[models] Delete robot descriptions that now live in drake_models

BUILD.bazel

@@ -53,11 +53,6 @@ filegroup(
         "//examples/quadrotor:models",
         "//examples/scene_graph:models",
         "//examples/simple_gripper:simple_gripper_models",
-        "//manipulation/models/franka_description:models",
-        "//manipulation/models/iiwa_description:models",
-        "//manipulation/models/jaco_description:models",
-        "//manipulation/models/ur3e:models",
-        "//manipulation/models/wsg_50_description:models",
         "//multibody/benchmarks/acrobot:models",
         "@drake_models",
     ],

bindings/pydrake/examples/test/manipulation_station_test.py

@@ -2,7 +2,6 @@
 
 import numpy as np
 
-from pydrake.common import FindResourceOrThrow
 from pydrake.examples import (
     CreateClutterClearingYcbObjectList,
     CreateManipulationClassYcbObjectList,
@@ -20,7 +19,10 @@
 from pydrake.math import RigidTransform, RollPitchYaw
 from pydrake.multibody.plant import MultibodyPlant
 from pydrake.multibody.tree import ModelInstanceIndex
-from pydrake.multibody.parsing import Parser
+from pydrake.multibody.parsing import (
+    PackageMap,
+    Parser,
+)
 from pydrake.systems.sensors import CameraInfo
 
 
@@ -66,17 +68,17 @@ def test_manipulation_station_add_iiwa_and_wsg_explicitly(self):
         plant = station.get_mutable_multibody_plant()
 
         # Add models for iiwa and wsg
-        iiwa_model_file = FindResourceOrThrow(
-            "drake/manipulation/models/iiwa_description/iiwa7/"
+        iiwa_model_file = PackageMap().ResolveUrl(
+            "package://drake_models/iiwa_description/sdf/"
             "iiwa7_no_collision.sdf")
         (iiwa,) = parser.AddModels(iiwa_model_file)
         X_WI = RigidTransform.Identity()
         plant.WeldFrames(plant.world_frame(),
                          plant.GetFrameByName("iiwa_link_0", iiwa),
                          X_WI)
 
-        wsg_model_file = FindResourceOrThrow(
-            "drake/manipulation/models/wsg_50_description/sdf/"
+        wsg_model_file = PackageMap().ResolveUrl(
+            "package://drake_models/wsg_50_description/sdf/"
             "schunk_wsg_50.sdf")
         (wsg,) = parser.AddModels(wsg_model_file)
         X_7G = RigidTransform.Identity()

bindings/pydrake/manipulation/BUILD.bazel

@@ -47,8 +47,8 @@ drake_pybind_library(
 drake_py_unittest(
     name = "kuka_iiwa_test",
     data = [
-        "//manipulation/models/iiwa_description:models",
         "//manipulation/util:test_directives",
+        "@drake_models//:iiwa_description",
     ],
     deps = [
         ":manipulation",

bindings/pydrake/manipulation/test/kuka_iiwa_test.py

@@ -33,9 +33,9 @@ def make_builder_plant_controller_plant(self):
         plant.Finalize()
         controller_plant = MultibodyPlant(1.)
         parser = Parser(controller_plant)
-        parser.AddModels(FindResourceOrThrow(
-            "drake/manipulation/models/iiwa_description/iiwa7/"
-            "iiwa7_no_collision.sdf"))
+        parser.AddModels(url=(
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa7_no_collision.sdf"))
         controller_plant.WeldFrames(
             controller_plant.world_frame(),
             controller_plant.GetFrameByName("iiwa_link_0"), RigidTransform())

bindings/pydrake/multibody/BUILD.bazel

@@ -379,7 +379,7 @@ drake_jupyter_py_binary(
     name = "examples/jupyter_widgets_examples",
     add_test_rule = 1,
     data = [
-        "//manipulation/models/iiwa_description:models",
+        "@drake_models//:iiwa_description",
     ],
     deps = [
         ":jupyter_widgets_py",
@@ -427,11 +427,11 @@ drake_py_unittest(
     data = [
         ":models",
         "//examples/acrobot:models",
-        "//manipulation/models/iiwa_description:models",
-        "//manipulation/models/wsg_50_description:models",
         "//multibody:models",
         "//multibody/benchmarks/acrobot:models",
         "//multibody/benchmarks/free_body:models",
+        "@drake_models//:iiwa_description",
+        "@drake_models//:wsg_50_description",
     ],
     deps = [
         ":benchmarks_py",

bindings/pydrake/multibody/examples/jupyter_widgets_examples.ipynb

@@ -47,7 +47,7 @@
     "plant = MultibodyPlant(time_step=0.0)\n",
     "plant.RegisterAsSourceForSceneGraph(scene_graph)\n",
     "Parser(plant, scene_graph).AddModelsFromUrl(\n",
-    "    url=\"package://drake/manipulation/models/iiwa_description/iiwa7/iiwa7_no_collision.sdf\")\n",
+    "    url=\"package://drake_models/iiwa_description/sdf/iiwa7_no_collision.sdf\")\n",
     "plant.Finalize()\n",
     "\n",
     "# Add sliders to set positions of the joints.\n",
@@ -101,7 +101,7 @@
     "builder = DiagramBuilder()\n",
     "plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.0)\n",
     "Parser(plant).AddModelsFromUrl(\n",
-    "    url=\"package://drake/manipulation/models/iiwa_description/iiwa7/iiwa7_no_collision.sdf\")\n",
+    "    url=\"package://drake_models/iiwa_description/sdf/iiwa7_no_collision.sdf\")\n",
     "plant.Finalize()\n",
     "\n",
     "viz = DrakeVisualizer.AddToBuilder(builder, scene_graph)\n",

bindings/pydrake/multibody/test/optimization_test.py

@@ -297,10 +297,10 @@ def test_gridpoints(self):
 
     def test_all_constraints(self):
         plant = MultibodyPlant(0)
-        file_path = FindResourceOrThrow(
-            "drake/manipulation/models/iiwa_description/iiwa7/"
-            "iiwa7_no_collision.sdf")
-        iiwa_id, = Parser(plant).AddModels(file_path)
+        url = (
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa7_no_collision.sdf")
+        iiwa_id, = Parser(plant).AddModels(url=url)
         plant.WeldFrames(plant.world_frame(),
                          plant.GetFrameByName("iiwa_link_0", iiwa_id))
         plant.Finalize()

bindings/pydrake/multibody/test/plant_test.py

@@ -1398,18 +1398,18 @@ def test_port_access(self, T):
         # Create a MultibodyPlant with a kuka arm and a schunk gripper.
         # the arm is welded to the world, the gripper is welded to the
         # arm's end effector.
-        wsg50_sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
+        wsg50_sdf_url = (
+            "package://drake_models/"
             "wsg_50_description/sdf/schunk_wsg_50.sdf")
-        iiwa_sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
+        iiwa_sdf_url = (
+            "package://drake_models/"
             "iiwa_description/sdf/iiwa14_no_collision.sdf")
 
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
         plant_f = MultibodyPlant_[float](time_step=2e-3)
         parser = Parser(plant_f)
-        iiwa_model, = parser.AddModels(file_name=iiwa_sdf_path)
-        gripper_model, = parser.AddModels(file_name=wsg50_sdf_path)
+        iiwa_model, = parser.AddModels(url=iiwa_sdf_url)
+        gripper_model, = parser.AddModels(url=wsg50_sdf_url)
         plant_f.Finalize()
         plant = to_type(plant_f, T)
         models = [iiwa_model, gripper_model]
@@ -1558,19 +1558,19 @@ def test_model_instance_state_access(self, T):
         RigidTransform = RigidTransform_[T]
         RollPitchYaw = RollPitchYaw_[T]
 
-        wsg50_sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
-            "wsg_50_description/sdf/schunk_wsg_50.sdf")
-        iiwa_sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
-            "iiwa_description/sdf/iiwa14_no_collision.sdf")
+        wsg50_sdf_url = (
+            "package://drake_models/wsg_50_description/sdf/"
+            + "schunk_wsg_50.sdf")
+        iiwa_sdf_url = (
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa14_no_collision.sdf")
 
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
         plant_f = MultibodyPlant_[float](0.0)
         parser = Parser(plant_f)
 
-        iiwa_model, = parser.AddModels(file_name=iiwa_sdf_path)
-        gripper_model, = parser.AddModels(file_name=wsg50_sdf_path)
+        iiwa_model, = parser.AddModels(url=iiwa_sdf_url)
+        gripper_model, = parser.AddModels(url=wsg50_sdf_url)
 
         # Weld the base of arm and gripper to reduce the number of states.
         X_EeGripper = RigidTransform_[float](
@@ -1704,20 +1704,20 @@ def test_model_instance_state_access_by_array(self, T):
         # Create a MultibodyPlant with a kuka arm and a schunk gripper.
         # the arm is welded to the world, the gripper is welded to the
         # arm's end effector.
-        wsg50_sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
+        wsg50_sdf_url = (
+            "package://drake_models/"
             "wsg_50_description/sdf/schunk_wsg_50.sdf")
-        iiwa_sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
+        iiwa_sdf_url = (
+            "package://drake_models/"
             "iiwa_description/sdf/iiwa14_no_collision.sdf")
 
         time_step = 0.0002
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
         plant_f = MultibodyPlant_[float](time_step)
         parser = Parser(plant_f)
 
-        iiwa_model, = parser.AddModels(file_name=iiwa_sdf_path)
-        gripper_model, = parser.AddModels(file_name=wsg50_sdf_path)
+        iiwa_model, = parser.AddModels(url=iiwa_sdf_url)
+        gripper_model, = parser.AddModels(url=wsg50_sdf_url)
 
         # Weld the base of arm and gripper to reduce the number of states.
         X_EeGripper = RigidTransform_[float](
@@ -1813,12 +1813,12 @@ def test_map_qdot_to_v_and_back(self, T):
         RollPitchYaw = RollPitchYaw_[T]
         # N.B. `Parser` only supports `MultibodyPlant_[float]`.
         plant_f = MultibodyPlant_[float](0.0)
-        iiwa_sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
-            "iiwa_description/sdf/iiwa14_no_collision.sdf")
+        iiwa_sdf_url = (
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa14_no_collision.sdf")
         # Use floating base to effectively add a quaternion in the generalized
         # quaternion.
-        iiwa_model, = Parser(plant_f).AddModels(iiwa_sdf_path)
+        iiwa_model, = Parser(plant_f).AddModels(url=iiwa_sdf_url)
         plant_f.Finalize()
         plant = to_type(plant_f, T)
         context = plant.CreateDefaultContext()
@@ -2325,13 +2325,13 @@ def loop_body(make_joint, time_step):
                 loop_body(make_joint, 0.001)
 
     def test_actuation_matrix(self):
-        iiwa_sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
-            "iiwa_description/sdf/iiwa14_no_collision.sdf")
+        iiwa_sdf_url = (
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa14_no_collision.sdf")
 
         plant = MultibodyPlant_[float](0.0)
         parser = Parser(plant)
-        iiwa_model, = parser.AddModels(file_name=iiwa_sdf_path)
+        iiwa_model, = parser.AddModels(url=iiwa_sdf_url)
         plant.WeldFrames(
             frame_on_parent_F=plant.world_frame(),
             frame_on_child_M=plant.GetFrameByName("iiwa_link_0", iiwa_model))
@@ -2481,7 +2481,7 @@ def test_coupler_constraint_api(self):
         plant.set_discrete_contact_approximation(
             DiscreteContactApproximation.kSap)
         Parser(plant).AddModelsFromUrl(
-            "package://drake/manipulation/models/"
+            "package://drake_models/"
             "wsg_50_description/sdf/schunk_wsg_50.sdf")
 
         # Add coupler constraint.
@@ -2558,7 +2558,7 @@ def test_constraint_active_status_api(self):
             body_A=body_A, X_AP=X_AP, body_B=body_B, X_BQ=X_BQ)
 
         Parser(plant).AddModelsFromUrl(
-            "package://drake/manipulation/models/"
+            "package://drake_models/"
             "wsg_50_description/sdf/schunk_wsg_50.sdf")
 
         # Add coupler constraint.

bindings/pydrake/planning/BUILD.bazel

@@ -90,7 +90,7 @@ drake_py_unittest(
 drake_py_unittest(
     name = "robot_diagram_test",
     data = [
-        "//manipulation/models/iiwa_description:models",
+        "@drake_models//:iiwa_description",
     ],
     deps = [
         ":planning",

bindings/pydrake/planning/test/robot_diagram_test.py

@@ -18,9 +18,9 @@ def test_robot_diagram_builder(self, T):
         Class = mut.RobotDiagramBuilder_[T]
         dut = Class(time_step=0.0)
         if T == float:
-            dut.parser().AddModels(FindResourceOrThrow(
-                "drake/manipulation/models/iiwa_description/urdf/"
-                "iiwa14_spheres_dense_collision.urdf"))
+            dut.parser().AddModels(url=(
+                "package://drake_models/iiwa_description/urdf/"
+                + "iiwa14_spheres_dense_collision.urdf"))
         else:
             # TODO(jwnimmer-tri) Use dut.plant() to manually add some
             # models, bodies, and geometries here.

bindings/pydrake/systems/BUILD.bazel

@@ -436,7 +436,7 @@ drake_py_unittest(
 drake_py_unittest(
     name = "controllers_test",
     data = [
-        "//manipulation/models/iiwa_description:models",
+        "@drake_models//:iiwa_description",
     ],
     deps = [
         ":controllers_py",
@@ -473,7 +473,7 @@ drake_py_unittest(
     name = "planar_scenegraph_visualizer_test",
     data = [
         "//examples/multibody/cart_pole:models",
-        "//manipulation/models/iiwa_description:models",
+        "@drake_models//:iiwa_description",
     ],
     deps = [
         ":analysis_py",

bindings/pydrake/systems/test/controllers_test.py

@@ -108,12 +108,12 @@ def cost_to_go_function(state, parameters):
         self.assertAlmostEqual(J[0], 1., delta=1e-6)
 
     def test_joint_stiffness_controller(self):
-        sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
-            "iiwa_description/sdf/iiwa14_no_collision.sdf")
+        url = (
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa14_no_collision.sdf")
 
         plant = MultibodyPlant(time_step=0.01)
-        Parser(plant).AddModels(sdf_path)
+        Parser(plant).AddModels(url=url)
         plant.WeldFrames(plant.world_frame(),
                          plant.GetFrameByName("iiwa_link_0"))
         plant.Finalize()
@@ -130,12 +130,12 @@ def test_joint_stiffness_controller(self):
         self.assertIsInstance(controller.get_multibody_plant(), MultibodyPlant)
 
     def test_inverse_dynamics(self):
-        sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
-            "iiwa_description/sdf/iiwa14_no_collision.sdf")
+        url = (
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa14_no_collision.sdf")
 
         plant = MultibodyPlant(time_step=0.01)
-        Parser(plant).AddModels(sdf_path)
+        Parser(plant).AddModels(url=url)
         plant.WeldFrames(plant.world_frame(),
                          plant.GetFrameByName("iiwa_link_0"))
         plant.Finalize()
@@ -159,12 +159,12 @@ def test_inverse_dynamics(self):
         self.assertTrue(controller.is_pure_gravity_compensation())
 
     def test_inverse_dynamics_controller(self):
-        sdf_path = FindResourceOrThrow(
-            "drake/manipulation/models/"
-            "iiwa_description/sdf/iiwa14_no_collision.sdf")
+        url = (
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa14_no_collision.sdf")
 
         plant = MultibodyPlant(time_step=0.01)
-        Parser(plant).AddModels(sdf_path)
+        Parser(plant).AddModels(url=url)
         plant.WeldFrames(plant.world_frame(),
                          plant.GetFrameByName("iiwa_link_0"))
         plant.mutable_gravity_field().set_gravity_vector([0.0, 0.0, 0.0])

bindings/pydrake/systems/test/planar_scenegraph_visualizer_test.py

@@ -55,12 +55,12 @@ def test_cart_pole(self):
 
     def test_kuka(self):
         """Kuka IIWA with mesh geometry."""
-        file_name = FindResourceOrThrow(
-            "drake/manipulation/models/iiwa_description/sdf/"
-            "iiwa14_no_collision.sdf")
+        url = (
+            "package://drake_models/iiwa_description/sdf/"
+            + "iiwa14_no_collision.sdf")
         builder = DiagramBuilder()
         kuka, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
-        Parser(plant=kuka).AddModels(file_name)
+        Parser(plant=kuka).AddModels(url=url)
         kuka.Finalize()
 
         # Make sure that the frames to visualize exist.

bindings/pydrake/visualization/test/meldis_test.py

@@ -191,7 +191,7 @@ def test_viewer_applet_plain_meshes(self):
         """Checks _ViewerApplet support for untextured meshes.
         """
         self._check_viewer_applet_on_model(
-            "drake/manipulation/models/iiwa_description/urdf/"
+            "drake_models/iiwa_description/urdf/"
             "iiwa14_no_collision.urdf")
 
     def test_viewer_applet_textured_meshes(self):