Refactor

CMakeLists.txt

@@ -64,8 +64,6 @@ nanobind_add_module(
 
 target_link_libraries(custom_system PUBLIC drake::drake)
 set_target_properties(custom_system PROPERTIES CXX_VISIBILITY_PRESET default)
-target_compile_definitions(custom_system
-                           PRIVATE VERSION_INFO=${EXAMPLE_VERSION_INFO})
 
 # Install directive for scikit-build-core
-install(TARGETS custom_system LIBRARY DESTINATION custom_system)
+install(TARGETS custom_system LIBRARY DESTINATION drake_extension)

pyproject.toml

@@ -12,7 +12,7 @@ authors = [
     { name = "M. Amin Safavi", email = "[email protected]" }
 ]
 classifiers = [
-    "License :: OSI Approved :: MIT License"
+    "License :: MIT License"
 ]
 dependencies = [
   "drake",

src/custom_system.cc

@@ -9,7 +9,6 @@ using drake::systems::Context;
 using drake::systems::LeafSystem;
 using drake::systems::kVectorValued;
 
-namespace drake_extension {
 /// Adds a constant to an input.
 template <typename T>
 class SimpleAdder : public LeafSystem<T> {
@@ -41,4 +40,3 @@ NB_MODULE(custom_system, m) {
   nb::class_<SimpleAdder<T>, LeafSystem<T>>(m, "SimpleAdder")
       .def(nb::init<T>(), nb::arg("add"));
 }
-}  // namespace drake_extension

src/drake_extension/__init__.py

@@ -0,0 +1 @@
+from .custom_system import SimpleAdder, __doc__

tests/test_custom_system.py

@@ -1,6 +1,5 @@
-import pytest
 import numpy as np
-import custom_system
+from drake_extension import SimpleAdder
 
 from pydrake.systems.analysis import Simulator
 from pydrake.systems.framework import (
@@ -15,7 +14,7 @@
 def test_custom_system():
     builder = DiagramBuilder()
     source = builder.AddSystem(ConstantVectorSource([10.]))
-    adder = builder.AddSystem(custom_system.SimpleAdder(100.))
+    adder = builder.AddSystem(drake_extension.SimpleAdder(100.))
     builder.Connect(source.get_output_port(0), adder.get_input_port(0))
     logger = builder.AddSystem(VectorLogSink(1))
     builder.Connect(adder.get_output_port(0), logger.get_input_port(0))