Move meshes and models into drake_models

RobotLocomotion · Apr 7, 2023 · a544708 · a544708
1 parent 3f9800b
commit a544708
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diff --git a/bindings/pydrake/common/BUILD.bazel b/bindings/pydrake/common/BUILD.bazel
@@ -489,7 +489,7 @@ install(
 
 drake_py_unittest(
     name = "module_test",
-    data = ["//examples/atlas:models"],
+    data = ["//examples/acrobot:models"],
     deps = [
         ":module_py",
         "//bindings/pydrake:autodiffutils_py",

diff --git a/bindings/pydrake/common/test/module_test.py b/bindings/pydrake/common/test/module_test.py
@@ -29,9 +29,7 @@ def test_drake_demand_throws(self):
                 ]))
 
     def test_find_resource_or_throw(self):
-        mut.FindResourceOrThrow(
-            'drake/examples/atlas/urdf/atlas_convex_hull.urdf'
-            )
+        mut.FindResourceOrThrow("drake/examples/acrobot/Acrobot.urdf")
 
     def test_test_temp_directory(self):
         temp_dir = mut.temp_directory()

diff --git a/bindings/pydrake/multibody/test/parsing_test.py b/bindings/pydrake/multibody/test/parsing_test.py
@@ -47,8 +47,6 @@ def test_package_map(self):
         dut = PackageMap.MakeEmpty()
         dut2 = PackageMap.MakeEmpty()
         tmpdir = os.environ.get('TEST_TMPDIR')
-        model = FindResourceOrThrow(
-            "drake/examples/atlas/urdf/atlas_minimal_contact.urdf")
 
         # Simple coverage test for Add, AddMap, Contains, size,
         # GetPackageNames, GetPath, AddPackageXml, Remove.

diff --git a/bindings/pydrake/systems/BUILD.bazel b/bindings/pydrake/systems/BUILD.bazel
@@ -271,6 +271,7 @@ drake_py_library(
         ":pyplot_visualizer_py",
         ":rendering_py",
         "//bindings/pydrake:lcm_py",
+        "@bazel_tools//tools/python/runfiles",
     ],
 )
 

diff --git a/bindings/pydrake/systems/test/planar_scenegraph_visualizer_test.py b/bindings/pydrake/systems/test/planar_scenegraph_visualizer_test.py
@@ -1,5 +1,6 @@
 import unittest
 
+import bazel_tools.tools.python.runfiles.runfiles
 import numpy as np
 import os
 
@@ -159,8 +160,9 @@ def scene_graph_with_mesh(filename, scale=1.0):
             return scene_graph
 
         # This mesh should load correctly.
-        mesh_name = FindResourceOrThrow(
-            "drake/manipulation/models/iiwa_description/meshes/visual/"
+        runfiles = bazel_tools.tools.python.runfiles.runfiles.Create()
+        mesh_name = runfiles.Rlocation(
+            "drake_models/iiwa_description/meshes/iiwa14/visual/"
             "link_0.obj")
         scene_graph = scene_graph_with_mesh(mesh_name)
         PlanarSceneGraphVisualizer(scene_graph)

diff --git a/examples/BUILD.bazel b/examples/BUILD.bazel
@@ -36,7 +36,6 @@ drake_cc_binary(
 # process, and loaded into drake_visualizer's model database by default.
 INSTALLED_MODEL_PACKAGES = [
     "//examples/acrobot",
-    "//examples/atlas",
     "//examples/hydroelastic/spatula_slip_control",
     "//examples/kuka_iiwa_arm/models",
     "//examples/manipulation_station",

diff --git a/examples/atlas/BUILD.bazel b/examples/atlas/BUILD.bazel
diff --git a/examples/atlas/README.md b/examples/atlas/README.md
@@ -1,5 +1,5 @@
 
-This directory contains models for Atlas.
+This directory contains a small demo of Atlas dynamics.
 
 Historical note
 ---------------

diff --git a/examples/atlas/atlas_run_dynamics.cc b/examples/atlas/atlas_run_dynamics.cc
@@ -52,7 +52,7 @@ int do_main() {
       multibody::AddMultibodyPlant(plant_config, &builder);
 
   multibody::Parser(&plant).AddModelsFromUrl(
-      "package://drake/examples/atlas/urdf/atlas_convex_hull.urdf");
+      "package://drake_models/atlas/atlas_convex_hull.urdf");
 
   // Add model of the ground.
   const double static_friction = 1.0;

diff --git a/examples/atlas/config/.gitignore b/examples/atlas/config/.gitignore