[models] Move ycb models into drake_models package

BUILD.bazel

@@ -62,7 +62,6 @@ filegroup(
         "//manipulation/models/realsense2_description:models",
         "//manipulation/models/ur3e:models",
         "//manipulation/models/wsg_50_description:models",
-        "//manipulation/models/ycb:models",
         "//multibody/benchmarks/acrobot:models",
         "@drake_models",
     ],

bindings/pydrake/examples/_examples_extra.py

@@ -19,28 +19,28 @@ def CreateManipulationClassYcbObjectList():
     # The cracker box pose
     X_WCracker = _xyz_rpy_deg([0.35, 0.14, 0.09], [0, -90, 230])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/003_cracker_box.sdf", X_WCracker))
+        ("drake_models/ycb/003_cracker_box.sdf", X_WCracker))
 
     # The sugar box pose.
     X_WSugar = _xyz_rpy_deg([0.28, -0.17, 0.03], [0, 90, 180])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/004_sugar_box.sdf", X_WSugar))
+        ("drake_models/ycb/004_sugar_box.sdf", X_WSugar))
 
     # The tomato soup can pose.
     X_WSoup = _xyz_rpy_deg([0.40, -0.07, 0.03], [-90, 0, 180])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/005_tomato_soup_can.sdf", X_WSoup))
+        ("drake_models/ycb/005_tomato_soup_can.sdf", X_WSoup))
 
     # The mustard bottle pose.
     X_WMustard = _xyz_rpy_deg([0.44, -0.16, 0.09], [-90, 0, 190])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/006_mustard_bottle.sdf",
+        ("drake_models/ycb/006_mustard_bottle.sdf",
          X_WMustard))
 
     # The potted meat can pose.
     X_WMeat = _xyz_rpy_deg([0.35, -0.32, 0.03], [-90, 0, 145])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/010_potted_meat_can.sdf", X_WMeat))
+        ("drake_models/ycb/010_potted_meat_can.sdf", X_WMeat))
 
     return ycb_object_pairs
 
@@ -54,32 +54,32 @@ def CreateClutterClearingYcbObjectList():
     # The cracker box pose.
     X_WCracker = _xyz_rpy_deg([-0.3, -0.55, 0.2], [-90, 0, 170])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/003_cracker_box.sdf", X_WCracker))
+        ("drake_models/ycb/003_cracker_box.sdf", X_WCracker))
 
     # The sugar box pose.
     X_WSugar = _xyz_rpy_deg([-0.3, -0.7, 0.17], [90, 90, 0])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/004_sugar_box.sdf", X_WSugar))
+        ("drake_models/ycb/004_sugar_box.sdf", X_WSugar))
 
     # The tomato soup can pose.
     X_WSoup = _xyz_rpy_deg([-0.03, -0.57, 0.15], [-90, 0, 180])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/005_tomato_soup_can.sdf", X_WSoup))
+        ("drake_models/ycb/005_tomato_soup_can.sdf", X_WSoup))
 
     # The mustard bottle pose.
     X_WMustard = _xyz_rpy_deg([0.05, -0.66, 0.19], [-90, 0, 190])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/006_mustard_bottle.sdf",
+        ("drake_models/ycb/006_mustard_bottle.sdf",
          X_WMustard))
 
     # The gelatin box pose.
     X_WGelatin = _xyz_rpy_deg([-0.15, -0.62, 0.22], [-90, 0, 210])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/009_gelatin_box.sdf", X_WGelatin))
+        ("drake_models/ycb/009_gelatin_box.sdf", X_WGelatin))
 
     # The potted meat can pose.
     X_WMeat = _xyz_rpy_deg([-0.15, -0.62, 0.14], [-90, 0, 145])
     ycb_object_pairs.append(
-        ("drake/manipulation/models/ycb/sdf/010_potted_meat_can.sdf", X_WMeat))
+        ("drake_models/ycb/010_potted_meat_can.sdf", X_WMeat))
 
     return ycb_object_pairs

bindings/pydrake/systems/BUILD.bazel

@@ -353,7 +353,7 @@ drake_jupyter_py_binary(
     name = "jupyter_widgets_examples",
     add_test_rule = 1,
     data = [
-        "//manipulation/models/ycb:models",
+        "@drake_models",
     ],
     deps = [
         ":analysis_py",

bindings/pydrake/systems/jupyter_widgets_examples.ipynb

@@ -65,7 +65,7 @@
     "plant = MultibodyPlant(time_step=0.0)\n",
     "plant.RegisterAsSourceForSceneGraph(scene_graph)\n",
     "Parser(plant, scene_graph).AddModelsFromUrl(\n",
-    "    url=\"package://drake/manipulation/models/ycb/sdf/006_mustard_bottle.sdf\")\n",
+    "    url=\"package://drake_models/ycb/006_mustard_bottle.sdf\")\n",
     "plant.Finalize()\n",
     "\n",
     "frame_id = plant.GetBodyFrameIdOrThrow(BodyIndex(1))                                            \n",

bindings/pydrake/test/parse_models_test.py

@@ -43,6 +43,9 @@ def test_available_runfiles(self):
             if model_relpath.startswith("external/sdformat/sdf"):
                 # These are schema files; do not load.
                 model_files.remove(model_file)
+            if model_relpath.startswith("external/drake_models/"):
+                # These are checked elsewhere by drake_models-specific tests.
+                model_files.remove(model_file)
         # We expect there to be dozens of files that should be available for
         # parsing. Do a quick check to make sure we're in the right order of
         # magnitude in order to prevent false test success based on changes

bindings/pydrake/visualization/test/meldis_test.py

@@ -198,7 +198,7 @@ def test_viewer_applet_textured_meshes(self):
         """Checks _ViewerApplet support for textured meshes.
         """
         self._check_viewer_applet_on_model(
-            "drake/manipulation/models/ycb/sdf/004_sugar_box.sdf")
+            "drake_models/ycb/004_sugar_box.sdf")
 
     def test_viewer_applet_reload_optimization(self):
         """Checks that loading the identical scene twice is efficient.

examples/manipulation_station/BUILD.bazel

@@ -57,7 +57,7 @@ drake_cc_library(
         "//manipulation/models/iiwa_description:models",
         "//manipulation/models/realsense2_description:models",
         "//manipulation/models/wsg_50_description:models",
-        "//manipulation/models/ycb:models",
+        "@drake_models",
     ],
     visibility = ["//visibility:public"],
     deps = [

examples/manipulation_station/manipulation_station.cc

@@ -316,7 +316,13 @@ template <typename T>
 void ManipulationStation<T>::AddManipulandFromFile(
     const std::string& model_file, const RigidTransform<double>& X_WObject) {
   multibody::Parser parser(plant_);
-  const auto models = parser.AddModels(FindResourceOrThrow(model_file));
+  std::vector<multibody::ModelInstanceIndex> models;
+  if (model_file.starts_with("drake/") ||
+      model_file.starts_with("drake_models/")) {
+    models = parser.AddModelsFromUrl("package://" + model_file);
+  } else {
+    models = parser.AddModels(FindResourceOrThrow(model_file));
+  }
   DRAKE_THROW_UNLESS(models.size() == 1);
   const auto model_index = models[0];
   const auto indices = plant_->GetBodyIndices(model_index);

examples/manipulation_station/mock_station_simulation.cc

@@ -71,7 +71,7 @@ int do_main(int argc, char* argv[]) {
   } else if (FLAGS_setup == "clutter_clearing") {
     station->SetupClutterClearingStation();
     station->AddManipulandFromFile(
-        "drake/manipulation/models/ycb/sdf/003_cracker_box.sdf",
+        "drake_models/ycb/003_cracker_box.sdf",
         math::RigidTransform<double>(math::RollPitchYaw<double>(-1.57, 0, 3),
                                      Eigen::Vector3d(-0.3, -0.55, 0.36)));
   } else {

examples/manipulation_station/proof_of_life.cc

@@ -45,7 +45,7 @@ int do_main(int argc, char* argv[]) {
   if (FLAGS_setup == "clutter_clearing") {
     station->SetupClutterClearingStation(std::nullopt);
     station->AddManipulandFromFile(
-        "drake/manipulation/models/ycb/sdf/003_cracker_box.sdf",
+        "drake_models/ycb/003_cracker_box.sdf",
         RigidTransform<double>(RollPitchYaw<double>(-1.57, 0, 3),
                                Eigen::Vector3d(-0.3, -0.55, 0.36)));
   } else if (FLAGS_setup == "manipulation_class") {

examples/manipulation_station/test/manipulation_station_test.cc

@@ -466,15 +466,15 @@ GTEST_TEST(ManipulationStationTest, AddManipulandFromFile) {
       station.get_multibody_plant().num_model_instances();
 
   station.AddManipulandFromFile(
-      "drake/manipulation/models/ycb/sdf/003_cracker_box.sdf",
+      "drake_models/ycb/003_cracker_box.sdf",
       math::RigidTransform<double>::Identity());
 
   // Check that the cracker box was added.
   EXPECT_EQ(station.get_multibody_plant().num_model_instances(),
             num_base_instances + 1);
 
   station.AddManipulandFromFile(
-      "drake/manipulation/models/ycb/sdf/004_sugar_box.sdf",
+      "drake_models/ycb/004_sugar_box.sdf",
       math::RigidTransform<double>::Identity());
 
   // Check that the sugar box was added.

geometry/BUILD.bazel

@@ -544,8 +544,8 @@ drake_cc_binary(
         "//examples/kuka_iiwa_arm:models",
         "//geometry/render:test_models",
         "//manipulation/models/iiwa_description:models",
-        "//manipulation/models/ycb:models",
         "//multibody/meshcat:models",
+        "@drake_models",
     ],
     visibility = ["//visibility:private"],
     deps = [

geometry/render_gltf_client/BUILD.bazel

@@ -298,7 +298,7 @@ drake_cc_binary(
     srcs = ["test/client_demo.cc"],
     data = [
         ":gltf_client_test_models",
-        "//manipulation/models/ycb:models",
+        "@drake_models",
     ],
     deps = [
         ":factory",

geometry/render_gltf_client/test/example_scene.sdf

@@ -154,7 +154,7 @@
 
     <!-- Add a YCB mustard bottle. -->
     <include>
-      <uri>package://drake/manipulation/models/ycb/sdf/006_mustard_bottle.sdf</uri>
+      <uri>package://drake_models/ycb/006_mustard_bottle.sdf</uri>
       <name>mustard_bottle</name>
       <pose>0 0 0 0 0 0</pose>
     </include>

manipulation/models/BUILD.bazel

@@ -11,7 +11,6 @@ install(
         "//manipulation/models/realsense2_description:install_data",
         "//manipulation/models/ur3e:install_data",
         "//manipulation/models/wsg_50_description:install_data",
-        "//manipulation/models/ycb:install_data",
     ],
 )