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:
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)