[py examples] Fix signatures to use Python types (not C++) (RobotLoco…

…motion#21918) Adjust bindings to follow topological order, so that function signatures can look up their requisite python types.
RussTedrake · Dec 15, 2024 · 23e8da4 · 23e8da4
1 parent 08c3059
commit 23e8da4
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Showing 3 changed files with 90 additions and 90 deletions.
diff --git a/bindings/pydrake/examples/examples_py_acrobot.cc b/bindings/pydrake/examples/examples_py_acrobot.cc
@@ -29,59 +29,6 @@ void DefineExamplesAcrobot(py::module m) {
   // conversion. Issue #7660.
   using T = double;
 
-  py::class_<AcrobotPlant<T>, LeafSystem<T>>(
-      m, "AcrobotPlant", doc.AcrobotPlant.doc)
-      .def(py::init<>(), doc.AcrobotPlant.ctor.doc)
-      .def("DynamicsBiasTerm", &AcrobotPlant<T>::DynamicsBiasTerm,
-          doc.AcrobotPlant.DynamicsBiasTerm.doc)
-      .def("SetMitAcrobotParameters", &AcrobotPlant<T>::SetMitAcrobotParameters,
-          doc.AcrobotPlant.SetMitAcrobotParameters.doc)
-      .def("MassMatrix", &AcrobotPlant<T>::MassMatrix,
-          doc.AcrobotPlant.MassMatrix.doc)
-      .def_static("get_state",
-          py::overload_cast<const Context<T>&>(&AcrobotPlant<T>::get_state),
-          py::arg("context"),
-          // Keey alive, ownership: `return` keeps `context` alive
-          py::keep_alive<0, 1>(), doc.AcrobotPlant.get_state.doc)
-      .def_static("get_mutable_state",
-          py::overload_cast<Context<T>*>(&AcrobotPlant<T>::get_mutable_state),
-          py::arg("context"),
-          // Keep alive, ownership: `return` keeps `context` alive
-          py::keep_alive<0, 1>(), doc.AcrobotPlant.get_mutable_state.doc)
-      .def("get_parameters", &AcrobotPlant<T>::get_parameters,
-          py_rvp::reference_internal, py::arg("context"),
-          doc.AcrobotPlant.get_parameters.doc)
-      .def("get_mutable_parameters", &AcrobotPlant<T>::get_mutable_parameters,
-          py_rvp::reference_internal, py::arg("context"),
-          doc.AcrobotPlant.get_mutable_parameters.doc);
-
-  py::class_<AcrobotWEncoder<T>, Diagram<T>>(
-      m, "AcrobotWEncoder", doc.AcrobotWEncoder.doc)
-      .def(py::init<bool>(), py::arg("acrobot_state_as_second_output") = false,
-          doc.AcrobotWEncoder.ctor.doc)
-      .def("acrobot_plant", &AcrobotWEncoder<T>::acrobot_plant,
-          py_rvp::reference_internal, doc.AcrobotWEncoder.acrobot_plant.doc)
-      .def("get_mutable_acrobot_state",
-          &AcrobotWEncoder<T>::get_mutable_acrobot_state,
-          py_rvp::reference_internal, py::arg("context"),
-          // Keep alive, ownership: `return` keeps `context` alive.
-          py::keep_alive<0, 1>(),
-          doc.AcrobotWEncoder.get_mutable_acrobot_state.doc);
-
-  py::class_<AcrobotSpongController<T>, LeafSystem<T>>(
-      m, "AcrobotSpongController", doc.AcrobotSpongController.doc)
-      .def(py::init<>(), doc.AcrobotSpongController.ctor.doc)
-      .def("get_parameters", &AcrobotSpongController<T>::get_parameters,
-          py_rvp::reference, py::arg("context"),
-          // Keep alive, ownership: `return` keeps `context` alive.
-          py::keep_alive<0, 2>(), doc.AcrobotSpongController.get_parameters.doc)
-      .def("get_mutable_parameters",
-          &AcrobotSpongController<T>::get_mutable_parameters, py_rvp::reference,
-          py::arg("context"),
-          // Keep alive, ownership: `return` keeps `context` alive.
-          py::keep_alive<0, 2>(),
-          doc.AcrobotSpongController.get_mutable_parameters.doc);
-
   py::class_<AcrobotInput<T>, BasicVector<T>>(
       m, "AcrobotInput", doc.AcrobotInput.doc)
       .def(py::init<>(), doc.AcrobotInput.ctor.doc)
@@ -153,6 +100,59 @@ void DefineExamplesAcrobot(py::module m) {
           &SpongControllerParams<T>::set_balancing_threshold,
           doc.SpongControllerParams.set_balancing_threshold.doc);
 
+  py::class_<AcrobotPlant<T>, LeafSystem<T>>(
+      m, "AcrobotPlant", doc.AcrobotPlant.doc)
+      .def(py::init<>(), doc.AcrobotPlant.ctor.doc)
+      .def("DynamicsBiasTerm", &AcrobotPlant<T>::DynamicsBiasTerm,
+          doc.AcrobotPlant.DynamicsBiasTerm.doc)
+      .def("SetMitAcrobotParameters", &AcrobotPlant<T>::SetMitAcrobotParameters,
+          doc.AcrobotPlant.SetMitAcrobotParameters.doc)
+      .def("MassMatrix", &AcrobotPlant<T>::MassMatrix,
+          doc.AcrobotPlant.MassMatrix.doc)
+      .def_static("get_state",
+          py::overload_cast<const Context<T>&>(&AcrobotPlant<T>::get_state),
+          py::arg("context"),
+          // Keey alive, ownership: `return` keeps `context` alive
+          py::keep_alive<0, 1>(), doc.AcrobotPlant.get_state.doc)
+      .def_static("get_mutable_state",
+          py::overload_cast<Context<T>*>(&AcrobotPlant<T>::get_mutable_state),
+          py::arg("context"),
+          // Keep alive, ownership: `return` keeps `context` alive
+          py::keep_alive<0, 1>(), doc.AcrobotPlant.get_mutable_state.doc)
+      .def("get_parameters", &AcrobotPlant<T>::get_parameters,
+          py_rvp::reference_internal, py::arg("context"),
+          doc.AcrobotPlant.get_parameters.doc)
+      .def("get_mutable_parameters", &AcrobotPlant<T>::get_mutable_parameters,
+          py_rvp::reference_internal, py::arg("context"),
+          doc.AcrobotPlant.get_mutable_parameters.doc);
+
+  py::class_<AcrobotWEncoder<T>, Diagram<T>>(
+      m, "AcrobotWEncoder", doc.AcrobotWEncoder.doc)
+      .def(py::init<bool>(), py::arg("acrobot_state_as_second_output") = false,
+          doc.AcrobotWEncoder.ctor.doc)
+      .def("acrobot_plant", &AcrobotWEncoder<T>::acrobot_plant,
+          py_rvp::reference_internal, doc.AcrobotWEncoder.acrobot_plant.doc)
+      .def("get_mutable_acrobot_state",
+          &AcrobotWEncoder<T>::get_mutable_acrobot_state,
+          py_rvp::reference_internal, py::arg("context"),
+          // Keep alive, ownership: `return` keeps `context` alive.
+          py::keep_alive<0, 1>(),
+          doc.AcrobotWEncoder.get_mutable_acrobot_state.doc);
+
+  py::class_<AcrobotSpongController<T>, LeafSystem<T>>(
+      m, "AcrobotSpongController", doc.AcrobotSpongController.doc)
+      .def(py::init<>(), doc.AcrobotSpongController.ctor.doc)
+      .def("get_parameters", &AcrobotSpongController<T>::get_parameters,
+          py_rvp::reference, py::arg("context"),
+          // Keep alive, ownership: `return` keeps `context` alive.
+          py::keep_alive<0, 2>(), doc.AcrobotSpongController.get_parameters.doc)
+      .def("get_mutable_parameters",
+          &AcrobotSpongController<T>::get_mutable_parameters, py_rvp::reference,
+          py::arg("context"),
+          // Keep alive, ownership: `return` keeps `context` alive.
+          py::keep_alive<0, 2>(),
+          doc.AcrobotSpongController.get_mutable_parameters.doc);
+
   py::class_<AcrobotGeometry, LeafSystem<double>>(
       m, "AcrobotGeometry", doc.AcrobotGeometry.doc)
       .def_static("AddToBuilder",

diff --git a/bindings/pydrake/examples/examples_py_pendulum.cc b/bindings/pydrake/examples/examples_py_pendulum.cc
@@ -27,29 +27,6 @@ void DefineExamplesPendulum(py::module m) {
   // conversion.
   using T = double;
 
-  py::class_<PendulumPlant<T>, LeafSystem<T>>(
-      m, "PendulumPlant", doc.PendulumPlant.doc)
-      .def(py::init<>(), doc.PendulumPlant.ctor.doc)
-      .def("get_state_output_port", &PendulumPlant<T>::get_state_output_port,
-          py_rvp::reference_internal,
-          doc.PendulumPlant.get_state_output_port.doc)
-      .def_static("get_state",
-          py::overload_cast<const Context<T>&>(&PendulumPlant<T>::get_state),
-          py::arg("context"),
-          // Keey alive, ownership: `return` keeps `context` alive
-          py::keep_alive<0, 1>(), doc.PendulumPlant.get_state.doc)
-      .def_static("get_mutable_state",
-          py::overload_cast<Context<T>*>(&PendulumPlant<T>::get_mutable_state),
-          py::arg("context"),
-          // Keey alive, ownership: `return` keeps `context` alive
-          py::keep_alive<0, 1>(), doc.PendulumPlant.get_mutable_state.doc)
-      .def("get_parameters", &PendulumPlant<T>::get_parameters,
-          py_rvp::reference_internal, py::arg("context"),
-          doc.PendulumPlant.get_parameters.doc)
-      .def("get_mutable_parameters", &PendulumPlant<T>::get_mutable_parameters,
-          py_rvp::reference_internal, py::arg("context"),
-          doc.PendulumPlant.get_mutable_parameters.doc);
-
   py::class_<PendulumInput<T>, BasicVector<T>>(
       m, "PendulumInput", doc.PendulumInput.doc)
       .def(py::init<>(), doc.PendulumInput.ctor.doc)
@@ -100,6 +77,29 @@ void DefineExamplesPendulum(py::module m) {
       .def("with_thetadot", &PendulumState<T>::with_thetadot,
           py::arg("thetadot"), doc.PendulumState.with_thetadot.doc);
 
+  py::class_<PendulumPlant<T>, LeafSystem<T>>(
+      m, "PendulumPlant", doc.PendulumPlant.doc)
+      .def(py::init<>(), doc.PendulumPlant.ctor.doc)
+      .def("get_state_output_port", &PendulumPlant<T>::get_state_output_port,
+          py_rvp::reference_internal,
+          doc.PendulumPlant.get_state_output_port.doc)
+      .def_static("get_state",
+          py::overload_cast<const Context<T>&>(&PendulumPlant<T>::get_state),
+          py::arg("context"),
+          // Keey alive, ownership: `return` keeps `context` alive
+          py::keep_alive<0, 1>(), doc.PendulumPlant.get_state.doc)
+      .def_static("get_mutable_state",
+          py::overload_cast<Context<T>*>(&PendulumPlant<T>::get_mutable_state),
+          py::arg("context"),
+          // Keey alive, ownership: `return` keeps `context` alive
+          py::keep_alive<0, 1>(), doc.PendulumPlant.get_mutable_state.doc)
+      .def("get_parameters", &PendulumPlant<T>::get_parameters,
+          py_rvp::reference_internal, py::arg("context"),
+          doc.PendulumPlant.get_parameters.doc)
+      .def("get_mutable_parameters", &PendulumPlant<T>::get_mutable_parameters,
+          py_rvp::reference_internal, py::arg("context"),
+          doc.PendulumPlant.get_mutable_parameters.doc);
+
   py::class_<PendulumGeometry, LeafSystem<double>>(
       m, "PendulumGeometry", doc.PendulumGeometry.doc)
       .def_static("AddToBuilder", &PendulumGeometry::AddToBuilder,

diff --git a/bindings/pydrake/examples/examples_py_rimless_wheel.cc b/bindings/pydrake/examples/examples_py_rimless_wheel.cc
@@ -22,20 +22,6 @@ void DefineExamplesRimlessWheel(py::module m) {
   // conversion.
   using T = double;
 
-  py::class_<RimlessWheel<T>, LeafSystem<T>>(
-      m, "RimlessWheel", doc.RimlessWheel.doc)
-      .def(py::init<>(), doc.RimlessWheel.ctor.doc)
-      .def("get_minimal_state_output_port",
-          &RimlessWheel<T>::get_minimal_state_output_port,
-          py_rvp::reference_internal,
-          doc.RimlessWheel.get_minimal_state_output_port.doc)
-      .def("get_floating_base_state_output_port",
-          &RimlessWheel<T>::get_floating_base_state_output_port,
-          py_rvp::reference_internal,
-          doc.RimlessWheel.get_floating_base_state_output_port.doc)
-      .def_static("calc_alpha", &RimlessWheel<T>::calc_alpha, py::arg("params"),
-          doc.RimlessWheel.calc_alpha.doc);
-
   py::class_<RimlessWheelParams<T>, BasicVector<T>>(
       m, "RimlessWheelParams", doc.RimlessWheelParams.doc)
       .def(py::init<>(), doc.RimlessWheelParams.ctor.doc)
@@ -72,6 +58,20 @@ void DefineExamplesRimlessWheel(py::module m) {
       .def("set_thetadot", &RimlessWheelContinuousState<T>::set_thetadot,
           doc.RimlessWheelContinuousState.set_thetadot.doc);
 
+  py::class_<RimlessWheel<T>, LeafSystem<T>>(
+      m, "RimlessWheel", doc.RimlessWheel.doc)
+      .def(py::init<>(), doc.RimlessWheel.ctor.doc)
+      .def("get_minimal_state_output_port",
+          &RimlessWheel<T>::get_minimal_state_output_port,
+          py_rvp::reference_internal,
+          doc.RimlessWheel.get_minimal_state_output_port.doc)
+      .def("get_floating_base_state_output_port",
+          &RimlessWheel<T>::get_floating_base_state_output_port,
+          py_rvp::reference_internal,
+          doc.RimlessWheel.get_floating_base_state_output_port.doc)
+      .def_static("calc_alpha", &RimlessWheel<T>::calc_alpha, py::arg("params"),
+          doc.RimlessWheel.calc_alpha.doc);
+
   py::class_<RimlessWheelGeometry, LeafSystem<double>>(
       m, "RimlessWheelGeometry", doc.RimlessWheelGeometry.doc)
       .def_static("AddToBuilder",