forked from pz4kybsvg/Conception
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126 lines
3.2 KiB
126 lines
3.2 KiB
load(
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"@drake//tools/performance:defs.bzl",
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"drake_cc_googlebench_binary",
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"drake_py_experiment_binary",
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)
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load(
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"@drake//tools/skylark:test_tags.bzl",
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"gurobi_test_tags",
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)
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load("//tools/lint:lint.bzl", "add_lint_tests")
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package(default_visibility = ["//visibility:public"])
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drake_cc_googlebench_binary(
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name = "acrobot",
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srcs = ["acrobot.cc"],
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add_test_rule = True,
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deps = [
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"//common:essential",
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"//common:find_resource",
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"//examples/acrobot:acrobot_plant",
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"//math:autodiff",
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"//math:gradient",
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"//multibody/benchmarks/acrobot:make_acrobot_plant",
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"//multibody/parsing",
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"//tools/performance:fixture_common",
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],
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)
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drake_py_experiment_binary(
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name = "acrobot_experiment",
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googlebench_binary = ":acrobot",
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)
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drake_cc_googlebench_binary(
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name = "cassie",
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srcs = ["cassie.cc"],
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add_test_rule = True,
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data = ["cassie_v2.urdf"],
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deps = [
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"//common:add_text_logging_gflags",
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"//common:essential",
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"//common:find_resource",
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"//math:gradient",
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"//multibody/parsing:parser",
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"//tools/performance:fixture_common",
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"//tools/performance:gflags_main",
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],
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)
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drake_py_experiment_binary(
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name = "cassie_experiment",
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googlebench_binary = ":cassie",
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)
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drake_cc_googlebench_binary(
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name = "iiwa_relaxed_pos_ik",
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srcs = ["iiwa_relaxed_pos_ik.cc"],
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add_test_rule = True,
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data = [
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"//manipulation/models/iiwa_description:models",
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],
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deps = [
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"//common:add_text_logging_gflags",
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"//common:find_resource",
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"//multibody/inverse_kinematics",
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"//multibody/parsing",
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"//solvers:solve",
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"//tools/performance:fixture_common",
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"//tools/performance:gflags_main",
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],
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)
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drake_py_experiment_binary(
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name = "iiwa_relaxed_pos_ik_experiment",
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googlebench_binary = ":iiwa_relaxed_pos_ik",
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)
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drake_cc_googlebench_binary(
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name = "homecart_global_ik",
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srcs = ["homecart_global_ik.cc"],
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add_test_rule = True,
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data = [
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"//manipulation/models/tri_homecart:models",
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"//manipulation/models/ur3e:models",
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"//manipulation/models/wsg_50_description:models",
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],
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test_tags = gurobi_test_tags(),
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deps = [
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"//common:find_resource",
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"//multibody/inverse_kinematics",
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"//multibody/parsing",
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"//solvers:solve",
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"//tools/performance:fixture_common",
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"//tools/performance:gflags_main",
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],
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)
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drake_py_experiment_binary(
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name = "homecart_global_ik_experiment",
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googlebench_binary = ":homecart_global_ik",
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)
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drake_cc_googlebench_binary(
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name = "position_constraint",
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srcs = ["position_constraint.cc"],
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add_test_rule = True,
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data = [
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"//manipulation/models/iiwa_description:models",
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],
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deps = [
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"//common:find_resource",
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"//multibody/inverse_kinematics:kinematic_evaluators",
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"//multibody/parsing",
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"//multibody/plant",
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"//tools/performance:fixture_common",
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],
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)
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drake_py_experiment_binary(
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name = "position_constraint_experiment",
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googlebench_binary = ":position_constraint",
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)
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add_lint_tests()
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