unisim.backend.drake.properties

Cold-path Drake native property expectations and audits.

Functions

scan_expected_native_properties(model_file, ...)

Scan one compiled portable source without loading DrakeUni.

validate_native_model_properties(expected, ...)

Require Drake-native values to match the compiled portable source.

Classes

ExpectedNativeProperties

Portable source values used only to audit Drake readback.
class unisim.backend.drake.properties.ExpectedNativeProperties[source]

Bases: object

Portable source values used only to audit Drake readback.

Parameters:
body_names: tuple[str, ...]
body_masses: ndarray
body_coms: ndarray
body_inertias: ndarray
geometry_names: tuple[str, ...]
geometry_body_indices: ndarray
geometry_types: tuple[str, ...]
geometry_collision: tuple[bool, ...]
geometry_parameters: ndarray
__init__(body_names, body_masses, body_coms, body_inertias, geometry_names, geometry_body_indices, geometry_types, geometry_collision, geometry_parameters)
Parameters:
unisim.backend.drake.properties.scan_expected_native_properties(model_file, layout)[source]

Scan one compiled portable source without loading DrakeUni.

Parameters:

  • model_file (str)

  • layout (CompiledSceneLayout)

Return type:

ExpectedNativeProperties

unisim.backend.drake.properties.validate_native_model_properties(expected, actual, variant)[source]

Require Drake-native values to match the compiled portable source.

Parameters:
Return type:

None