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py mbp: Bind MultibodyPlant.time_step() #13355

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merged 1 commit into from May 19, 2020
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py mbp: Bind MultibodyPlant.time_step() #13355

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1 change: 1 addition & 0 deletions bindings/pydrake/multibody/plant_py.cc
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Expand Up @@ -152,6 +152,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
// Forwarded methods from `MultibodyTree`.
cls // BR
.def(py::init<double>(), py::arg("time_step"), cls_doc.ctor.doc)
.def("time_step", &Class::time_step, cls_doc.time_step.doc)
.def("num_bodies", &Class::num_bodies, cls_doc.num_bodies.doc)
.def("num_joints", &Class::num_joints, cls_doc.num_joints.doc)
.def("num_actuators", &Class::num_actuators, cls_doc.num_actuators.doc)
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1 change: 1 addition & 0 deletions bindings/pydrake/multibody/test/plant_test.py
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Expand Up @@ -153,6 +153,7 @@ def test_multibody_plant_construction_api(self, T):

builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
self.assertEqual(plant.time_step(), 0.0)
spatial_inertia = SpatialInertia()
body = plant.AddRigidBody(name="new_body",
M_BBo_B=spatial_inertia)
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