[examples] Move punyo files into drake_models (RobotLocomotion#21231)

Ditch the "models" subdir (moving spatula up one level).

Remove unwanted install rules for these files.

Fix image naming for consistency.

[workspace] Upgrade drake_models to latest commit.

bindings/pydrake/visualization/test/meldis_test.py

@@ -425,7 +425,7 @@ def test_hydroelastic_geometry(self):
         lcm = dut._lcm
         diagram = self._make_diagram(
             resource="drake/examples/hydroelastic/"
-                     "spatula_slip_control/models/spatula.sdf",
+                     "spatula_slip_control/spatula.sdf",
             visualizer_params=DrakeVisualizerParams(
                 show_hydroelastic=True,
                 role=Role.kProximity),

examples/BUILD.bazel

@@ -36,7 +36,6 @@ drake_cc_binary(
 # process and loaded into //tools:meldis's model database by default.
 INSTALLED_MODEL_PACKAGES = [
     "//examples/acrobot",
-    "//examples/hydroelastic/spatula_slip_control",
     "//examples/kuka_iiwa_arm/models",
     "//examples/multibody/cart_pole",
     "//examples/pendulum",

examples/hydroelastic/spatula_slip_control/BUILD.bazel

@@ -1,28 +1,17 @@
 load("//tools/skylark:drake_cc.bzl", "drake_cc_binary")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 load("//tools/skylark:drake_data.bzl", "models_filegroup")
-load("//tools/install:install_data.bzl", "install_data")
 
 models_filegroup(
     name = "glob_models",
     glob_exclude = ["images/**/*"],
     visibility = ["//visibility:private"],
 )
 
-install_data(
-    name = "install_data",
-    data = [":glob_models"],
-    visibility = ["//visibility:public"],
-)
-
 filegroup(
     name = "models",
     srcs = [
         ":glob_models",
-        "@drake_models//:wsg_50_hydro_bubble/meshes/bubble_finger.mtl",
-        "@drake_models//:wsg_50_hydro_bubble/meshes/bubble_finger.obj",
-        "@drake_models//:wsg_50_hydro_bubble/meshes/ellipsoid_bubble_geometry.mtl",  # noqa
-        "@drake_models//:wsg_50_hydro_bubble/meshes/ellipsoid_bubble_geometry.obj",  # noqa
     ],
     visibility = ["//visibility:public"],
 )
@@ -33,7 +22,7 @@ drake_cc_binary(
     add_test_rule = True,
     data = [
         ":models",
-        "//manipulation/models/wsg_50_description:models",
+        "@drake_models//:wsg_50_description",
     ],
     test_rule_args = [
         "--simulation_sec=0.1",

examples/hydroelastic/spatula_slip_control/README.md

@@ -64,7 +64,7 @@ collision (aka, proximity) geometries or both as shown
 in the following picture.
 Click on `illustration` or `proximity` as you wish.
 
-![spatula_3](images/spatula3.jpg)
+![spatula_3](images/spatula_3.jpg)
 
 ## Playback simulation
 

examples/hydroelastic/spatula_slip_control/spatula_slip_control.cc

@@ -146,10 +146,10 @@ int DoMain() {
   // Parse the gripper and spatula models.
   multibody::Parser parser(&plant, &scene_graph);
   parser.AddModelsFromUrl(
-      "package://drake/examples/hydroelastic/spatula_slip_control/models/"
+      "package://drake_models/wsg_50_description/sdf/"
       "schunk_wsg_50_hydro_bubble.sdf");
   parser.AddModelsFromUrl(
-      "package://drake/examples/hydroelastic/spatula_slip_control/models/"
+      "package://drake/examples/hydroelastic/spatula_slip_control/"
       "spatula.sdf");
   // Pose the gripper and weld it to the world.
   const math::RigidTransform<double> X_WF0 = math::RigidTransform<double>(

tools/workspace/drake_models/repository.bzl

@@ -6,8 +6,8 @@ def drake_models_repository(
     github_archive(
         name = name,
         repository = "RobotLocomotion/models",
-        commit = "0d6d1a407c07ea21526013ec58e7a27c29cc5664",
-        sha256 = "e87e71a72e41b8a52c815ea4795dc762332a0424e77d29fb58e6c99cc8762a2f",  # noqa
+        commit = "db9c78f538fb1cd519098a6d6422c3f179415eb6",
+        sha256 = "f3a630b78671f52412e2b5b54dc4ac26c855a88af8c49df0e2f9a9d36f20b570",  # noqa
         build_file = ":package.BUILD.bazel",
         mirrors = mirrors,
     )