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BUILD.bazel
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BUILD.bazel
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# -*- python -*-
# This file contains rules for Bazel; see drake/doc/bazel.rst.
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("//tools/lint:lint.bzl", "add_lint_tests")
# Place model files for this example within their own group.
# We can use these models in other bazel projects by adding the depencency
# "//examples/simple_gripper:simple_gripper_models".
filegroup(
name = "simple_gripper_models",
srcs = [
"simple_gripper.sdf",
"simple_mug.sdf",
],
visibility = ["//visibility:public"],
)
drake_cc_binary(
name = "simple_gripper",
srcs = ["simple_gripper.cc"],
add_test_rule = 1,
data = [
":simple_gripper_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",
"//common:find_resource",
"//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()