forked from pz4kybsvg/Conception
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
79 lines
2.1 KiB
79 lines
2.1 KiB
2 years ago
|
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()
|