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BUILD.bazel
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BUILD.bazel
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# -*- python -*-
load(
"//tools:drake.bzl",
"drake_cc_binary",
"drake_cc_googletest",
"drake_cc_library",
)
load("//tools/skylark:test_tags.bzl", "gurobi_test_tags")
load("//tools/lint:lint.bzl", "add_lint_tests")
package(default_visibility = ["//visibility:public"])
exports_files(
["config/valkyrie.alias_groups"],
)
exports_files(
["config/valkyrie.id_controller_config"],
)
exports_files(
["config/iiwa.alias_groups"],
)
exports_files(
["config/iiwa.id_controller_config"],
)
drake_cc_library(
name = "atlas_command_translator_system",
srcs = ["atlas_command_translator_system.cc"],
hdrs = ["atlas_command_translator_system.h"],
deps = [
"//drake/systems/controllers/qp_inverse_dynamics:qp_output_translator_system", # noqa
],
)
drake_cc_library(
name = "humanoid_status",
srcs = ["humanoid_status.cc"],
hdrs = ["humanoid_status.h"],
deps = [
"//drake/common:essential",
"//drake/multibody:rigid_body_tree",
"//drake/multibody:rigid_body_tree_alias_groups",
"//drake/systems/controllers:side",
"//drake/systems/controllers/qp_inverse_dynamics:robot_kinematic_state", # noqa
],
)
drake_cc_library(
name = "humanoid_plan_eval_system",
srcs = ["humanoid_plan_eval_system.cc"],
hdrs = ["humanoid_plan_eval_system.h"],
deps = [
"//drake/examples/humanoid_controller/dev:humanoid_manipulation_plan",
"//drake/systems/controllers/plan_eval:plan_eval_base_system",
],
)
drake_cc_library(
name = "humanoid_status_translator_system",
srcs = ["humanoid_status_translator_system.cc"],
hdrs = ["humanoid_status_translator_system.h"],
deps = [
":humanoid_status",
"//drake/manipulation/util:robot_state_msg_translator",
"//drake/multibody:rigid_body_tree",
"//drake/systems/controllers/qp_inverse_dynamics:lcm_utils",
"//drake/systems/framework:leaf_system",
],
)
drake_cc_library(
name = "humanoid_controller",
hdrs = ["humanoid_controller.h"],
deps = [
":atlas_command_translator_system",
":humanoid_plan_eval_system",
":humanoid_status_translator_system",
"//drake/lcm",
"//drake/multibody/parsers",
"//drake/systems/controllers/qp_inverse_dynamics:qp_inverse_dynamics_system", # noqa
"//drake/systems/framework",
"//drake/systems/lcm",
"@lcmtypes_bot2_core",
],
)
drake_cc_binary(
name = "send_manipulation_plan_demo",
srcs = [
"send_manipulation_plan_demo.cc",
],
data = [
"//drake/examples/valkyrie:models",
],
deps = [
"//drake/common:find_resource",
"//drake/examples/valkyrie:valkyrie_constants",
"//drake/manipulation/util:robot_state_msg_translator",
"//drake/multibody:rigid_body_tree",
"//drake/multibody/parsers",
"@gflags",
"@lcmtypes_bot2_core",
"@lcmtypes_robotlocomotion",
],
)
drake_cc_binary(
name = "valkyrie_balancing_demo",
srcs = [
"valkyrie_balancing_demo.cc",
],
data = [
":config/valkyrie.alias_groups",
":config/valkyrie.id_controller_config",
"//drake/examples/valkyrie:models",
],
tags = gurobi_test_tags(),
deps = [
":humanoid_controller",
"//drake/common:find_resource",
"//drake/examples/valkyrie:valkyrie_constants",
"//drake/systems/lcm:lcm_driven_loop",
],
)
# === test/ ===
drake_cc_googletest(
name = "atlas_command_translator_system_test",
srcs = ["test/atlas_command_translator_system_test.cc"],
data = [
"//drake/examples/valkyrie:models",
],
deps = [
":atlas_command_translator_system",
"//drake/common:find_resource",
"//drake/common/test_utilities:eigen_matrix_compare",
"//drake/multibody/parsers",
"//drake/systems/framework",
],
)
drake_cc_googletest(
name = "humanoid_plan_eval_system_test",
srcs = ["test/humanoid_plan_eval_system_test.cc"],
data = [
":config/valkyrie.alias_groups",
":config/valkyrie.id_controller_config",
"//drake/examples/valkyrie:models",
],
tags = gurobi_test_tags(),
deps = [
":humanoid_plan_eval_system",
":humanoid_status",
"//drake/common:find_resource",
"//drake/common/test_utilities:eigen_matrix_compare",
"//drake/examples/valkyrie:valkyrie_constants",
"//drake/multibody/parsers",
"//drake/systems/analysis:simulator",
"//drake/systems/controllers:setpoint",
"//drake/systems/controllers/qp_inverse_dynamics:param_parser",
"//drake/systems/controllers/qp_inverse_dynamics:qp_inverse_dynamics_system", # noqa
"//drake/systems/framework",
"//drake/systems/primitives:constant_value_source",
],
)
add_lint_tests()