move from gcs repo to RobotLocomotion/models

RussTedrake · Jul 20, 2023 · 1f84c13 · 1f84c13
1 parent be6cc71
commit 1f84c13
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Showing 13 changed files with 202 additions and 28 deletions.
diff --git a/geometry/BUILD.bazel b/geometry/BUILD.bazel
@@ -607,6 +607,24 @@ drake_cc_googletest(
 
 # -----------------------------------------------------
 
+filegroup(
+    name = "models",
+    srcs = [
+        "models/bin/bin.sdf",
+        "@drake_models//:geometry/bin/bin.mtl",
+        "@drake_models//:geometry/bin/bin.obj",
+        "@drake_models//:geometry/bin/bin.png",
+        "models/table/table_wide.sdf",
+        "@drake_models//:geometry/table/table_wide.mtl",
+        "@drake_models//:geometry/table/table_wide.obj",
+        "@drake_models//:geometry/table/table_wide.png",
+        "models/shelves/shelves.sdf",
+        "@drake_models//:geometry/shelves/shelves.mtl",
+        "@drake_models//:geometry/shelves/shelves.obj",
+        "@drake_models//:geometry/shelves/shelves.png",
+    ],
+)
+
 filegroup(
     name = "test_obj_files",
     testonly = 1,

diff --git a/geometry/benchmarking/BUILD.bazel b/geometry/benchmarking/BUILD.bazel
@@ -15,6 +15,7 @@ drake_cc_googlebench_binary(
     add_test_rule = True,
     data = [
         "//examples/manipulation_station:models",
+        "//geometry:models",
         "//manipulation/models/iiwa_description:models",
         "//manipulation/models/wsg_50_description:models",
     ],

diff --git a/geometry/benchmarking/iris_in_configuration_space_benchmarks.cc b/geometry/benchmarking/iris_in_configuration_space_benchmarks.cc
@@ -103,7 +103,7 @@ class IiwaWithShelvesAndBins : public benchmark::Fixture {
 # Add Bins
 - add_model:
     name: binR
-    file: package://drake/examples/manipulation_station/models/bin.sdf
+    file: package://drake/geometry/models/bin/bin.sdf
 
 - add_weld:
     parent: world
@@ -114,37 +114,18 @@ class IiwaWithShelvesAndBins : public benchmark::Fixture {
 
 - add_model:
     name: binL
-    file: package://drake/examples/manipulation_station/models/bin.sdf
+    file: package://drake/geometry/models/bin/bin.sdf
 
 - add_weld:
     parent: world
     child: binL::bin_base
     X_PC:
       translation: [0, 0.6, 0]
       rotation: !Rpy { deg: [0.0, 0.0, 90.0 ]}
-)""";
-
-    parser.AddModelsFromString(model_directives, ".dmd.yaml");
-
-    // Don't add remote resources if we're in test mode.
-    if (!FLAGS_test) {
-      // We'll use some tables, shelves, and bins from a remote resource.
-      multibody::PackageMap::RemoteParams params;
-      params.urls.push_back(
-          "https://github.com/mpetersen94/gcs/archive/refs/tags/"
-          "arxiv_paper_version.tar.gz");
-      params.sha256 =
-          "6dd5e841c8228561b6d622f592359c36517cd3c3d5e1d3e04df74b2f5435680c";
-      params.strip_prefix = "gcs-arxiv_paper_version";
-      parser.package_map().AddRemote("gcs", params);
-
-      model_directives = R"""( 
-directives:
-
 # Add shelves
 - add_model:
     name: shelves
-    file: package://gcs/models/shelves/shelves.sdf
+    file: package://drake/geometry/models/shelves/shelves.sdf
 
 - add_weld:
     parent: world
@@ -155,7 +136,7 @@ class IiwaWithShelvesAndBins : public benchmark::Fixture {
 # Add table
 - add_model:
     name: table
-    file: package://gcs/models/table/table_wide.sdf
+    file: package://drake/geometry/models/table/table_wide.sdf
 
 - add_weld:
     parent: world
@@ -165,8 +146,7 @@ class IiwaWithShelvesAndBins : public benchmark::Fixture {
       rotation: !Rpy { deg: [0., 0., 00]}
 )""";
 
-      parser.AddModelsFromString(model_directives, ".dmd.yaml");
-    }
+    parser.AddModelsFromString(model_directives, ".dmd.yaml");
   }
 
   VectorXd MyInverseKinematics(const RigidTransformd& X_WE) {

diff --git a/geometry/models/README.md b/geometry/models/README.md
@@ -0,0 +1 @@
+This directory contains models that are used by geometry benchmarks.
diff --git a/geometry/models/bin/README.md b/geometry/models/bin/README.md
@@ -0,0 +1 @@
+This model was copied from https://github.com/mpetersen94/gcs.
diff --git a/geometry/models/bin/bin.sdf b/geometry/models/bin/bin.sdf
@@ -0,0 +1,86 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="bin_model">
+    <!--
+    Axes:
+      +X - Pointing towards front (slope)
+      +Y - Pointing to left side
+      +Z - Up
+    Origin:
+      (0, 0, 0) at the center bottom of the bin
+    -->
+    <link name="bin_base">
+      <inertial>
+        <mass>18.70</mass>
+        <inertia>
+          <ixx>0.79</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.53</iyy>
+          <iyz>0</iyz>
+          <izz>1.2</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <pose>0 0 0 0 0 1.570796</pose>
+        <geometry>
+        <mesh>
+        <uri>package://drake_models/geometry/bin/bin.obj</uri>
+        </mesh>
+        </geometry>
+      </visual>
+      <collision name="front">
+        <pose>0.22 0 0.105 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.63 0.21</size>
+          </box>
+        </geometry>
+      </collision>
+      <!--
+      <collision name="slope">
+        <pose>0.182 0 0.102 0 0.35 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.63 0.21</size>
+          </box>
+        </geometry>
+      </collision>-->
+      <collision name="back">
+        <pose>-0.22 0 0.105 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.05 0.63 0.21</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="left">
+        <pose>0 0.29 0.105 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.49 0.05 0.21</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="right">
+        <pose>0 -0.29 0.105 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.49 0.05 0.21</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="bottom">
+        <pose>0.0 0.0 0.0075 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.49 0.63 0.015</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+    <frame name="bin_front_top_center">
+      <pose relative_to="bin_base">0.22 0 0.21 0 0 0</pose>
+    </frame>
+  </model>
+</sdf>
diff --git a/geometry/models/shelves/README.md b/geometry/models/shelves/README.md
@@ -0,0 +1 @@
+This model was copied from https://github.com/mpetersen94/gcs.
diff --git a/geometry/models/shelves/shelves.sdf b/geometry/models/shelves/shelves.sdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="shelves">
+    <link name="shelves_body">
+      <visual name="shelves_visual">
+        <geometry>
+          <mesh>
+            <uri>package://drake_models/geometry/shelves/shelves.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right_wall">
+        <pose> 0 0.292 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3 0.016 0.783</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="left_wall">
+        <pose> 0 -0.292 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3 0.016 0.783</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+    <link name="top_and_bottom">
+      <collision name="top">
+        <pose> 0 0 0.3995 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3 0.6 0.016</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="shelf_lower">
+        <pose> 0 0 -0.13115 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3 0.6 0.016</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="shelf_upper">
+        <pose> 0 0 0.13115 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.3 0.6 0.016</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+    <!-- joint between bottom_top and world -->
+    <joint name="top_and_bottom_shelves_body" type="fixed">
+      <child>top_and_bottom</child>
+      <parent>shelves_body</parent>
+    </joint>
+  </model>
+</sdf>
diff --git a/geometry/models/table/README.md b/geometry/models/table/README.md
@@ -0,0 +1 @@
+This model was copied from https://github.com/mpetersen94/gcs.
diff --git a/geometry/models/table/table_wide.sdf b/geometry/models/table/table_wide.sdf
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="table">
+    <link name="table_body">
+      <visual name="table_visual">
+        <geometry>
+          <mesh>
+            <uri>package://drake_models/geometry/table/table_wide.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="table_top">
+        <pose> 0 0 -0.1 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 2.5 0.2</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/multibody/parsing/BUILD.bazel b/multibody/parsing/BUILD.bazel
@@ -69,7 +69,7 @@ drake_cc_library(
     srcs = ["package_map.cc"],
     hdrs = ["package_map.h"],
     data = [
-        ":drake_models.json",
+#        ":drake_models.json",
         ":package_downloader.py",
         "//:package.xml",
         "@drake_models//:package.xml",

diff --git a/multibody/parsing/package_map.cc b/multibody/parsing/package_map.cc
@@ -532,8 +532,9 @@ PackageMap::PackageMap() : PackageMap{std::nullopt} {
   // Prepare the params for fetching remote drake_models. We do this outside of
   // the if-else to ensure it receives test coverage under bazel (i.e., even if
   // we're never going to download anything).
-  static const never_destroyed<RemoteParams> memoized_params(
-      GetDrakeModelsRemoteParams());
+  static const never_destroyed<RemoteParams> memoized_params;
+  unused(GetDrakeModelsRemoteParams);
+//      GetDrakeModelsRemoteParams());
 
   // For drake_models (i.e., https://github.com/RobotLocomotion/models), the
   // location where we find the data will vary. If we have Bazel runfiles with

diff --git a/tools/workspace/drake_models/repository.bzl b/tools/workspace/drake_models/repository.bzl
@@ -5,6 +5,7 @@ def drake_models_repository(
         mirrors = None):
     github_archive(
         name = name,
+        local_repository_override = "/Users/russt/tmp/models",
         repository = "RobotLocomotion/models",
         commit = "611246c443152946e9dcc901b4f956d89a439a61",
         sha256 = "66ad3b0f85b2aaa823d2e69cdaa980af9c0414cdb829b8224fbaa8a2dc083a7c",  # noqa
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		This directory contains models that are used by geometry benchmarks.
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		This model was copied from https://github.com/mpetersen94/gcs.