[models] Move allegro_hand_description into drake_models (#21184)

BUILD.bazel

@@ -56,7 +56,6 @@ filegroup(
         "//examples/quadrotor:models",
         "//examples/scene_graph:models",
         "//examples/simple_gripper:simple_gripper_models",
-        "//manipulation/models/allegro_hand_description:models",
         "//manipulation/models/franka_description:models",
         "//manipulation/models/iiwa_description:models",
         "//manipulation/models/jaco_description:models",

examples/allegro_hand/BUILD.bazel

@@ -10,6 +10,31 @@ package(
     default_visibility = [":__subpackages__"],
 )
 
+filegroup(
+    name = "models",
+    srcs = [
+        "@drake_models//:allegro_hand_description/meshes/allegro.mtl",
+        "@drake_models//:allegro_hand_description/meshes/base_link.obj",
+        "@drake_models//:allegro_hand_description/meshes/base_link_left.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_0.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_1.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_12.0_left.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_12.0_right.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_13.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_14.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_15.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_15.0_tip.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_2.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_3.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_3.0_tip.obj",
+        "@drake_models//:allegro_hand_description/sdf/allegro_hand_description_left.sdf",  # noqa
+        "@drake_models//:allegro_hand_description/sdf/allegro_hand_description_right.sdf",  # noqa
+        "@drake_models//:allegro_hand_description/urdf/allegro_hand_description_left.urdf",  # noqa
+        "@drake_models//:allegro_hand_description/urdf/allegro_hand_description_right.urdf",  # noqa
+    ],
+    visibility = ["//visibility:public"],
+)
+
 drake_cc_library(
     name = "allegro_common",
     srcs = ["allegro_common.cc"],
@@ -36,7 +61,7 @@ drake_cc_binary(
     name = "run_allegro_constant_load_demo",
     srcs = ["run_allegro_constant_load_demo.cc"],
     data = [
-        "//manipulation/models/allegro_hand_description:models",
+        ":models",
     ],
     deps = [
         "//common:add_text_logging_gflags",
@@ -62,4 +87,16 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "parse_test",
+    data = [
+        ":models",
+    ],
+    deps = [
+        "//common:find_resource",
+        "//multibody/parsing",
+        "//multibody/plant",
+    ],
+)
+
 add_lint_tests(enable_clang_format_lint = False)

examples/allegro_hand/joint_control/BUILD.bazel

@@ -17,7 +17,7 @@ drake_cc_binary(
     srcs = ["allegro_single_object_simulation.cc"],
     data = [
         ":simple_mug.sdf",
-        "//manipulation/models/allegro_hand_description:models",
+        "//examples/allegro_hand:models",
     ],
     deps = [
         "//common:add_text_logging_gflags",

examples/allegro_hand/joint_control/allegro_single_object_simulation.cc

@@ -90,11 +90,11 @@ void DoMain() {
   std::string hand_model_url;
   if (FLAGS_use_right_hand) {
     hand_model_url =
-        "package://drake/manipulation/models/"
+        "package://drake_models/"
         "allegro_hand_description/sdf/allegro_hand_description_right.sdf";
   } else {
     hand_model_url =
-        "package://drake/manipulation/models/"
+        "package://drake_models/"
         "allegro_hand_description/sdf/allegro_hand_description_left.sdf";
   }
 

examples/allegro_hand/run_allegro_constant_load_demo.cc

@@ -57,10 +57,10 @@ void DoMain() {
 
   std::string hand_url;
   if (FLAGS_use_right_hand) {
-    hand_url = "package://drake/manipulation/models/"
+    hand_url = "package://drake_models/"
       "allegro_hand_description/sdf/allegro_hand_description_right.sdf";
   } else {
-    hand_url = "package://drake/manipulation/models/"
+    hand_url = "package://drake_models/"
       "allegro_hand_description/sdf/allegro_hand_description_left.sdf";
   }
   multibody::Parser(&plant).AddModelsFromUrl(hand_url);

manipulation/models/allegro_hand_description/test/parse_test.cc → examples/allegro_hand/test/parse_test.cc

@@ -19,20 +19,21 @@ class ParseTest : public testing::TestWithParam<std::string> {};
 
 TEST_P(ParseTest, Quantities) {
   const std::string file_extension = GetParam();
-  const std::string path_right = FindResourceOrThrow(
-      fmt::format("drake/manipulation/models/allegro_hand_description/{}/"
+  const std::string url_right =
+      fmt::format("package://drake_models/allegro_hand_description/{}/"
                   "allegro_hand_description_right.{}",
-                  file_extension, file_extension));
-  const std::string path_left = FindResourceOrThrow(
-      fmt::format("drake/manipulation/models/allegro_hand_description/{}/"
+                  file_extension, file_extension);
+  const std::string url_left =
+      fmt::format("package://drake_models/allegro_hand_description/{}/"
                   "allegro_hand_description_left.{}",
-                  file_extension, file_extension));
+                  file_extension, file_extension);
 
   MultibodyPlant<double> plant(0.0);
   Parser parser(&plant);
   const ModelInstanceIndex right_hand_index =
-      parser.AddModels(path_right).at(0);
-  const ModelInstanceIndex left_hand_index = parser.AddModels(path_left).at(0);
+      parser.AddModelsFromUrl(url_right).at(0);
+  const ModelInstanceIndex left_hand_index =
+      parser.AddModelsFromUrl(url_left).at(0);
   plant.Finalize();
 
   // MultibodyPlant always creates at least two model instances, one for the

manipulation/models/BUILD.bazel

@@ -5,7 +5,6 @@ install(
     name = "install_data",
     visibility = ["//visibility:public"],
     deps = [
-        "//manipulation/models/allegro_hand_description:install_data",
         "//manipulation/models/franka_description:install_data",
         "//manipulation/models/iiwa_description:install_data",
         "//manipulation/models/jaco_description:install_data",