initial_condition_manager

Submodules

Classes

class brom_drake.utils.initial_condition_manager.initial_condition.InitialCondition(model_instance_index: pydrake.multibody.tree.ModelInstanceIndex, pose_wrt_parent: pydrake.math.RigidTransform = None, configuration: numpy.ndarray = None, target_body_index: int = 0)

set_initial_configuration(plant: MultibodyPlant, diagram_context: Context = None)

Description

Set the initial configuration for the given model instance in the plant.

Note: Defining the default positions will fail, if the context for the plant has already been created. In that case, we also set the positions in the provided diagram context (if any).

set_initial_pose(plant: MultibodyPlant, diagram_context: Context = None)

Description

Set the initial pose for the given model instance in the plant.

class brom_drake.utils.initial_condition_manager.manager.InitialConditionManager(_ic_tuples: List[brom_drake.utils.initial_condition_manager.initial_condition.InitialCondition] = <factory>)

set_all_initial_conditions(plant: MultibodyPlant, diagram_context: Context = None)

Description

Set all initial conditions (both the pose and configuration) for the given plant.

set_all_initial_configurations(plant: MultibodyPlant, diagram_context: Context = None)

Set all known initial configurations for the given plant.

set_all_initial_poses(plant: MultibodyPlant, diagram_context: Context = None)

Set all known initial poses for the given plant.

Functions

(None found)

Variables

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