Add python bindings for Joint::getWrenchTo{Child|Parent}BodyNode (#1621)

.ci/build.sh

@@ -164,15 +164,14 @@ if [ "$BUILD_TUTORIALS" = "ON" ]; then
   make -j$num_threads all tutorials
 fi
 
-make -j$num_threads install
-
 # dartpy: build, test, and install
 if [ "$BUILD_DARTPY" = "ON" ]; then
   make -j$num_threads dartpy
   make pytest
-  make -j$num_threads install-dartpy
 fi
 
+make -j$num_threads install
+
 # Codecov
 if [ "$CODECOV" = "ON" ]; then
   lcov --directory . --capture --output-file coverage.info

CHANGELOG.md

@@ -6,6 +6,10 @@
 
   * Fixed bullet header include: [#1620](https://github.com/dartsim/dart/pull/1620)
 
+* dartpy
+
+  * Added Python bindings for Joint::getWrenchTo{Child|Parent}BodyNode: [#1621](https://github.com/dartsim/dart/pull/1621)
+
 ### [DART 6.12.0 (2021-11-1)](https://github.com/dartsim/dart/milestone/66?closed=1)
 
 * API Breaking Changes

CMakeLists.txt

@@ -608,7 +608,7 @@ message(STATUS "Run 'make view_docs' to see the API documentation")
 message(STATUS "Run 'make install' to install all the C++ components")
 if(TARGET dartpy)
   message(STATUS "Run 'make dartpy' to build dartpy")
-  message(STATUS "Run 'make install-dartpy' to install dartpy")
+  message(STATUS "Run 'make install' to install dartpy")
 endif()
 
 #===============================================================================

python/dartpy/CMakeLists.txt

@@ -10,34 +10,33 @@ if(NOT DARTPY_PYTHON_VERSION)
   set(DARTPY_PYTHON_VERSION 3.4 CACHE STRING "Choose the target Python version (e.g., 3.4, 2.7)" FORCE)
 endif()
 
-find_package(PythonInterp ${DARTPY_PYTHON_VERSION} QUIET)
-execute_process(COMMAND ${PYTHON_EXECUTABLE} -c
-  "from distutils.sysconfig import get_python_lib;\
-  print(get_python_lib(plat_specific=True, prefix=''))"
-  OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
-  OUTPUT_STRIP_TRAILING_WHITESPACE
-)
-if(NOT IS_ABSOLUTE PYTHON_SITE_PACKAGES)
-  set(PYTHON_SITE_PACKAGES "${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE_PACKAGES}")
+# Find pybind11, including PythonInterp and PythonLibs
+# Needs to set PYBIND11_PYTHON_VERSION before finding pybind11
+set(PYBIND11_PYTHON_VERSION ${DARTPY_PYTHON_VERSION})
+find_package(pybind11 2.2.0 QUIET)
+if(NOT pybind11_FOUND)
+  message(WARNING "Disabling [dartpy] due to missing pybind11 >= 2.2.0.")
+  return()
 endif()
+
 if(NOT PythonInterp_FOUND AND NOT PYTHONINTERP_FOUND)
   message(WARNING "Disabling [dartpy] due to missing [PythonInterp].")
   return()
 endif()
 
-find_package(PythonLibs ${DARTPY_PYTHON_VERSION} QUIET)
 if(NOT PythonLibs_FOUND AND NOT PYTHONLIBS_FOUND)
   message(WARNING "Disabling [dartpy] due to missing [PythonLibs].")
   return()
 endif()
 
-# Find pybind11
-# Needs to set PYBIND11_PYTHON_VERSION before finding pybind11
-set(PYBIND11_PYTHON_VERSION ${DARTPY_PYTHON_VERSION})
-find_package(pybind11 2.2.0 QUIET)
-if(NOT pybind11_FOUND)
-  message(WARNING "Disabling [dartpy] due to missing pybind11 >= 2.2.0.")
-  return()
+execute_process(COMMAND ${PYTHON_EXECUTABLE} -c
+  "from distutils.sysconfig import get_python_lib;\
+  print(get_python_lib(plat_specific=True, prefix=''))"
+  OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+if(NOT IS_ABSOLUTE PYTHON_SITE_PACKAGES)
+  set(PYTHON_SITE_PACKAGES "${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE_PACKAGES}")
 endif()
 
 file(GLOB_RECURSE dartpy_headers "*.h" "*.hpp")
@@ -99,10 +98,9 @@ if(BUILD_SHARED_LIBS)
     "Install the shared libraries to be able to import ${pybind_module}."
   )
 endif()
-add_custom_target(install-${pybind_module}
-  COMMENT "${install_comment}"
-  COMMAND ${CMAKE_COMMAND} -E copy ${PYBIND_MODULE} ${PYTHON_SITE_PACKAGES}
-  DEPENDS ${install_dartpy_deps}
+# Install the pybind module to site-packages directory
+install(TARGETS ${pybind_module}
+  LIBRARY DESTINATION "${PYTHON_SITE_PACKAGES}"
 )
 
 list(REMOVE_ITEM dartpy_headers

python/dartpy/dynamics/Joint.cpp

@@ -892,6 +892,14 @@ void Joint(py::module& m)
           +[](const dart::dynamics::Joint* self) -> Eigen::Vector6d {
             return self->getBodyConstraintWrench();
           })
+      .def(
+          "getWrenchToChildBodyNode",
+          &dart::dynamics::Joint::getWrenchToChildBodyNode,
+          ::py::arg("withRespectTo") = nullptr)
+      .def(
+          "getWrenchToParentBodyNode",
+          &dart::dynamics::Joint::getWrenchToParentBodyNode,
+          ::py::arg("withRespectTo") = nullptr)
       .def(
           "notifyPositionUpdated",
           +[](dart::dynamics::Joint* self)

python/dartpy/dynamics/SimpleFrame.cpp

@@ -47,7 +47,7 @@ void SimpleFrame(py::module& m)
       dart::dynamics::SimpleFrame,
       dart::dynamics::ShapeFrame,
       dart::dynamics::Detachable,
-      std::shared_ptr<dart::dynamics::SimpleFrame> >(m, "SimpleFrame")
+      std::shared_ptr<dart::dynamics::SimpleFrame>>(m, "SimpleFrame")
       .def(::py::init<>())
       .def(::py::init<dart::dynamics::Frame*>(), ::py::arg("refFrame"))
       .def(

python/dartpy/eigen_geometry_pybind.cpp

@@ -167,6 +167,9 @@ void eigen_geometry(pybind11::module& parent_m)
       .def("matrix", [](const Class* self) -> Eigen::Matrix<T, 4, 4> {
         return self->matrix();
       })
+      .def("set_identity", [](Class* self) {
+        self->setIdentity();
+      })
       .def("set_matrix", [](Class* self, const Eigen::Matrix<T, 4, 4>& matrix) {
         Class update(matrix);
         CheckIsometry(update);

python/dartpy/utils/SdfParser.cpp

@@ -43,11 +43,11 @@ void SdfParser(py::module& m)
 {
   auto sm = m.def_submodule("SdfParser");
 
-  ::py::enum_<utils::SdfParser::RootJointType>(m, "RootJointType")
+  ::py::enum_<utils::SdfParser::RootJointType>(sm, "RootJointType")
       .value("FLOATING", utils::SdfParser::RootJointType::FLOATING)
       .value("FIXED", utils::SdfParser::RootJointType::FIXED);
 
-  ::py::class_<utils::SdfParser::Options>(m, "Options")
+  ::py::class_<utils::SdfParser::Options>(sm, "Options")
       .def(
           ::py::init<
               common::ResourceRetrieverPtr,

python/tests/CMakeLists.txt

@@ -50,6 +50,7 @@ function(dartpy_add_test test_name) # ARGN for source file
     COMMAND PYTHONPATH=${DART_DARTPY_BUILD_DIR} ${PYTHON_EXECUTABLE} ${source}
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
     SOURCES ${source}
+    DEPENDS dartpy
   )
 endfunction()