CODEWITHSUNDEEP
pythondrake
zliu
zliu

Reputation: 153

PyDrake AttributeError: 'MultibodyPlant_[float]' object has no attribute 'get_body_poses_output_port'

In PyDrake I get AttributeError from this line: body_pose_output_port = plant.get_body_poses_output_port()

Error message:

AttributeError: 'MultibodyPlant_[float]' object has no attribute 'get_body_poses_output_port'

Here is how I set up the plant: 

plt_is_interactive = SetupMatplotlibBackend()

builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.0001)
file_name = FindResource("models/robot.urdf")
robot_model = Parser(plant).AddModelFromFile(file_name)
file_name = FindResource("models/object.urdf")
object_model = Parser(plant).AddModelFromFile(file_name)

plant.Finalize()
plant.set_name('robot')

What I don't understand is that getting state output in essentially the same way doesn't raise any errors, i.e.state_output_port = plant.get_state_output_port(robot_model) behaves as expected and returns the correct port.

What's the difference in calling get_body_poses_output_port() vs. get_state_output_port() that I'm missing here?

Upvotes: 1

Views: 266

Answers (1)

jwnimmer-tri
jwnimmer-tri

Reputation: 2449

The C++ method MultibodyPlant::get_body_poses_output_port() is not bound in pydrake.

Upvotes: 1

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