Pr14878+rico

setup/mac/source_distribution/requirements.txt

@@ -1 +1,3 @@
+ConfigArgParse
 semantic-version
+toposort

setup/ubuntu/source_distribution/packages-bionic.txt

@@ -36,5 +36,7 @@ patch
 patchelf
 pkg-config
 python3-all-dev
+python3-configargparse
 python3-semantic-version
+python3-toposort
 zlib1g-dev

setup/ubuntu/source_distribution/packages-focal.txt

@@ -38,5 +38,7 @@ patch
 patchelf
 pkg-config
 python3-all-dev
+python3-configargparse
 python3-semantic-version
+python3-toposort
 zlib1g-dev

tools/autopybind/BUILD.bazel

@@ -0,0 +1,73 @@
+# -*- mode: python; -*-
+# vi: set ft=python:
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+load(
+    "@drake//tools/skylark:drake_py.bzl",
+    "drake_py_binary",
+    "drake_py_unittest",
+)
+load(
+    "@drake//tools/skylark:pybind.bzl",
+    "generate_autopybind11_rsp_file",
+)
+
+generate_autopybind11_rsp_file(
+    name = "generate_autopybind11_rsp_file",
+    header_archive = "libdrake_headers.tar",
+    rsp_file = "libdrake_compile_info.rsp",
+    targets = [
+        "//lcmtypes:lcmtypes_drake_cc",
+        "//tools/install/libdrake:drake_headers",
+        "//examples/compass_gait:compass_gait",
+        "//examples/manipulation_station:manipulation_station",
+        "//examples/manipulation_station:manipulation_station_hardware_interface",  # noqa
+        "//examples/pendulum:pendulum_plant",
+        "//examples/quadrotor:quadrotor_plant",
+        "//examples/rimless_wheel:rimless_wheel",
+        "//examples/van_der_pol:van_der_pol",
+        "@eigen",
+        "@fmt",
+        "@lcm",
+        "@spdlog",
+    ],
+)
+
+filegroup(
+    name = "inputs",
+    data = [
+        "libdrake_compile_info.rsp",
+        "libdrake_headers.tar",
+    ],
+)
+
+filegroup(
+    name = "config",
+    data = [
+        "autopybind11_customization.yaml",
+        "bindings_to_generate.yaml",
+    ],
+)
+
+drake_py_binary(
+    name = "generate",
+    srcs = ["generate.py"],
+    data = [
+        ":config",
+        ":inputs",
+        "@castxml//:castxml_bin",
+    ],
+    deps = [
+        "//tools/lint:find_data",
+        "@autopybind11_py",
+        "@pygccxml_py",
+    ],
+)
+
+drake_py_unittest(
+    name = "generate_test",
+    size = "medium",
+    data = [":generate"],
+)
+
+add_lint_tests()

tools/autopybind/README.md

@@ -0,0 +1,28 @@
+# Semi-Automated Python Binding Generation Tool
+
+This provides an integration with
+[`autopybind11`](https://gitlab.kitware.com/autopybind11/autopybind11). At
+present, it is meant to *bootstrap* bindings (e.g., generate or regenerate
+bindings for a class that may need some correction or customization or may be
+incomplete), but is not meant to completely replace the manual binding process.
+
+## Running
+
+To output template bindings to `/tmp/autopybind11`, please run the following:
+```bash
+bazel run //tools/autopybind:generate -- --output_dir=/tmp/autopybind11
+```
+
+This is configured using the `bindings_to_generate.yaml` file in this
+directory. For more information on the `autopybind11` schema, please review its
+[documentation](https://gitlab.kitware.com/autopybind11/autopybind11).
+
+## Troubleshooting
+
+If you encounter an issue with our usage of `autopybind11`, please run the
+following script that captures all output, commit the generate files to git,
+and make a draft pull request pointing to the problem that you are having:
+```bash
+cd drake
+./tools/autopybind/generate_debug
+```

tools/autopybind/autopybind11_customization.yaml

@@ -0,0 +1,7 @@
+---
+private_members_as_fields: false
+enable_doc_strings: false
+pass_eigen_by_ref: false
+use_eigen_return_policy: false
+use_template_wrapping_function: true
+print_python_warnings: false