/
BUILD.bazel
53 lines (49 loc) · 1.3 KB
/
BUILD.bazel
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"//tools/skylark:drake_cc.bzl",
"drake_cc_binary",
"drake_cc_googletest",
"drake_cc_library",
)
package(default_visibility = ["//visibility:private"])
filegroup(
name = "models",
srcs = [
"simple_gripper.sdf",
"simple_mug.sdf",
],
visibility = [
"//:__pkg__",
"//multibody/plant:__pkg__",
"//multibody/test_utilities:__pkg__",
],
)
drake_cc_binary(
name = "simple_gripper",
srcs = ["simple_gripper.cc"],
add_test_rule = 1,
data = [
":models",
],
test_rule_args = [
"--simulator_integration_scheme=runge_kutta2",
"--simulation_time=0.01",
"--simulator_target_realtime_rate=0.0",
],
test_rule_timeout = "moderate",
deps = [
"//common:add_text_logging_gflags",
"//math:geometric_transform",
"//multibody/parsing",
"//multibody/plant",
"//systems/analysis:simulator",
"//systems/analysis:simulator_gflags",
"//systems/analysis:simulator_print_stats",
"//systems/framework:diagram",
"//systems/lcm:lcm_pubsub_system",
"//systems/primitives:sine",
"//visualization:visualization_config_functions",
"@gflags",
],
)
add_lint_tests()