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51 lines
2.3 KiB
51 lines
2.3 KiB
2 years ago
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import inspect as _inspect
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def ApplyDriverConfigs(*, driver_configs, sim_plant, models_from_directives,
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lcm_buses, builder):
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"""Applies many driver configurations to a model.
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A "driver configuration" helps stack Drake systems between an LCM interface
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subscriber system and the actuation input ports of a MultibodyPlant (to
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enact the driver command), as well as the output ports of a MultibodyPlant
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back to an LCM interface publisher system (to provide the driver status).
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These conceptually simulate "drivers" -- they take the role that driver
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software and control cabinets would take in real life -- but may also
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model some physical properties of the robot that are not easily reflected
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in MultibodyPlant (e.g., the WSG belt drive).
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This function assumes that the ApplyDriverConfig functions associated with
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the values in the driver_configs map are defined in the same module as the
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value itself.
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Args:
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driver_configs: The configurations to apply, mapping a ``str`` model
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instance name to some kind of a DriverConfig object (e.g., a
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``pydrake.manipulation.util.ZeroForceDriver``).
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sim_plant: The plant containing the model.
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models_from_directives: The list of ``ModelInstanceInfo`` from
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previously-loaded directives (e.g., from ``ProcessModelDirectives``).
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lcm_buses: The available LCM buses to drive and/or sense from this
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driver.
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builder: The ``DiagramBuilder`` into which to install this driver.
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"""
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# This implements the drake/manipulation/util/apply_driver_configs.h
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# function of the same name. Due to the peculiarities of std::variant
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# and argument-dependent lookup, it's easier to re-implement it rather
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# than bind it via pybind11.
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models_from_directives_map = dict([
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(info.model_name, info)
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for info in models_from_directives
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])
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for model_instance_name, driver_config in driver_configs.items():
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module = _inspect.getmodule(driver_config)
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apply_function = getattr(module, "ApplyDriverConfig")
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apply_function(
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driver_config,
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model_instance_name,
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sim_plant,
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models_from_directives_map,
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lcm_buses,
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builder)
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