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[pydrake/multibody] Add fix_inertia tool #19731

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merged 1 commit into from
Aug 8, 2023
Merged

[pydrake/multibody] Add fix_inertia tool #19731

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62 changes: 62 additions & 0 deletions bindings/pydrake/multibody/BUILD.bazel
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Original file line number Diff line number Diff line change
Expand Up @@ -264,6 +264,32 @@ drake_py_binary(
],
)

drake_py_library(
name = "inertia_fixer_py",
srcs = [
"_inertia_fixer.py",
"fix_inertia.py",
],
imports = PACKAGE_INFO.py_imports,
deps = [
":parsing_py",
":plant_py",
"//bindings/pydrake/common",
"//bindings/pydrake/geometry",
],
)

drake_py_binary(
name = "fix_inertia",
srcs = [
"fix_inertia.py",
],
visibility = ["//tools:__pkg__"],
deps = [
":inertia_fixer_py",
],
)

drake_jupyter_py_binary(
name = "examples/door_hinge_inspector",
add_test_rule = 1,
Expand All @@ -282,14 +308,25 @@ cmake_configure_file(
],
)

cmake_configure_file(
name = "generate_run_installed_fix_inertia",
src = "run_installed_fix_inertia.py.in",
out = "run_installed_fix_inertia.py",
defines = [
"PYTHON_SITE_PACKAGES_RELPATH=" + PYTHON_SITE_PACKAGES_RELPATH,
],
)

install_files(
name = "install_wrapper_scripts",
dest = "bin",
files = [
"run_installed_fix_inertia.py",
"run_installed_mesh_to_model.py",
],
rename = {
"bin/run_installed_mesh_to_model.py": "mesh_to_model",
"bin/run_installed_fix_inertia.py": "fix_inertia",
},
)

Expand All @@ -310,6 +347,7 @@ PY_LIBRARIES = [
":jupyter_widgets_py",
":module_py",
":mesh_model_maker_py",
":inertia_fixer_py",
]

# Symbol roll-up (for user ease).
Expand Down Expand Up @@ -338,6 +376,7 @@ filegroup(
name = "models",
srcs = glob([
"**/*.sdf",
"**/*.urdf",
]),
visibility = ["//:__pkg__"],
)
Expand Down Expand Up @@ -507,8 +546,31 @@ drake_py_unittest(
],
)

drake_py_unittest(
name = "fix_inertia_test",
data = [
":fix_inertia",
":models",
"//examples/acrobot:models",
"//examples/multibody/four_bar:models",
"//manipulation/util:test_models",
"//multibody:models",
"//multibody/benchmarks/acrobot:models",
"//multibody/parsing:test_models",
],
deps = [
":inertia_fixer_py",
"//bindings/pydrake/common",
"//bindings/pydrake/common/test_utilities:numpy_compare_py",
"//bindings/pydrake/geometry",
"//bindings/pydrake/multibody:parsing_py",
"//bindings/pydrake/multibody:plant_py",
],
)

add_lint_tests_pydrake(
python_lint_extra_srcs = [
"run_installed_mesh_to_model.py.in",
"run_installed_fix_inertia.py.in",
],
)