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BUILD.bazel
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BUILD.bazel
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load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_binary",
"drake_cc_googletest",
"drake_cc_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")
package(
default_visibility = [":__subpackages__"],
)
drake_cc_binary(
name = "jaco_controller",
srcs = ["jaco_controller.cc"],
add_test_rule = 1,
data = [
"//manipulation/models/jaco_description:models",
],
test_rule_args = ["--build_only"],
deps = [
"//common:add_text_logging_gflags",
"//common:find_resource",
"//lcm",
"//manipulation/kinova_jaco",
"//manipulation/util:robot_plan_interpolator",
"//systems/analysis:simulator",
"//systems/controllers:pid_controller",
"//systems/lcm:lcm_pubsub_system",
"//systems/primitives:adder",
"//systems/primitives:demultiplexer",
"//systems/primitives:multiplexer",
"@gflags",
],
)
drake_cc_binary(
name = "jaco_simulation",
srcs = ["jaco_simulation.cc"],
add_test_rule = 1,
data = [
"//manipulation/models/jaco_description:models",
],
test_rule_args = ["--simulation_sec=0.1"],
deps = [
"//common:add_text_logging_gflags",
"//geometry:drake_visualizer",
"//geometry:scene_graph",
"//manipulation/kinova_jaco",
"//multibody/parsing",
"//multibody/plant",
"//systems/analysis:simulator",
"//systems/controllers:inverse_dynamics_controller",
"//systems/primitives:demultiplexer",
"//systems/primitives:multiplexer",
"//visualization:visualization_config_functions",
"@gflags",
],
)
drake_cc_binary(
name = "move_jaco_ee",
srcs = ["move_jaco_ee.cc"],
data = [
"//manipulation/models/jaco_description:models",
],
deps = [
"//common:add_text_logging_gflags",
"//common:find_resource",
"//lcmtypes:jaco",
"//manipulation/kinova_jaco:jaco_constants",
"//manipulation/util:move_ik_demo_base",
"//math:geometric_transform",
"@lcm",
],
)
add_lint_tests(enable_clang_format_lint = False)