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112 lines
2.7 KiB
112 lines
2.7 KiB
2 years ago
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load("@drake//tools/install:install.bzl", "install")
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load(
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"@drake//tools/skylark:pybind.bzl",
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"add_pybind_coverage_data",
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"drake_pybind_library",
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"get_drake_py_installs",
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"get_pybind_package_info",
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)
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load(
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"@drake//tools/skylark:drake_py.bzl",
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"drake_py_library",
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"drake_py_unittest",
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)
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load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
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package(default_visibility = [
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"//bindings/pydrake:__subpackages__",
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])
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# This determines how `PYTHONPATH` is configured, and how to install the
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# bindings.
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PACKAGE_INFO = get_pybind_package_info("//bindings")
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drake_pybind_library(
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name = "manipulation",
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cc_deps = [
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"//bindings/pydrake:documentation_pybind",
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"//bindings/pydrake/common:eigen_pybind",
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"//bindings/pydrake/common:serialize_pybind",
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],
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cc_so_name = "__init__",
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cc_srcs = [
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"manipulation_py.h",
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"manipulation_py.cc",
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"manipulation_py_kuka_iiwa.cc",
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"manipulation_py_schunk_wsg.cc",
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"manipulation_py_util.cc",
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],
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package_info = PACKAGE_INFO,
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py_deps = [
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"//bindings/pydrake/systems:framework_py",
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# 2023-06-01 Remove this dependency upon completion of deprecation.
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"//bindings/pydrake/multibody:inverse_kinematics_py",
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],
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py_srcs = [
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"_manipulation_extra.py",
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# 2023-06-01 Remove this target upon completion of deprecation.
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"planner.py",
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# TODO(jwnimmer-tri) On 2023-06-01 add deprecation for these modules.
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# See #18683 for an example of what to do.
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"kuka_iiwa.py",
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"schunk_wsg.py",
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"util.py",
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],
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)
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drake_py_unittest(
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name = "kuka_iiwa_test",
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data = [
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"//manipulation/models/iiwa_description:models",
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"//manipulation/util:test_directives",
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],
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deps = [
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":manipulation",
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"//bindings/pydrake/multibody",
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"//bindings/pydrake/systems",
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],
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)
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drake_py_unittest(
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name = "planner_deprecated_test",
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deps = [
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":manipulation",
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"//bindings/pydrake/common/test_utilities:deprecation_py",
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],
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)
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drake_py_unittest(
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name = "schunk_wsg_test",
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data = [
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"//manipulation/util:test_directives",
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],
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deps = [
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":manipulation",
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"//bindings/pydrake/multibody",
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"//bindings/pydrake/systems",
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],
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)
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drake_py_unittest(
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name = "util_test",
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data = [
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"//manipulation/util:test_directives",
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],
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deps = [
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":manipulation",
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"//bindings/pydrake/multibody",
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"//bindings/pydrake/systems",
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],
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)
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install(
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name = "install",
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targets = [":manipulation"],
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py_dest = PACKAGE_INFO.py_dest,
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deps = get_drake_py_installs([":manipulation"]),
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)
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add_pybind_coverage_data()
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add_lint_tests_pydrake()
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