[multibody] Add binding for MultibodyPlant::GetActuationFromArray() (#…

…22356)
RobotLocomotion · Dec 28, 2024 · 30baad1 · 30baad1
1 parent 6848228
commit 30baad1
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diff --git a/bindings/pydrake/multibody/plant_py.cc b/bindings/pydrake/multibody/plant_py.cc
@@ -442,6 +442,9 @@ void DoScalarDependentDefinitions(py::module m, T) {
             cls_doc.SetDefaultFreeBodyPose.doc)
         .def("GetDefaultFreeBodyPose", &Class::GetDefaultFreeBodyPose,
             py::arg("body"), cls_doc.GetDefaultFreeBodyPose.doc)
+        .def("GetActuationFromArray", &Class::GetActuationFromArray,
+            py::arg("model_instance"), py::arg("u"),
+            cls_doc.GetActuationFromArray.doc)
         .def("SetActuationInArray", &Class::SetActuationInArray,
             py::arg("model_instance"), py::arg("u_instance"), py::arg("u"),
             cls_doc.SetActuationInArray.doc)

diff --git a/bindings/pydrake/multibody/test/plant_test.py b/bindings/pydrake/multibody/test/plant_test.py
@@ -1941,6 +1941,9 @@ def test_model_instance_state_access_by_array(self, T):
             plant.SetActuationInArray(
                 model_instance=iiwa_model, u_instance=u_iiwa, u=u)
             numpy_compare.assert_float_equal(u_iiwa, u[:7])
+            numpy_compare.assert_float_equal(
+                u_iiwa, plant.GetActuationFromArray(
+                    model_instance=iiwa_model, u=u))
 
     @numpy_compare.check_all_types
     def test_map_qdot_to_v_and_back(self, T):