[pydrake] Move geometry files into subdir (#18684)

This helps to unify the build system, but should not affect users.
RobotLocomotion · Jan 30, 2023 · 3aa7c8f · 3aa7c8f
1 parent 38acd55
commit 3aa7c8f
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Showing 24 changed files with 177 additions and 142 deletions.
diff --git a/bindings/pydrake/BUILD.bazel b/bindings/pydrake/BUILD.bazel
@@ -118,43 +118,6 @@ drake_pybind_library(
     ],
 )
 
-drake_pybind_library(
-    name = "geometry_py",
-    cc_deps = [
-        "//bindings/pydrake:documentation_pybind",
-        "//bindings/pydrake/common:default_scalars_pybind",
-        "//bindings/pydrake/common:deprecation_pybind",
-        "//bindings/pydrake/common:identifier_pybind",
-        "//bindings/pydrake/common:monostate_pybind",
-        "//bindings/pydrake/common:serialize_pybind",
-        "//bindings/pydrake/common:type_pack",
-        "//bindings/pydrake/common:type_safe_index_pybind",
-        "//bindings/pydrake/common:value_pybind",
-    ],
-    cc_srcs = [
-        "geometry_py.cc",
-        "geometry_py.h",
-        "geometry_py_common.cc",
-        "geometry_py_hydro.cc",
-        "geometry_py_optimization.cc",
-        "geometry_py_render.cc",
-        "geometry_py_scene_graph.cc",
-        "geometry_py_visualizers.cc",
-    ],
-    package_info = PACKAGE_INFO,
-    py_data = [
-        "//setup:deepnote",
-    ],
-    py_deps = [
-        ":math_py",
-        ":module_py",
-        "//bindings/pydrake/solvers",
-        "//bindings/pydrake/systems:framework_py",
-        "//bindings/pydrake/systems:lcm_py",
-    ],
-    py_srcs = ["_geometry_extra.py"],
-)
-
 drake_pybind_library(
     name = "lcm_py",
     cc_deps = [
@@ -301,6 +264,7 @@ drake_py_library(
 
 PYBIND_SUBPACKAGES_FOR_COVERAGE = [
     "//bindings/pydrake/common",
+    "//bindings/pydrake/geometry",
     "//bindings/pydrake/manipulation",
     "//bindings/pydrake/multibody",
     "//bindings/pydrake/planning",
@@ -311,7 +275,6 @@ PYBIND_SUBPACKAGES_FOR_COVERAGE = [
 
 PY_LIBRARIES_WITH_INSTALL = [
     ":autodiffutils_py",
-    ":geometry_py",
     ":lcm_py",
     ":math_py",
     ":perception_py",
@@ -491,98 +454,6 @@ drake_py_unittest(
     ],
 )
 
-drake_py_unittest(
-    name = "frame_id_test",
-    deps = [
-        ":geometry_py",
-    ],
-)
-
-drake_py_unittest(
-    name = "geometry_common_test",
-    deps = [
-        ":geometry_py",
-        "//bindings/pydrake/common",
-        "//bindings/pydrake/common/test_utilities",
-        "//bindings/pydrake/multibody:parsing_py",
-        "//bindings/pydrake/multibody:plant_py",
-    ],
-)
-
-drake_py_unittest(
-    name = "geometry_hydro_test",
-    data = [
-        "//geometry:test_obj_files",
-    ],
-    deps = [
-        ":geometry_py",
-        "//bindings/pydrake/common/test_utilities",
-    ],
-)
-
-drake_py_unittest(
-    name = "geometry_optimization_test",
-    deps = [
-        ":geometry_py",
-        ":math_py",
-        "//bindings/pydrake/common/test_utilities:deprecation_py",
-        "//bindings/pydrake/common/test_utilities:pickle_compare_py",
-        "//bindings/pydrake/multibody:inverse_kinematics_py",
-        "//bindings/pydrake/multibody:parsing_py",
-        "//bindings/pydrake/multibody:plant_py",
-        "//bindings/pydrake/solvers",
-    ],
-)
-
-drake_py_unittest(
-    name = "geometry_render_test",
-    deps = [
-        ":geometry_py",
-        "//bindings/pydrake/common/test_utilities",
-        "//bindings/pydrake/systems:sensors_py",
-    ],
-)
-
-drake_py_unittest(
-    name = "geometry_render_engine_gl_test",
-    deps = [
-        ":geometry_py",
-        "//bindings/pydrake/common/test_utilities",
-    ],
-)
-
-drake_py_unittest(
-    name = "geometry_render_engine_subclass_test",
-    flaky = True,
-    deps = [
-        ":geometry_py",
-        "//bindings/pydrake/common/test_utilities",
-        "//bindings/pydrake/systems:sensors_py",
-    ],
-)
-
-drake_py_unittest(
-    name = "geometry_scene_graph_test",
-    deps = [
-        ":geometry_py",
-        "//bindings/pydrake/common/test_utilities",
-        "//bindings/pydrake/systems:sensors_py",
-    ],
-)
-
-drake_py_unittest(
-    name = "geometry_visualizers_test",
-    deps = [
-        ":geometry_py",
-        ":lcm_py",
-        ":perception_py",
-        "//bindings/pydrake/common/test_utilities",
-        "//bindings/pydrake/multibody:plant_py",
-        "//bindings/pydrake/systems:analysis_py",
-        "//bindings/pydrake/systems:lcm_py",
-    ],
-)
-
 drake_py_unittest(
     name = "lcm_test",
     deps = [
@@ -720,7 +591,7 @@ PYI_FILES = [
     "pydrake/examples/rimless_wheel.pyi",
     "pydrake/examples/van_der_pol.pyi",
     "pydrake/forwarddiff.pyi",
-    "pydrake/geometry.pyi",
+    "pydrake/geometry/__init__.pyi",
     "pydrake/lcm.pyi",
     "pydrake/manipulation/__init__.pyi",
     "pydrake/manipulation/all.pyi",

diff --git a/bindings/pydrake/geometry/BUILD.bazel b/bindings/pydrake/geometry/BUILD.bazel
@@ -0,0 +1,164 @@
+# -*- python -*-
+
+load("@drake//tools/install:install.bzl", "install")
+load(
+    "@drake//tools/skylark:drake_py.bzl",
+    "drake_py_unittest",
+)
+load(
+    "@drake//tools/skylark:pybind.bzl",
+    "add_pybind_coverage_data",
+    "drake_pybind_library",
+    "get_drake_py_installs",
+    "get_pybind_package_info",
+)
+load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
+
+package(default_visibility = [
+    "//bindings:__subpackages__",
+])
+
+# This determines how `PYTHONPATH` is configured, and how to install the
+# bindings.
+PACKAGE_INFO = get_pybind_package_info(base_package = "//bindings")
+
+drake_pybind_library(
+    name = "geometry",
+    cc_deps = [
+        "//bindings/pydrake:documentation_pybind",
+        "//bindings/pydrake/common:default_scalars_pybind",
+        "//bindings/pydrake/common:deprecation_pybind",
+        "//bindings/pydrake/common:identifier_pybind",
+        "//bindings/pydrake/common:monostate_pybind",
+        "//bindings/pydrake/common:serialize_pybind",
+        "//bindings/pydrake/common:type_pack",
+        "//bindings/pydrake/common:type_safe_index_pybind",
+        "//bindings/pydrake/common:value_pybind",
+    ],
+    cc_so_name = "__init__",
+    cc_srcs = [
+        "geometry_py.cc",
+        "geometry_py.h",
+        "geometry_py_common.cc",
+        "geometry_py_hydro.cc",
+        "geometry_py_optimization.cc",
+        "geometry_py_render.cc",
+        "geometry_py_scene_graph.cc",
+        "geometry_py_visualizers.cc",
+    ],
+    package_info = PACKAGE_INFO,
+    py_data = [
+        "//setup:deepnote",
+    ],
+    py_deps = [
+        "//bindings/pydrake:math_py",
+        "//bindings/pydrake:module_py",
+        "//bindings/pydrake/solvers",
+        "//bindings/pydrake/systems:framework_py",
+        "//bindings/pydrake/systems:lcm_py",
+    ],
+    py_srcs = ["_geometry_extra.py"],
+)
+
+install(
+    name = "install",
+    targets = [":geometry"],
+    py_dest = PACKAGE_INFO.py_dest,
+    deps = get_drake_py_installs([":geometry"]),
+)
+
+drake_py_unittest(
+    name = "frame_id_test",
+    deps = [
+        ":geometry",
+    ],
+)
+
+drake_py_unittest(
+    name = "common_test",
+    deps = [
+        ":geometry",
+        "//bindings/pydrake/common",
+        "//bindings/pydrake/common/test_utilities",
+        "//bindings/pydrake/multibody:parsing_py",
+        "//bindings/pydrake/multibody:plant_py",
+    ],
+)
+
+drake_py_unittest(
+    name = "hydro_test",
+    data = [
+        "//geometry:test_obj_files",
+    ],
+    deps = [
+        ":geometry",
+        "//bindings/pydrake/common/test_utilities",
+    ],
+)
+
+drake_py_unittest(
+    name = "optimization_test",
+    deps = [
+        ":geometry",
+        "//bindings/pydrake:math_py",
+        "//bindings/pydrake/common/test_utilities:deprecation_py",
+        "//bindings/pydrake/common/test_utilities:pickle_compare_py",
+        "//bindings/pydrake/multibody:inverse_kinematics_py",
+        "//bindings/pydrake/multibody:parsing_py",
+        "//bindings/pydrake/multibody:plant_py",
+        "//bindings/pydrake/solvers",
+    ],
+)
+
+drake_py_unittest(
+    name = "render_test",
+    deps = [
+        ":geometry",
+        "//bindings/pydrake/common/test_utilities",
+        "//bindings/pydrake/systems:sensors_py",
+    ],
+)
+
+drake_py_unittest(
+    name = "render_engine_gl_test",
+    deps = [
+        ":geometry",
+        "//bindings/pydrake/common/test_utilities",
+    ],
+)
+
+drake_py_unittest(
+    name = "render_engine_subclass_test",
+    flaky = True,
+    deps = [
+        ":geometry",
+        "//bindings/pydrake/common/test_utilities",
+        "//bindings/pydrake/systems:sensors_py",
+    ],
+)
+
+drake_py_unittest(
+    name = "scene_graph_test",
+    deps = [
+        ":geometry",
+        "//bindings/pydrake/common/test_utilities",
+        "//bindings/pydrake/systems:sensors_py",
+    ],
+)
+
+drake_py_unittest(
+    name = "visualizers_test",
+    deps = [
+        ":geometry",
+        "//bindings/pydrake:lcm_py",
+        "//bindings/pydrake:perception_py",
+        "//bindings/pydrake/common/test_utilities",
+        "//bindings/pydrake/multibody:plant_py",
+        "//bindings/pydrake/systems:analysis_py",
+        "//bindings/pydrake/systems:lcm_py",
+    ],
+)
+
+add_pybind_coverage_data()
+
+add_lint_tests_pydrake()
diff --git a/bindings/pydrake/_geometry_extra.py → bindings/pydrake/geometry/_geometry_extra.py b/bindings/pydrake/_geometry_extra.py → bindings/pydrake/geometry/_geometry_extra.py
diff --git a/bindings/pydrake/geometry_py.cc → bindings/pydrake/geometry/geometry_py.cc b/bindings/pydrake/geometry_py.cc → bindings/pydrake/geometry/geometry_py.cc
@@ -1,4 +1,4 @@
-#include "drake/bindings/pydrake/geometry_py.h"
+#include "drake/bindings/pydrake/geometry/geometry_py.h"
 
 #include "pybind11/eval.h"
 
@@ -31,7 +31,7 @@ PYBIND11_MODULE(geometry, m) {
   DefineGeometryOptimization(m.def_submodule("optimization"));
   DefineGeometryVisualizers(m);
 
-  ExecuteExtraPythonCode(m);
+  ExecuteExtraPythonCode(m, true);
 
   def_geometry_all(m.def_submodule("all"));
 }

diff --git a/bindings/pydrake/geometry_py.h → bindings/pydrake/geometry/geometry_py.h b/bindings/pydrake/geometry_py.h → bindings/pydrake/geometry/geometry_py.h
diff --git a/bindings/pydrake/geometry_py_common.cc → ...gs/pydrake/geometry/geometry_py_common.cc b/bindings/pydrake/geometry_py_common.cc → ...gs/pydrake/geometry/geometry_py_common.cc
diff --git a/bindings/pydrake/geometry_py_hydro.cc → ...ngs/pydrake/geometry/geometry_py_hydro.cc b/bindings/pydrake/geometry_py_hydro.cc → ...ngs/pydrake/geometry/geometry_py_hydro.cc
diff --git a/bindings/pydrake/geometry_py_optimization.cc → ...rake/geometry/geometry_py_optimization.cc b/bindings/pydrake/geometry_py_optimization.cc → ...rake/geometry/geometry_py_optimization.cc
@@ -6,7 +6,7 @@
 #include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/identifier_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
-#include "drake/bindings/pydrake/geometry_py.h"
+#include "drake/bindings/pydrake/geometry/geometry_py.h"
 #include "drake/geometry/optimization/cartesian_product.h"
 #include "drake/geometry/optimization/graph_of_convex_sets.h"
 #include "drake/geometry/optimization/hpolyhedron.h"

diff --git a/bindings/pydrake/geometry_py_render.cc → ...gs/pydrake/geometry/geometry_py_render.cc b/bindings/pydrake/geometry_py_render.cc → ...gs/pydrake/geometry/geometry_py_render.cc
diff --git a/bindings/pydrake/geometry_py_scene_graph.cc → ...drake/geometry/geometry_py_scene_graph.cc b/bindings/pydrake/geometry_py_scene_graph.cc → ...drake/geometry/geometry_py_scene_graph.cc
diff --git a/bindings/pydrake/geometry_py_visualizers.cc → ...drake/geometry/geometry_py_visualizers.cc b/bindings/pydrake/geometry_py_visualizers.cc → ...drake/geometry/geometry_py_visualizers.cc
diff --git a/...ings/pydrake/test/geometry_common_test.py → ...ings/pydrake/geometry/test/common_test.py b/...ings/pydrake/test/geometry_common_test.py → ...ings/pydrake/geometry/test/common_test.py
diff --git a/bindings/pydrake/test/frame_id_test.py → ...gs/pydrake/geometry/test/frame_id_test.py b/bindings/pydrake/test/frame_id_test.py → ...gs/pydrake/geometry/test/frame_id_test.py
diff --git a/bindings/pydrake/test/geometry_hydro_test.py → bindings/pydrake/geometry/test/hydro_test.py b/bindings/pydrake/test/geometry_hydro_test.py → bindings/pydrake/geometry/test/hydro_test.py
diff --git a/...ydrake/test/geometry_optimization_test.py → ...ydrake/geometry/test/optimization_test.py b/...ydrake/test/geometry_optimization_test.py → ...ydrake/geometry/test/optimization_test.py
diff --git a/...ke/test/geometry_render_engine_gl_test.py → ...ke/geometry/test/render_engine_gl_test.py b/...ke/test/geometry_render_engine_gl_test.py → ...ke/geometry/test/render_engine_gl_test.py
diff --git a/...t/geometry_render_engine_subclass_test.py → ...metry/test/render_engine_subclass_test.py b/...t/geometry_render_engine_subclass_test.py → ...metry/test/render_engine_subclass_test.py
diff --git a/...ings/pydrake/test/geometry_render_test.py → ...ings/pydrake/geometry/test/render_test.py b/...ings/pydrake/test/geometry_render_test.py → ...ings/pydrake/geometry/test/render_test.py
diff --git a/...pydrake/test/geometry_scene_graph_test.py → ...pydrake/geometry/test/scene_graph_test.py b/...pydrake/test/geometry_scene_graph_test.py → ...pydrake/geometry/test/scene_graph_test.py
diff --git a/...pydrake/test/geometry_visualizers_test.py → ...pydrake/geometry/test/visualizers_test.py b/...pydrake/test/geometry_visualizers_test.py → ...pydrake/geometry/test/visualizers_test.py
diff --git a/bindings/pydrake/multibody/BUILD.bazel b/bindings/pydrake/multibody/BUILD.bazel
@@ -141,7 +141,7 @@ drake_pybind_library(
         ":math_py",
         ":module_py",
         ":tree_py",
-        "//bindings/pydrake:geometry_py",
+        "//bindings/pydrake/geometry",
         "//bindings/pydrake/common:cpp_template_py",
     ],
     py_srcs = [
@@ -296,7 +296,7 @@ drake_jupyter_py_binary(
         ":jupyter_widgets_py",
         ":parsing_py",
         ":plant_py",
-        "//bindings/pydrake:geometry_py",
+        "//bindings/pydrake/geometry",
         "//bindings/pydrake/systems:analysis_py",
         "//bindings/pydrake/systems:framework_py",
         "//bindings/pydrake/systems:rendering_py",

diff --git a/bindings/pydrake/planning/BUILD.bazel b/bindings/pydrake/planning/BUILD.bazel
@@ -40,7 +40,7 @@ drake_pybind_library(
     package_info = PACKAGE_INFO,
     py_deps = [
         "//bindings/pydrake/common:cpp_template_py",
-        "//bindings/pydrake:geometry_py",
+        "//bindings/pydrake/geometry",
         "//bindings/pydrake/multibody:parsing_py",
         "//bindings/pydrake/multibody:plant_py",
     ],