diff --git a/geometry/BUILD.bazel b/geometry/BUILD.bazel
index 8d867915895c..aa93e898ae19 100644
--- 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/iris_in_configuration_space_benchmarks.cc b/geometry/benchmarking/iris_in_configuration_space_benchmarks.cc
index a1c315811d3c..fe85f5f495a5 100644
--- 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://geometry/models/bin/bin.sdf
- add_weld:
parent: world
@@ -114,7 +114,7 @@ class IiwaWithShelvesAndBins : public benchmark::Fixture {
- add_model:
name: binL
- file: package://drake/examples/manipulation_station/models/bin.sdf
+ file: package://geometry/models/bin/bin.sdf
- add_weld:
parent: world
@@ -122,29 +122,10 @@ class IiwaWithShelvesAndBins : public benchmark::Fixture {
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://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://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
new file mode 100644
index 000000000000..8dce090f6be8
--- /dev/null
+++ 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
new file mode 100644
index 000000000000..11b6dab8e478
--- /dev/null
+++ b/geometry/models/bin/README.md
@@ -0,0 +1 @@
+This model was copied from https://github.com/mpetersen94/gcs.
\ No newline at end of file
diff --git a/geometry/models/bin/bin.sdf b/geometry/models/bin/bin.sdf
new file mode 100644
index 000000000000..94c8f39ffcfa
--- /dev/null
+++ b/geometry/models/bin/bin.sdf
@@ -0,0 +1,86 @@
+
+
+
+
+
+
+ 18.70
+
+ 0.79
+ 0
+ 0
+ 0.53
+ 0
+ 1.2
+
+
+
+ 0 0 0 0 0 1.570796
+
+
+ bin.obj
+
+
+
+
+ 0.22 0 0.105 0 0 0
+
+
+ 0.05 0.63 0.21
+
+
+
+
+
+ -0.22 0 0.105 0 0 0
+
+
+ 0.05 0.63 0.21
+
+
+
+
+ 0 0.29 0.105 0 0 0
+
+
+ 0.49 0.05 0.21
+
+
+
+
+ 0 -0.29 0.105 0 0 0
+
+
+ 0.49 0.05 0.21
+
+
+
+
+ 0.0 0.0 0.0075 0 0 0
+
+
+ 0.49 0.63 0.015
+
+
+
+
+
+ 0.22 0 0.21 0 0 0
+
+
+
diff --git a/geometry/models/shelves/README.md b/geometry/models/shelves/README.md
new file mode 100644
index 000000000000..11b6dab8e478
--- /dev/null
+++ b/geometry/models/shelves/README.md
@@ -0,0 +1 @@
+This model was copied from https://github.com/mpetersen94/gcs.
\ No newline at end of file
diff --git a/geometry/models/shelves/shelves.sdf b/geometry/models/shelves/shelves.sdf
new file mode 100644
index 000000000000..216e736dd084
--- /dev/null
+++ b/geometry/models/shelves/shelves.sdf
@@ -0,0 +1,124 @@
+
+
+
+
+
+
+
+ shelves.obj
+
+
+
+
+
+ 0 0.292 0 0 0 0
+
+
+ 0.3 0.016 0.783
+
+
+
+
+ 0 -0.292 0 0 0 0
+
+
+ 0.3 0.016 0.783
+
+
+
+
+
+
+
+
+ 0 0 0.3995 0 0 0
+
+
+ 0.3 0.6 0.016
+
+
+
+
+ 0 0 -0.13115 0 0 0
+
+
+ 0.3 0.6 0.016
+
+
+
+
+ 0 0 0.13115 0 0 0
+
+
+ 0.3 0.6 0.016
+
+
+
+
+
+
+ top_and_bottom
+ shelves_body
+
+
+
diff --git a/geometry/models/table/README.md b/geometry/models/table/README.md
new file mode 100644
index 000000000000..11b6dab8e478
--- /dev/null
+++ b/geometry/models/table/README.md
@@ -0,0 +1 @@
+This model was copied from https://github.com/mpetersen94/gcs.
\ No newline at end of file
diff --git a/geometry/models/table/table_wide.sdf b/geometry/models/table/table_wide.sdf
new file mode 100644
index 000000000000..99fdc8f1eaa0
--- /dev/null
+++ b/geometry/models/table/table_wide.sdf
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+ table_wide.obj
+
+
+
+
+ 0 0 -0.1 0 0 0
+
+
+ 2.5 2.5 0.2
+
+
+
+
+
+
diff --git a/tools/workspace/drake_models/repository.bzl b/tools/workspace/drake_models/repository.bzl
index d9590728877e..986152e8eb22 100644
--- 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