pydrake: Bind some missing multibody plant-related items (RobotLocomo…

…tion#14192)

bindings/pydrake/multibody/BUILD.bazel

@@ -238,6 +238,7 @@ drake_py_unittest(
         "//examples/atlas:models",
         "//multibody/benchmarks/acrobot:models",
         "//multibody/parsing:process_model_directives_test_models",
+        "//multibody/parsing:test_models",
     ],
     deps = [
         ":parsing_py",

bindings/pydrake/multibody/parsing_py.cc

@@ -29,16 +29,22 @@ PYBIND11_MODULE(parsing, m) {
     constexpr auto& cls_doc = doc.PackageMap;
     py::class_<Class>(m, "PackageMap", cls_doc.doc)
         .def(py::init<>(), cls_doc.ctor.doc)
-        .def("Add", &Class::Add, cls_doc.Add.doc)
-        .def("Contains", &Class::Contains, cls_doc.Contains.doc)
+        .def("Add", &Class::Add, py::arg("package_name"),
+            py::arg("package_path"), cls_doc.Add.doc)
+        .def("Contains", &Class::Contains, py::arg("package_name"),
+            cls_doc.Contains.doc)
         .def("size", &Class::size, cls_doc.size.doc)
-        .def("GetPath", &Class::GetPath, cls_doc.GetPath.doc)
-        .def("PopulateFromFolder", &Class::PopulateFromFolder,
+        .def("GetPath", &Class::GetPath, py::arg("package_name"),
+            cls_doc.GetPath.doc)
+        .def("AddPackageXml", &Class::AddPackageXml, py::arg("filename"),
+            cls_doc.AddPackageXml.doc)
+        .def("PopulateFromFolder", &Class::PopulateFromFolder, py::arg("path"),
             cls_doc.PopulateFromFolder.doc)
         .def("PopulateFromEnvironment", &Class::PopulateFromEnvironment,
+            py::arg("environment_variable"),
             cls_doc.PopulateFromEnvironment.doc)
         .def("PopulateUpstreamToDrake", &Class::PopulateUpstreamToDrake,
-            cls_doc.PopulateUpstreamToDrake.doc);
+            py::arg("model_file"), cls_doc.PopulateUpstreamToDrake.doc);
   }
 
   // Parser

bindings/pydrake/multibody/plant_py.cc

@@ -96,6 +96,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
         .def("separation_speed", &Class::separation_speed,
             cls_doc.separation_speed.doc)
         .def("point_pair", &Class::point_pair, cls_doc.point_pair.doc);
+    DefCopyAndDeepCopy(&cls);
   }
 
   // ContactResults
@@ -110,6 +111,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
             cls_doc.num_point_pair_contacts.doc)
         .def("point_pair_contact_info", &Class::point_pair_contact_info,
             py::arg("i"), cls_doc.point_pair_contact_info.doc);
+    DefCopyAndDeepCopy(&cls);
     AddValueInstantiation<Class>(m);
   }
 
@@ -120,12 +122,14 @@ void DoScalarDependentDefinitions(py::module m, T) {
     auto cls = DefineTemplateClassWithDefault<Class>(
         m, "CoulombFriction", param, cls_doc.doc);
     cls  // BR
+        .def(py::init<>(), cls_doc.ctor.doc_0args)
         .def(py::init<const T&, const T&>(), py::arg("static_friction"),
             py::arg("dynamic_friction"), cls_doc.ctor.doc_2args)
         .def("static_friction", &Class::static_friction,
             cls_doc.static_friction.doc)
         .def("dynamic_friction", &Class::dynamic_friction,
             cls_doc.dynamic_friction.doc);
+    DefCopyAndDeepCopy(&cls);
 
     AddValueInstantiation<CoulombFriction<T>>(m);
 
@@ -1024,6 +1028,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
         .def_readwrite("body_index", &Class::body_index, cls_doc.body_index.doc)
         .def_readwrite("p_BoBq_B", &Class::p_BoBq_B, cls_doc.p_BoBq_B.doc)
         .def_readwrite("F_Bq_W", &Class::F_Bq_W, cls_doc.F_Bq_W.doc);
+    DefCopyAndDeepCopy(&cls);
     AddValueInstantiation<Class>(m);
     // Some ports need `Value<std::vector<Class>>`.
     AddValueInstantiation<std::vector<Class>>(m);
@@ -1113,19 +1118,24 @@ PYBIND11_MODULE(plant, m) {
       py::keep_alive<3, 1>(),
       doc.ConnectContactResultsToDrakeVisualizer.doc_3args);
 
-  py::class_<PropellerInfo>(m, "PropellerInfo", doc.PropellerInfo.doc)
-      .def(py::init<const BodyIndex&, const math::RigidTransform<double>&,
-               double, double>(),
-          py::arg("body_index"),
-          py::arg("X_BP") = math::RigidTransform<double>::Identity(),
-          py::arg("thrust_ratio") = 1.0, py::arg("moment_ratio") = 0.0)
-      .def_readwrite("body_index", &PropellerInfo::body_index,
-          doc.PropellerInfo.body_index.doc)
-      .def_readwrite("X_BP", &PropellerInfo::X_BP, doc.PropellerInfo.X_BP.doc)
-      .def_readwrite("thrust_ratio", &PropellerInfo::thrust_ratio,
-          doc.PropellerInfo.thrust_ratio.doc)
-      .def_readwrite("moment_ratio", &PropellerInfo::moment_ratio,
-          doc.PropellerInfo.moment_ratio.doc);
+  {
+    using Class = PropellerInfo;
+    constexpr auto& cls_doc = doc.PropellerInfo;
+    py::class_<Class> cls(m, "PropellerInfo", cls_doc.doc);
+    cls  // BR
+        .def(py::init<const BodyIndex&, const math::RigidTransform<double>&,
+                 double, double>(),
+            py::arg("body_index"),
+            py::arg("X_BP") = math::RigidTransform<double>::Identity(),
+            py::arg("thrust_ratio") = 1.0, py::arg("moment_ratio") = 0.0)
+        .def_readwrite("body_index", &Class::body_index, cls_doc.body_index.doc)
+        .def_readwrite("X_BP", &Class::X_BP, cls_doc.X_BP.doc)
+        .def_readwrite(
+            "thrust_ratio", &Class::thrust_ratio, cls_doc.thrust_ratio.doc)
+        .def_readwrite(
+            "moment_ratio", &Class::moment_ratio, cls_doc.moment_ratio.doc);
+    DefCopyAndDeepCopy(&cls);
+  }
 
   {
     using Class = ContactModel;

bindings/pydrake/multibody/test/parsing_test.py

@@ -31,19 +31,21 @@ def test_package_map(self):
         model = FindResourceOrThrow(
             "drake/examples/atlas/urdf/atlas_minimal_contact.urdf")
 
-        # Simple coverage test for Add, Contains, size, GetPath.
-        dut.Add("root", tmpdir)
+        # Simple coverage test for Add, Contains, size, GetPath, AddPackageXml.
+        dut.Add(package_name="root", package_path=tmpdir)
         self.assertEqual(dut.size(), 1)
-        self.assertTrue(dut.Contains("root"))
-        self.assertEqual(dut.GetPath("root"), tmpdir)
+        self.assertTrue(dut.Contains(package_name="root"))
+        self.assertEqual(dut.GetPath(package_name="root"), tmpdir)
+        dut.AddPackageXml(filename=FindResourceOrThrow(
+            "drake/multibody/parsing/test/box_package/package.xml"))
 
         # Simple coverage test for Drake paths.
-        dut.PopulateUpstreamToDrake(model)
+        dut.PopulateUpstreamToDrake(model_file=model)
         self.assertGreater(dut.size(), 1)
 
         # Simple coverage test for folder and environment.
-        dut.PopulateFromEnvironment('TEST_TMPDIR')
-        dut.PopulateFromFolder(tmpdir)
+        dut.PopulateFromEnvironment(environment_variable='TEST_TMPDIR')
+        dut.PopulateFromFolder(path=tmpdir)
 
     def test_parser_file(self):
         """Calls every combination of arguments for the Parser methods which

bindings/pydrake/multibody/test/plant_test.py

@@ -1,5 +1,6 @@
 # -*- coding: utf-8 -*-
 
+import copy
 import unittest
 import copy
 
@@ -536,7 +537,9 @@ def test_spatial_inertia_api(self, T):
     @numpy_compare.check_all_types
     def test_friction_api(self, T):
         CoulombFriction = CoulombFriction_[T]
+        CoulombFriction()
         CoulombFriction(static_friction=0.7, dynamic_friction=0.6)
+        copy.copy(CoulombFriction())
 
     @numpy_compare.check_all_types
     def test_multibody_force_element(self, T):
@@ -966,6 +969,12 @@ def extract_list_value(port):
         # TODO(eric.cousineau): Merge `check_applied_force_input_ports` into
         # this test.
 
+    @numpy_compare.check_all_types
+    def test_externally_applied_spatial_force(self, T):
+        ExternallyAppliedSpatialForce = ExternallyAppliedSpatialForce_[T]
+        dut = ExternallyAppliedSpatialForce()
+        copy.copy(dut)
+
     @TemplateSystem.define("AppliedForceTestSystem_")
     def AppliedForceTestSystem_(T):
 
@@ -1676,10 +1685,12 @@ def test_contact(self, T):
         self.assertTrue(isinstance(contact_info.slip_speed(), T))
         self.assertIsInstance(
             contact_info.point_pair(), PenetrationAsPointPair)
+        copy.copy(contact_info)
 
         # ContactResults
         contact_results = ContactResults()
         self.assertTrue(contact_results.num_point_pair_contacts() == 0)
+        copy.copy(contact_results)
 
     def test_contact_model(self):
         plant = MultibodyPlant_[float](0.1)
@@ -1830,6 +1841,7 @@ def test_propeller(self):
                              moment_ratio=0.1)
         self.assertEqual(info.thrust_ratio, 1.0)
         self.assertEqual(info.moment_ratio, 0.1)
+        copy.copy(info)
 
         prop = Propeller_[float](body_index=BodyIndex(1),
                                  X_BP=RigidTransform_[float](),

multibody/parsing/package_map.cc

@@ -220,9 +220,9 @@ void PackageMap::CrawlForPackages(const string& path) {
   }
 }
 
-void PackageMap::AddPackageXml(const string& package_xml_filename) {
-  const string package_name = GetPackageName(package_xml_filename);
-  const string package_path = GetParentDirectory(package_xml_filename);
+void PackageMap::AddPackageXml(const string& filename) {
+  const string package_name = GetPackageName(filename);
+  const string package_path = GetParentDirectory(filename);
   Add(package_name, package_path);
 }
 

multibody/parsing/package_map.h

@@ -34,9 +34,9 @@ class PackageMap {
   const std::string& GetPath(const std::string& package_name) const;
 
   /// Adds an entry into this PackageMap for the given `package.xml` filename.
-  /// Throws if @p package_xml_filename does not exist or its embedded name
-  /// already exists in this map.
-  void AddPackageXml(const std::string& package_xml_filename);
+  /// Throws if @p filename does not exist or its embedded name already exists
+  /// in this map.
+  void AddPackageXml(const std::string& filename);
 
   /// Crawls down the directory tree starting at @p path searching for
   /// directories containing the file `package.xml`. For each of these