utils¶
Submodules¶
Classes¶
Functions¶
- brom_drake.utils.angles.rpy_equivalent_body_rotation_order() list[RollPitchYawAngle][source]¶
Description
This method returns the equivalent body rotation order for Roll-Pitch-Yaw angles.
- brom_drake.utils.collision_checking.using_point_pair_penetration(plant: MultibodyPlant, scene_graph: SceneGraph, root_context: Context, min_acceptable_distance: float = 0.001, debug_flag: bool = False) bool[source]¶
Description¶
Check for any collisions using the point pair penetration method. Returns True if any collisions are detected, otherwise False.
Arguments¶
- plantMultibodyPlant
The plant to check for collisions. (Seems unnecessary)
- scene_graphSceneGraph
The scene graph associated with the plant.
- root_contextContext
The context of the root diagram.
- min_acceptable_distancefloat
The minimum distance to consider as a collision. Defaults to 1e-2.
- brom_drake.utils.ground.AddGround(plant: MultibodyPlant, shape: GroundShape = GroundShape.kBox, z_ground: float = None, ground_thickness: float = 0.1)[source]¶
Description¶
Add a flat ground with friction
Arguments¶
- plant: MultibodyPlant
The plant to add the ground to.
- shape: GroundShape
The shape of the ground. Defaults to a box.
- z_ground: float
The height at which the “top” of the ground will be placed.
- brom_drake.utils.model_instances.find_number_of_positions_in_welded_model(path_to_model: str) int[source]¶
Description¶
This method will return the number of positions in the model described at path_to_model WHEN the base link is welded to the world frame.
This is most useful for finding things like the number of positions in a robot.
Returns¶
- int
The number of positions in the model.
- brom_drake.utils.model_instances.get_all_bodies_in(plant: MultibodyPlant, model_instance: ModelInstanceIndex) list[RigidBody][source]¶
Description
This method returns all the bodies in the given model instance.
- brom_drake.utils.model_instances.get_first_body_in(plant: MultibodyPlant, model_instance: ModelInstanceIndex) RigidBody[source]¶
Description
This method returns the first body in the given model instance.
- brom_drake.utils.model_instances.get_name_of_all_bodies_in_urdf(urdf_in: str) list[str][source]¶
Description
This method returns the name of the first body found in the urdf given by urdf_in.
- brom_drake.utils.model_instances.get_name_of_first_body_in_urdf(urdf_in: str) str[source]¶
Description¶
This method returns the name of the first body found in the urdf given by urdf_in.
- brom_drake.utils.plant.get_all_associated_body_indices_in_plant(plant: MultibodyPlant) List[BodyIndex][source]¶
Description
This method returns all the bodies in the given model instance.
- brom_drake.utils.search.find_all_systems_with_input_port(builder: DiagramBuilder, target_port_name: str) List[LeafSystem | Diagram][source]¶
Description¶
This method looks through the builder and finds all systems that have an input port with the given name. :param builder: :param target_port_name: :return:
- brom_drake.utils.search.find_all_systems_with_name(builder: DiagramBuilder, target_system_name: str) List[LeafSystem | Diagram][source]¶
Description¶
This method looks through the builder and finds all systems that have an output port with the given name. :param builder: :param target_system_name: Target name of the system that we would like to find. :return:
- brom_drake.utils.search.find_all_systems_with_output_port(builder: DiagramBuilder, target_port_name: str) List[LeafSystem | Diagram][source]¶
Description¶
This method looks through the builder and finds all systems that have an output port with the given name. :param builder: :param target_port_name: :return:
- brom_drake.utils.triads.AddMultibodyTriad(frame: Frame, scene_graph: SceneGraph, length: float = 0.25, radius: float = 0.01, opacity: float = 1.0)[source]¶
- brom_drake.utils.triads.AddTriad(source_id, frame_id, scene_graph: SceneGraph, length: float = 0.25, radius: float = 0.01, opacity: float = 1.0, X_FT: RigidTransform = RigidTransform(R=RotationMatrix([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]), p=[0.0, 0.0, 0.0]), name: str = 'frame')[source]¶
Adds illustration geometry representing the coordinate frame, with the x-axis drawn in red, the y-axis in green and the z-axis in blue. The axes point in +x, +y and +z directions, respectively.
- Args:
source_id: The source registered with SceneGraph. frame_id: A geometry::frame_id registered with scene_graph. scene_graph: The SceneGraph with which we will register the geometry. length: the length of each axis in meters. radius: the radius of each axis in meters. opacity: the opacity of the coordinate axes, between 0 and 1. X_FT: a RigidTransform from the triad frame T to the frame_id frame F name: the added geometry will have names name + “ x-axis”, etc.
- brom_drake.utils.type_checking.is_rigid_transform(obj: Any) bool[source]¶
Description¶
This function checks if the object is a RigidTransform. We will perform 2 checks. 1. Check if the object is a RigidTransform object directly, and then 2. Check if the object has the translation() and rotation() methods.
Variables¶
(None found)