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BUILD.bazel
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BUILD.bazel
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# -*- python -*-
load("@drake//tools/install:install.bzl", "install")
load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_binary",
"drake_cc_googletest",
"drake_cc_library",
)
load("//tools/install:install_data.bzl", "install_data")
load(
"@drake//tools/vector_gen:vector_gen.bzl",
"drake_cc_vector_gen_library",
)
drake_cc_library(
name = "planar_gripper_common",
srcs = ["planar_gripper_common.cc"],
hdrs = ["planar_gripper_common.h"],
deps = [
"//common:find_resource",
"//multibody/plant",
"//systems/lcm:lcm_interface_system",
"@lcmtypes_robotlocomotion",
],
)
drake_cc_library(
name = "planar_gripper_lcm",
srcs = ["planar_gripper_lcm.cc"],
hdrs = ["planar_gripper_lcm.h"],
deps = [
"//lcmtypes:planar_gripper",
"//systems/framework:leaf_system",
],
)
drake_cc_library(
name = "planar_manipuland_lcm",
srcs = ["planar_manipuland_lcm.cc"],
hdrs = ["planar_manipuland_lcm.h"],
deps = [
"//lcmtypes:planar_manipuland_status",
"//systems/framework:event_collection",
"//systems/framework:leaf_system",
],
)
drake_cc_library(
name = "brick_static_equilibrium_constraint",
srcs = ["brick_static_equilibrium_constraint.cc"],
hdrs = ["brick_static_equilibrium_constraint.h"],
deps = [
":gripper_brick",
":gripper_brick_planning_constraint_helper",
"//math:autodiff",
"//multibody/inverse_kinematics:kinematic_constraint",
"//multibody/plant",
"//solvers:constraint",
"//solvers:mathematical_program",
],
)
drake_cc_library(
name = "gripper_brick",
srcs = ["gripper_brick.cc"],
hdrs = ["gripper_brick.h"],
data = [
":models",
],
visibility = ["//visibility:public"],
deps = [
"//common:find_resource",
"//examples/planar_gripper:planar_gripper_common",
"//geometry:geometry_visualization",
"//multibody/parsing",
"//multibody/plant",
"//systems/analysis:simulator",
"//systems/framework:diagram",
],
)
drake_cc_binary(
name = "run_planar_gripper_trajectory_publisher",
srcs = ["run_planar_gripper_trajectory_publisher.cc"],
data = [
":models",
"//examples/planar_gripper:postures.txt",
],
deps = [
":planar_gripper_common",
":planar_gripper_lcm",
"//common:find_resource",
"//lcm",
"//multibody/parsing",
"//systems/analysis:simulator",
"//systems/lcm:lcm_pubsub_system",
"//systems/primitives:constant_vector_source",
"//systems/primitives:trajectory_source",
"@gflags",
],
)
drake_cc_binary(
name = "planar_gripper_simulation",
srcs = ["planar_gripper_simulation.cc"],
add_test_rule = 1,
data = [
":models",
"//examples/planar_gripper:postures.txt",
],
test_rule_args = [
"--simulation_time=0.1",
"--target_realtime_rate=0",
],
deps = [
":planar_gripper_common",
":planar_gripper_lcm",
"//common:find_resource",
"//geometry:geometry_visualization",
"//multibody/parsing",
"//multibody/plant",
"//multibody/plant:contact_results_to_lcm",
"//systems/analysis:simulator",
"//systems/controllers:inverse_dynamics_controller",
"//systems/framework:diagram",
"@gflags",
],
)
drake_cc_library(
name = "gripper_brick_planning_constraint_helper",
srcs = ["gripper_brick_planning_constraint_helper.cc"],
hdrs = ["gripper_brick_planning_constraint_helper.h"],
deps = [
":gripper_brick",
"//multibody/inverse_kinematics:kinematic_constraint",
"//solvers:mathematical_program",
],
)
drake_cc_googletest(
name = "gripper_brick_test",
deps = [
":gripper_brick",
"//common/test_utilities:eigen_matrix_compare",
],
)
drake_cc_googletest(
name = "brick_static_equilibrium_constraint_test",
deps = [
":brick_static_equilibrium_constraint",
"//common/test_utilities:eigen_matrix_compare",
"//math:compute_numerical_gradient",
],
)
drake_cc_googletest(
name = "gripper_brick_planning_constraint_helper_test",
deps = [
":gripper_brick_planning_constraint_helper",
"//solvers:solve",
],
)
drake_cc_googletest(
name = "planar_manipuland_lcm_test",
deps = [
":planar_manipuland_lcm",
"//systems/framework:diagram",
"//systems/framework:diagram_builder",
],
)
drake_cc_googletest(
name = "planar_gripper_lcm_test",
deps = [
":planar_gripper_lcm",
"//systems/framework:diagram",
"//systems/framework:diagram_builder",
],
)
drake_cc_googletest(
name = "planar_gripper_common_test",
data = [
":models",
],
deps = [
":planar_gripper_common",
"//common:find_resource",
"//common/test_utilities:eigen_matrix_compare",
"//multibody/parsing",
"//multibody/plant",
],
)
install_data()
add_lint_tests()