pydrake: Replace "System YAML" with proper ".. pydrake_system::" dire…

…ctive (#14915) * pydrake: Replace "System YAML" with proper ".. pydrake_system::" directive
RobotLocomotion · Apr 17, 2021 · a939b72 · a939b72
1 parent 661f257
commit a939b72
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Showing 7 changed files with 18 additions and 9 deletions.
diff --git a/bindings/pydrake/manipulation/simple_ui.py b/bindings/pydrake/manipulation/simple_ui.py
@@ -21,7 +21,8 @@ class JointSliders(VectorSystem):
     floating-base "mobilizers") are held constant at the default value
     obtained from robot.CreateDefaultContext().
 
-    System YAML
+    .. pydrake_system::
+
         name: JointSliders
         output_ports:
         - positions
@@ -154,7 +155,8 @@ class SchunkWsgButtons(LeafSystem):
     Adds buttons to open/close the Schunk WSG gripper to an existing Tkinter
     window.
 
-    System YAML
+    .. pydrake_system::
+
         name: SchunkWsgButtons
         output_ports:
         - position

diff --git a/bindings/pydrake/multibody/jupyter_widgets.py b/bindings/pydrake/multibody/jupyter_widgets.py
@@ -23,7 +23,8 @@ class JointSliders(VectorSystem):
     floating-base "mobilizers") are held constant at the default value
     obtained from robot.CreateDefaultContext().
 
-    System YAML
+    .. pydrake_system::
+
         name: JointSliders
         output_ports:
         - positions

diff --git a/bindings/pydrake/systems/jupyter_widgets.py b/bindings/pydrake/systems/jupyter_widgets.py
@@ -26,7 +26,8 @@ class PoseSliders(LeafSystem):
     on one slider for each of roll, pitch, yaw, x, y, and z.  This can be used,
     for instance, as an interface to teleoperate the end-effector of a robot.
 
-    System YAML
+    .. pydrake_system::
+
         name: PoseSliders
         output_ports:
         - pose
@@ -176,7 +177,8 @@ class WidgetSystem(LeafSystem):
     A system that outputs the ``value``s (converted to ``float``) from
     ipywidgets.
 
-    System YAML
+    .. pydrake_system::
+
       name: WidgetSystem
       output_ports:
       - widget_group_0

diff --git a/bindings/pydrake/systems/meshcat_visualizer.py b/bindings/pydrake/systems/meshcat_visualizer.py
@@ -630,7 +630,8 @@ class MeshcatPointCloudVisualizer(LeafSystem):
         viz = meshcat.Visualizer()
         pc_viz = builder.AddSystem(MeshcatPointCloudVisualizer(viz))
 
-    System YAML
+    .. pydrake_system::
+
         name: MeshcatPointCloudVisualizer
         input_ports:
         - point_cloud_P

diff --git a/bindings/pydrake/systems/perception.py b/bindings/pydrake/systems/perception.py
@@ -44,7 +44,8 @@ def _ConcatenatePointClouds(points_dict, colors_dict):
 
 class PointCloudConcatenation(LeafSystem):
     """
-    System YAML
+    .. pydrake_system::
+
         name: PointCloudConcatenation
         input_ports:
         - point_cloud_CiSi_id0

diff --git a/bindings/pydrake/systems/system_sliders.py b/bindings/pydrake/systems/system_sliders.py
@@ -22,7 +22,8 @@ class SystemSliders(VectorSystem):
     @warning: Do not close the slider GUI while running a simulation. It will
     cause the simulation to crash.
 
-    System YAML
+    .. pydrake_system::
+
         name: SystemSliders
         output_ports:
         - slider_positions

diff --git a/examples/manipulation_station/differential_ik.py b/examples/manipulation_station/differential_ik.py
@@ -14,7 +14,8 @@ class DifferentialIK(LeafSystem):
     initialize the initial position commands to match the initial
     configuration of the robot.
 
-    System YAML
+    .. pydrake_system::
+
         name: DifferentialIK
         input_ports:
         - X_WE_desired