[workspace] Upgrade drake_models to latest commit

Document that manipulation/models is being removed, remove all of its from the install rules. Port installed software to the new paths: - examples/manipulation_station - tutorials
RobotLocomotion · Mar 29, 2024 · 6c6e29e · 6c6e29e
1 parent 2b325f9
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diff --git a/BUILD.bazel b/BUILD.bazel
@@ -103,7 +103,6 @@ install(
         "//examples:install",
         "//geometry:install",
         "//lcmtypes:install",
-        "//manipulation/models:install_data",
         "//multibody/parsing:install",
         "//setup:install",
         "//tools/install/libdrake:install",

diff --git a/bindings/pydrake/visualization/model_visualizer.py b/bindings/pydrake/visualization/model_visualizer.py
@@ -28,7 +28,7 @@
 An example of viewing an iiwa model file::
 
   python3 -m pydrake.visualization.model_visualizer --open-window \
-        package://drake/manipulation/models/iiwa_description/iiwa7/iiwa7_with_box_collision.sdf
+        package://drake_models/iiwa_description/sdf/iiwa7_with_box_collision.sdf
 
 This program respects the ``ROS_PACKAGE_PATH``; if your model uses external
 resources then you will need to set that environment variable.

diff --git a/examples/manipulation_station/BUILD.bazel b/examples/manipulation_station/BUILD.bazel
@@ -54,9 +54,12 @@ drake_cc_library(
     data = [
         ":models",
         "//examples/kuka_iiwa_arm:models",
+        "@drake_models",
+        # TODO(jwnimmer-tri) These are not actually used by this library
+        # anymore, but removing them breaks too many other things. We'll
+        # revisit this later when we finally delete these paths entirely.
         "//manipulation/models/iiwa_description:models",
         "//manipulation/models/wsg_50_description:models",
-        "@drake_models",
     ],
     visibility = ["//visibility:public"],
     deps = [
@@ -85,8 +88,7 @@ drake_cc_library(
         "manipulation_station_hardware_interface.h",
     ],
     data = [
-        "//manipulation/models/iiwa_description:models",
-        "//manipulation/models/wsg_50_description:models",
+        "@drake_models",
     ],
     visibility = ["//visibility:public"],
     deps = [

diff --git a/examples/manipulation_station/manipulation_station.cc b/examples/manipulation_station/manipulation_station.cc
@@ -49,6 +49,7 @@ using multibody::ExternallyAppliedSpatialForce;
 using multibody::Joint;
 using multibody::MultibodyForces;
 using multibody::MultibodyPlant;
+using multibody::PackageMap;
 using multibody::PrismaticJoint;
 using multibody::RevoluteJoint;
 using multibody::RigidBody;
@@ -455,15 +456,14 @@ void ManipulationStation<T>::SetupPlanarIiwaStation(
 
   // Add planar iiwa model.
   {
-    std::string sdf_path =
-        "drake/manipulation/models/iiwa_description/urdf/"
+    const std::string sdf_url =
+        "package://drake_models/iiwa_description/urdf/"
         "planar_iiwa14_spheres_dense_elbow_collision.urdf";
-    std::string sdf_url = "package://" + sdf_path;
     const auto X_WI = RigidTransform<double>::Identity();
     auto iiwa_instance = internal::AddAndWeldModelFrom(
         sdf_url, "iiwa", plant_->world_frame(), "iiwa_link_0", X_WI, plant_);
     RegisterIiwaControllerModel(
-        FindResourceOrThrow(sdf_path), iiwa_instance, plant_->world_frame(),
+        PackageMap{}.ResolveUrl(sdf_url), iiwa_instance, plant_->world_frame(),
         plant_->GetFrameByName("iiwa_link_0", iiwa_instance), X_WI);
   }
 
@@ -1115,55 +1115,53 @@ ManipulationStation<T>::GetStaticCameraPosesInWorld() const {
 template <typename T>
 void ManipulationStation<T>::AddDefaultIiwa(
     const IiwaCollisionModel collision_model) {
-  std::string sdf_path;
+  std::string sdf_url;
   switch (collision_model) {
     case IiwaCollisionModel::kNoCollision:
-      sdf_path =
-          "drake/manipulation/models/iiwa_description/iiwa7/"
+      sdf_url =
+          "package://drake_models/iiwa_description/sdf/"
           "iiwa7_no_collision.sdf";
       break;
     case IiwaCollisionModel::kBoxCollision:
-      sdf_path =
-          "drake/manipulation/models/iiwa_description/iiwa7/"
+      sdf_url =
+          "package://drake_models/iiwa_description/sdf/"
           "iiwa7_with_box_collision.sdf";
       break;
   }
-  std::string sdf_url = "package://" + sdf_path;
   const auto X_WI = RigidTransform<double>::Identity();
   auto iiwa_instance = internal::AddAndWeldModelFrom(
       sdf_url, "iiwa", plant_->world_frame(), "iiwa_link_0", X_WI, plant_);
   RegisterIiwaControllerModel(
-      FindResourceOrThrow(sdf_path), iiwa_instance, plant_->world_frame(),
+      PackageMap{}.ResolveUrl(sdf_url), iiwa_instance, plant_->world_frame(),
       plant_->GetFrameByName("iiwa_link_0", iiwa_instance), X_WI);
 }
 
 // Add default wsg.
 template <typename T>
 void ManipulationStation<T>::AddDefaultWsg(
     const SchunkCollisionModel schunk_model) {
-  std::string sdf_path;
+  std::string sdf_url;
   switch (schunk_model) {
     case SchunkCollisionModel::kBox:
-      sdf_path =
-          "drake/manipulation/models/wsg_50_description/sdf"
-          "/schunk_wsg_50_no_tip.sdf";
+      sdf_url =
+          "package://drake_models/wsg_50_description/sdf/"
+          "schunk_wsg_50_no_tip.sdf";
       break;
     case SchunkCollisionModel::kBoxPlusFingertipSpheres:
-      sdf_path =
-          "drake/manipulation/models/wsg_50_description/sdf"
-          "/schunk_wsg_50_with_tip.sdf";
+      sdf_url =
+          "package://drake_models/wsg_50_description/sdf/"
+          "schunk_wsg_50_with_tip.sdf";
       break;
   }
-  std::string sdf_url = "package://" + sdf_path;
   const multibody::Frame<T>& link7 =
       plant_->GetFrameByName("iiwa_link_7", iiwa_model_.model_instance);
   const RigidTransform<double> X_7G(RollPitchYaw<double>(M_PI_2, 0, M_PI_2),
                                     Vector3d(0, 0, 0.114));
   auto wsg_instance = internal::AddAndWeldModelFrom(sdf_url, "gripper", link7,
                                                     "body", X_7G, plant_);
-  RegisterWsgControllerModel(FindResourceOrThrow(sdf_path), wsg_instance, link7,
-                             plant_->GetFrameByName("body", wsg_instance),
-                             X_7G);
+  RegisterWsgControllerModel(
+      PackageMap{}.ResolveUrl(sdf_url), wsg_instance, link7,
+      plant_->GetFrameByName("body", wsg_instance), X_7G);
 }
 
 }  // namespace manipulation_station

diff --git a/examples/manipulation_station/manipulation_station_hardware_interface.cc b/examples/manipulation_station/manipulation_station_hardware_interface.cc
@@ -129,8 +129,7 @@ ManipulationStationHardwareInterface::ManipulationStationHardwareInterface(
   // Build the controller's version of the plant, which only contains the
   // IIWA and the equivalent inertia of the gripper.
   const std::string iiwa_sdf_url =
-      "package://drake/manipulation/models/iiwa_description/sdf/"
-      "iiwa14_no_collision.sdf";
+      "package://drake_models/iiwa_description/sdf/iiwa14_no_collision.sdf";
   Parser parser(owned_controller_plant_.get());
   iiwa_model_instance_ = parser.AddModelsFromUrl(iiwa_sdf_url).at(0);
 

diff --git a/examples/manipulation_station/test/manipulation_station_test.cc b/examples/manipulation_station/test/manipulation_station_test.cc
@@ -44,8 +44,7 @@ multibody::SpatialInertia<double> MakeCompositeGripperInertia() {
   multibody::MultibodyPlant<double> plant(1.0);
   multibody::Parser parser(&plant);
   parser.AddModelsFromUrl(
-      "package://drake/manipulation/models/wsg_50_description/sdf/"
-      "schunk_wsg_50_no_tip.sdf");
+      "package://drake_models/wsg_50_description/sdf/schunk_wsg_50_no_tip.sdf");
   plant.Finalize();
   const std::string gripper_body_frame_name = "body";
   const auto& frame = plant.GetFrameByName(gripper_body_frame_name);

diff --git a/manipulation/models/BUILD.bazel b/manipulation/models/BUILD.bazel
@@ -1,16 +1,3 @@
-load("//tools/install:install.bzl", "install")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
-install(
-    name = "install_data",
-    visibility = ["//visibility:public"],
-    deps = [
-        "//manipulation/models/franka_description:install_data",
-        "//manipulation/models/iiwa_description:install_data",
-        "//manipulation/models/jaco_description:install_data",
-        "//manipulation/models/ur3e:install_data",
-        "//manipulation/models/wsg_50_description:install_data",
-    ],
-)
-
 add_lint_tests()
diff --git a/manipulation/models/README.md b/manipulation/models/README.md
@@ -0,0 +1,11 @@
+
+# Drake Users
+
+All files in drake/manipulation/models are in the process of being moved to the
+https://github.com/RobotLocomotion/models/ repository, instead. Do not use any
+of these (package://drake) models in new code. Instead, use the models from
+their new home (package://drake_models).
+
+# Drake Developers
+
+Do not many any further changes to these model files.
diff --git a/manipulation/models/franka_description/BUILD.bazel b/manipulation/models/franka_description/BUILD.bazel
@@ -1,9 +1,4 @@
-load(
-    "//tools/skylark:drake_cc.bzl",
-    "drake_cc_googletest",
-)
 load("//tools/skylark:drake_data.bzl", "models_filegroup")
-load("//tools/install:install_data.bzl", "install_data")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(default_visibility = ["//visibility:public"])
@@ -17,11 +12,6 @@ models_filegroup(
     visibility = ["//visibility:private"],
 )
 
-install_data(
-    name = "install_data",
-    data = [":glob_models"],
-)
-
 filegroup(
     name = "models",
     srcs = [
@@ -49,18 +39,4 @@ filegroup(
     ],
 )
 
-# === test/ ===
-
-drake_cc_googletest(
-    name = "franka_arm_test",
-    srcs = ["urdf/test/franka_arm_test.cc"],
-    data = [":models"],
-    deps = [
-        "//common:find_resource",
-        "//common/test_utilities:eigen_matrix_compare",
-        "//multibody/parsing",
-        "//multibody/plant",
-    ],
-)
-
 add_lint_tests()
diff --git a/manipulation/models/franka_description/VESTIGIAL.md b/manipulation/models/franka_description/VESTIGIAL.md
@@ -0,0 +1 @@
+../README.md
diff --git a/manipulation/models/franka_description/urdf/test/franka_arm_test.cc b/manipulation/models/franka_description/urdf/test/franka_arm_test.cc
diff --git a/manipulation/models/iiwa_description/BUILD.bazel b/manipulation/models/iiwa_description/BUILD.bazel
@@ -1,9 +1,4 @@
-load(
-    "//tools/skylark:drake_cc.bzl",
-    "drake_cc_googletest",
-)
 load("//tools/skylark:drake_data.bzl", "models_filegroup")
-load("//tools/install:install_data.bzl", "install_data")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(default_visibility = ["//visibility:public"])
@@ -17,11 +12,6 @@ models_filegroup(
     visibility = ["//visibility:private"],
 )
 
-install_data(
-    name = "install_data",
-    data = [":glob_models"],
-)
-
 filegroup(
     name = "models",
     srcs = [
@@ -80,17 +70,4 @@ filegroup(
     ],
 )
 
-# === test/ ===
-
-drake_cc_googletest(
-    name = "iiwa_variants_parsing_test",
-    srcs = ["test/iiwa_variants_parsing_test.cc"],
-    data = [":models"],
-    deps = [
-        "//common:find_resource",
-        "//common/test_utilities:eigen_matrix_compare",
-        "//multibody/parsing",
-    ],
-)
-
 add_lint_tests()
diff --git a/manipulation/models/iiwa_description/VESTIGIAL.md b/manipulation/models/iiwa_description/VESTIGIAL.md
@@ -0,0 +1 @@
+../README.md