load("//tools/lint:lint.bzl", "add_lint_tests")
load(
    "//tools/skylark:drake_cc.bzl",
    "drake_cc_googletest",
    "drake_cc_library",
)

package(default_visibility = ["//visibility:public"])

drake_cc_library(
    name = "add_fixed_objects_to_plant",
    testonly = 1,
    srcs = [],
    hdrs = ["add_fixed_objects_to_plant.h"],
    data = [
        "//examples/kuka_iiwa_arm/models",
        "//examples/simple_gripper:models",
    ],
    deps = [
        "//common:find_resource",
        "//math:geometric_transform",
        "//multibody/parsing",
        "//multibody/plant",
        "//systems/framework",
    ],
)

drake_cc_library(
    name = "floating_body_plant",
    testonly = 1,
    srcs = ["floating_body_plant.cc"],
    hdrs = ["floating_body_plant.h"],
    deps = [
        "//common:default_scalars",
        "//multibody/plant",
    ],
)

drake_cc_library(
    name = "robot_model",
    testonly = 1,
    srcs = ["robot_model.cc"],
    hdrs = ["robot_model.h"],
    data = [
        "@drake_models//:dishes",
        "@drake_models//:iiwa_description",
    ],
    deps = [
        "//common/test_utilities:maybe_pause_for_user",
        "//multibody/parsing",
        "//multibody/plant",
        "//multibody/plant:compliant_contact_manager_tester",
        "//visualization:visualization_config_functions",
    ],
)

drake_cc_library(
    name = "spatial_kinematics",
    testonly = 1,
    srcs = [],
    hdrs = ["spatial_kinematics.h"],
    deps = [
        "//common:essential",
        "//math:geometric_transform",
        "//multibody/math:spatial_algebra",
    ],
)

drake_cc_library(
    name = "spatial_derivative",
    testonly = 1,
    srcs = [],
    hdrs = ["spatial_derivative.h"],
    deps = [
        "//common:essential",
        "//math:geometric_transform",
        "//multibody/math:spatial_algebra",
    ],
)

add_lint_tests(enable_clang_format_lint = False)
