());
py::class_<systems::RobotInputReceiver, drake::systems::LeafSystem<double>>(
m, "RobotInputReceiver")
.def(py::init<const MultibodyPlant<double>&>());
py::class_<RobotOutputSender, drake::systems::LeafSystem<double>>(
m, "RobotOutputSender")
.def(py::init<const MultibodyPlant<double>&, bool>())
.def(py::init<const MultibodyPlant<double>&, bool, bool>())
.def(py::init<const MultibodyPlant<double>&,
drake::multibody::ModelInstanceIndex,
bool, bool>())
.def("get_input_port_state", &RobotOutputSender::get_input_port_state,
py_rvp::reference_internal)
py_rvp::reference_internal)
.def("get_input_port_effort", &RobotOutputSender::get_input_port_effort,
py_rvp::reference_internal)
py_rvp::reference_internal)
.def("get_input_port_imu", &RobotOutputSender::get_input_port_imu,
py_rvp::reference_internal);
py_rvp::reference_internal);
py::class_<systems::RobotCommandSender, drake::systems::LeafSystem<double>>(
m, "RobotCommandSender")
.def(py::init<const MultibodyPlant<double>&>());
m.def("AddActuationRecieverAndStateSenderLcm",
&dairlib::systems::AddActuationRecieverAndStateSenderLcm,
py::overload_cast<drake::systems::DiagramBuilder<double>*,
const MultibodyPlant<double>&,
drake::systems::lcm::LcmInterfaceSystem*, std::string,
std::string, double,
drake::multibody::ModelInstanceIndex, bool, double>(
&dairlib::systems::AddActuationRecieverAndStateSenderLcm),
py::arg("builder"), py::arg("plant"), py::arg("lcm"),
py::arg("actuator_channel"), py::arg("state_channel"),
py::arg("publish_rate"), py::arg("model_instance"),
py::arg("publish_efforts"), py::arg("actuator_delay"));
m.def("AddActuationRecieverAndStateSenderLcm",
py::overload_cast<drake::systems::DiagramBuilder<double>*,
const MultibodyPlant<double>&,
drake::systems::lcm::LcmInterfaceSystem*, std::string,
std::string, double, bool, double>(
&dairlib::systems::AddActuationRecieverAndStateSenderLcm),
py::arg("builder"), py::arg("plant"), py::arg("lcm"),
py::arg("actuator_channel"), py::arg("state_channel"),
py::arg("publish_rate"), py::arg("publish_efforts"),
py::arg("actuator_delay"));

}

} // namespace pydairlib
Expand Down
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