multibody: add binding for GetFloatingBaseBodies (#14139)

RobotLocomotion · Sep 28, 2020 · e7112e6 · e7112e6
1 parent dba012d
commit e7112e6
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diff --git a/bindings/pydrake/multibody/plant_py.cc b/bindings/pydrake/multibody/plant_py.cc
@@ -699,6 +699,8 @@ void DoScalarDependentDefinitions(py::module m, T) {
             py::arg("coulomb_friction"),
             cls_doc.RegisterCollisionGeometry
                 .doc_5args_body_X_BG_shape_name_coulomb_friction)
+        .def("GetFloatingBaseBodies", &Class::GetFloatingBaseBodies,
+            cls_doc.GetFloatingBaseBodies.doc)
         .def("get_source_id", &Class::get_source_id, cls_doc.get_source_id.doc)
         .def("get_geometry_query_input_port",
             &Class::get_geometry_query_input_port, py_rvp::reference_internal,

diff --git a/bindings/pydrake/multibody/test/plant_test.py b/bindings/pydrake/multibody/test/plant_test.py
@@ -616,6 +616,9 @@ def test_multibody_tree_kinematics(self, T):
         X_WL = plant.CalcRelativeTransform(
             context, frame_A=world_frame, frame_B=base_frame)
         self.assertIsInstance(X_WL, RigidTransform)
+        free_bodies = plant.GetFloatingBaseBodies()
+        self.assertEqual(len(free_bodies), 1)
+        self.assertTrue(base.index() in free_bodies)
 
         p_AQi = plant.CalcPointsPositions(
             context=context, frame_B=base_frame,