manipulation.utils
- manipulation.utils.AddMujocoMenagerie(package_map)
Add the remote mujoco_menagerie package to the given PackageMap. https://github.com/google-deepmind/mujoco_menagerie
- Parameters:
package_map (PackageMap)
- manipulation.utils.ApplyDefaultVisualization(builder, meshcat)
Follows Drake’s ApplyDefaultVisualization, but disables LCM (drake visualizer) by default.
- Parameters:
builder (DiagramBuilder)
meshcat (Meshcat)
- manipulation.utils.ConfigurePackageMap(package_map)
Add the manipulation module packages to the given PackageMap.
- Parameters:
package_map (PackageMap)
- manipulation.utils.ConfigureParser(parser)
Add the manipulation module packages to the given Parser.
- Parameters:
parser (Parser)
- manipulation.utils.DrakeVersionGreaterThan(minimum_date)
Check that the Drake version is at least minimum_data.
- Parameters:
minimum_date (date)
- manipulation.utils.FindDataResource(filename)
Returns the absolute path to the given filename relative to the book data directory; fetching it from a remote host if necessary.
- Parameters:
filename (str)
- manipulation.utils.FindResource(filename)
Returns the absolute path to the given filename relative to the manipulation module.
- Parameters:
filename (str)
- manipulation.utils.GetDrakeVersion()
Returns a string representing the Drake version, if availableor “source”.
- Return type:
str
- manipulation.utils.RenderDiagram(system, max_depth=None)
Use pydot to render the GraphViz diagram of the given system.
- Parameters:
system (System) – The Drake system (or diagram) to render.
max_depth (int, optional) – Sets a limit to the depth of nested diagrams to visualize. Use zero to render a diagram as a single system block. Defaults to 1.
- manipulation.utils.SystemHtml(system)
Generates an HTML string for system of the style seen in the Drake doxygen documentation.
- Parameters:
system (System)
- manipulation.utils.colorize_labels(image)
Given a label image, replace the integer labels with color values that display nicely in matplotlib.
- Parameters:
image (Image𝓣PixelType𝓹kLabel16I𝓤)