Merge pull request #10505 from EricCousineau-TRI/issue/10207_rbt_attic

py multibody: Separate out attic modules

bindings/pydrake/attic/BUILD.bazel

@@ -30,6 +30,7 @@ drake_py_library(
 )
 
 PY_LIBRARIES_WITH_INSTALL = [
+    "//bindings/pydrake/attic/multibody",
     "//bindings/pydrake/attic/solvers",
 ]
 

bindings/pydrake/attic/all.py

@@ -1 +1,2 @@
+from .multibody.all import *
 from .solvers.all import *

bindings/pydrake/attic/multibody/BUILD.bazel

@@ -0,0 +1,168 @@
+# -*- python -*-
+
+load("@drake//tools/install:install.bzl", "install")
+load("//tools/lint:lint.bzl", "add_lint_tests")
+load(
+    "@drake//tools/skylark:pybind.bzl",
+    "drake_pybind_library",
+    "get_drake_py_installs",
+    "get_pybind_package_info",
+)
+load(
+    "@drake//tools/skylark:drake_py.bzl",
+    "drake_py_library",
+)
+
+package(default_visibility = [
+    "//bindings/pydrake:__subpackages__",
+])
+
+# This determines how `PYTHONPATH` is configured, and how to install the
+# bindings.
+PACKAGE_INFO = get_pybind_package_info("//bindings")
+
+drake_py_library(
+    name = "module_py",
+    srcs = ["__init__.py"],
+    imports = PACKAGE_INFO.py_imports,
+    deps = [
+        "//bindings/pydrake:module_py",
+    ],
+)
+
+drake_py_library(
+    name = "parsers_py",
+    srcs = ["parsers.py"],
+    deps = [
+        # N.B. This is a package dependency cycle, but hopefully short-lived.
+        "//bindings/pydrake/multibody:parsing_py",
+    ],
+)
+
+drake_pybind_library(
+    name = "rigid_body_plant_py",
+    cc_deps = [
+        "//bindings/pydrake:documentation_pybind",
+        "//bindings/pydrake/systems:systems_pybind",
+        "//lcmtypes:viewer",
+    ],
+    cc_srcs = ["rigid_body_plant_py.cc"],
+    package_info = PACKAGE_INFO,
+    py_deps = [
+        ":module_py",
+        ":rigid_body_tree_py",
+        "//bindings/pydrake:lcm_py",
+        "//bindings/pydrake/systems:framework_py",
+    ],
+)
+
+drake_pybind_library(
+    name = "rigid_body_tree_py",
+    cc_deps = [
+        "//bindings/pydrake:autodiff_types_pybind",
+        "//bindings/pydrake:documentation_pybind",
+        "//bindings/pydrake/common:type_pack",
+    ],
+    cc_srcs = ["rigid_body_tree_py.cc"],
+    package_info = PACKAGE_INFO,
+    py_deps = [
+        ":collision_py",
+        ":joints_py",
+        ":module_py",
+        ":parsers_py",
+        ":rigid_body_py",
+        ":shapes_py",
+        "//bindings/pydrake:autodiffutils_py",
+        "//bindings/pydrake/common:eigen_geometry_py",
+    ],
+)
+
+drake_pybind_library(
+    name = "collision_py",
+    cc_deps = ["//bindings/pydrake:documentation_pybind"],
+    cc_srcs = ["collision_py.cc"],
+    package_info = PACKAGE_INFO,
+    py_deps = [
+        ":module_py",
+        ":rigid_body_py",
+        ":shapes_py",
+    ],
+)
+
+drake_pybind_library(
+    name = "joints_py",
+    cc_deps = [
+        "//bindings/pydrake:documentation_pybind",
+        "//bindings/pydrake/common:eigen_geometry_pybind",
+    ],
+    cc_srcs = ["joints_py.cc"],
+    package_info = PACKAGE_INFO,
+    py_deps = [
+        ":module_py",
+        "//bindings/pydrake/common:eigen_geometry_py",
+    ],
+)
+
+drake_pybind_library(
+    name = "rigid_body_py",
+    cc_deps = ["//bindings/pydrake:documentation_pybind"],
+    cc_srcs = ["rigid_body_py.cc"],
+    package_info = PACKAGE_INFO,
+    py_deps = [
+        ":module_py",
+        ":shapes_py",
+    ],
+)
+
+drake_pybind_library(
+    name = "shapes_py",
+    cc_deps = ["//bindings/pydrake:documentation_pybind"],
+    cc_srcs = ["shapes_py.cc"],
+    package_info = PACKAGE_INFO,
+    py_deps = [
+        ":module_py",
+        "//bindings/pydrake/common:eigen_geometry_py",
+    ],
+)
+
+PY_LIBRARIES_WITH_INSTALL = [
+    ":collision_py",
+    ":joints_py",
+    ":rigid_body_py",
+    ":rigid_body_plant_py",
+    ":rigid_body_tree_py",
+    ":shapes_py",
+]
+
+PY_LIBRARIES = [
+    ":module_py",
+    ":parsers_py",
+]
+
+# Symbol roll-up (for user ease).
+drake_py_library(
+    name = "all_py",
+    srcs = ["all.py"],
+    deps = PY_LIBRARIES_WITH_INSTALL + PY_LIBRARIES,
+)
+
+# Package roll-up (for Bazel dependencies).
+drake_py_library(
+    name = "multibody",
+    deps = [":all_py"],
+)
+
+install(
+    name = "install",
+    targets = PY_LIBRARIES + [":all_py"],
+    py_dest = PACKAGE_INFO.py_dest,
+    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
+)
+
+# NOTE: Unittests on `attic` should not move until the forwarding modules
+# outside of the attic are deprecated!
+
+add_lint_tests(
+    cpplint_data = ["//bindings/pydrake:.clang-format"],
+    enable_clang_format_lint = True,
+)

bindings/pydrake/attic/multibody/__init__.py

@@ -0,0 +1 @@
+# Blank Python module.

bindings/pydrake/attic/multibody/all.py

@@ -0,0 +1,7 @@
+from .collision import *
+from .joints import *
+from .parsers import *
+from .rigid_body_plant import *
+from .rigid_body_tree import *
+from .rigid_body import *
+from .shapes import *

bindings/pydrake/multibody/collision_py.cc → bindings/pydrake/attic/multibody/collision_py.cc

@@ -17,8 +17,8 @@ PYBIND11_MODULE(collision, m) {
 
   m.doc() = "Drake Collision types.";
 
-  py::module::import("pydrake.multibody.shapes");
-  py::module::import("pydrake.multibody.rigid_body");
+  py::module::import("pydrake.attic.multibody.shapes");
+  py::module::import("pydrake.attic.multibody.rigid_body");
 
   py::class_<Element, DrakeShapes::Element>(
       m, "CollisionElement", doc.Element.doc)

bindings/pydrake/multibody/rigid_body_plant_py.cc → bindings/pydrake/attic/multibody/rigid_body_plant_py.cc

@@ -22,8 +22,8 @@ PYBIND11_MODULE(rigid_body_plant, m) {
   constexpr auto& doc = pydrake_doc.drake.systems;
 
   // Ensure we have bindings for dependencies.
+  py::module::import("pydrake.attic.multibody.rigid_body_tree");
   py::module::import("pydrake.lcm");
-  py::module::import("pydrake.multibody.rigid_body_tree");
   py::module::import("pydrake.systems.framework");
 
   using T = double;

bindings/pydrake/multibody/rigid_body_py.cc → bindings/pydrake/attic/multibody/rigid_body_py.cc

@@ -16,7 +16,7 @@ PYBIND11_MODULE(rigid_body, m) {
 
   m.doc() = "Bindings for the individual RigidBody class.";
 
-  py::module::import("pydrake.multibody.joints");
+  py::module::import("pydrake.attic.multibody.joints");
 
   py::class_<RigidBody<double> >(m, "RigidBody", doc.RigidBody.doc)
       .def(py::init(), doc.RigidBody.ctor.doc)

bindings/pydrake/multibody/rigid_body_tree_py.cc → bindings/pydrake/attic/multibody/rigid_body_tree_py.cc

@@ -33,11 +33,11 @@ PYBIND11_MODULE(rigid_body_tree, m) {
   namespace sdf = drake::parsers::sdf;
   using std::shared_ptr;
 
-  py::module::import("pydrake.multibody.collision");
-  py::module::import("pydrake.multibody.joints");
-  py::module::import("pydrake.multibody.parsers");
-  py::module::import("pydrake.multibody.rigid_body");
-  py::module::import("pydrake.multibody.shapes");
+  py::module::import("pydrake.attic.multibody.collision");
+  py::module::import("pydrake.attic.multibody.joints");
+  py::module::import("pydrake.attic.multibody.parsers");
+  py::module::import("pydrake.attic.multibody.rigid_body");
+  py::module::import("pydrake.attic.multibody.shapes");
   py::module::import("pydrake.common.eigen_geometry");
 
   constexpr auto& joints_doc = doc.drake.multibody.joints;