Tease apart models_filegroup vs install_data

Delete unused PendulumWithFriction.urdf.
RobotLocomotion · Mar 2, 2023 · e6745c7 · e6745c7
1 parent 4cb0332
commit e6745c7
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Showing 35 changed files with 328 additions and 352 deletions.
diff --git a/BUILD.bazel b/BUILD.bazel
@@ -43,7 +43,6 @@ filegroup(
         "//bindings/pydrake/multibody:models",
         "//examples/acrobot:models",
         "//examples/atlas:models",
-        "//examples/compass_gait:models",
         "//examples/hardware_sim:demo_data",
         "//examples/hydroelastic/ball_plate:floor_files",
         "//examples/hydroelastic/ball_plate:plate_files",
@@ -58,10 +57,8 @@ filegroup(
         "//examples/planar_gripper:models",
         "//examples/pr2:models",
         "//examples/quadrotor:models",
-        "//examples/rimless_wheel:models",
         "//examples/scene_graph:models",
         "//examples/simple_gripper:simple_gripper_models",
-        "//examples/zmp:models",
         "//manipulation/models/allegro_hand_description:models",
         "//manipulation/models/franka_description:models",
         "//manipulation/models/iiwa_description:models",

diff --git a/examples/BUILD.bazel b/examples/BUILD.bazel
@@ -34,12 +34,11 @@ drake_cc_binary(
     ],
 )
 
-# The :prod_models in these packages are installed as part of the Drake release
+# The :models in these packages are installed as part of the Drake release
 # process, and loaded into drake_visualizer's model database by default.
 INSTALLED_MODEL_PACKAGES = [
     "//examples/acrobot",
     "//examples/atlas",
-    "//examples/compass_gait",
     "//examples/hydroelastic/spatula_slip_control",
     "//examples/kuka_iiwa_arm/models",
     "//examples/manipulation_station",
@@ -48,13 +47,11 @@ INSTALLED_MODEL_PACKAGES = [
     "//examples/planar_gripper",
     "//examples/pr2",
     "//examples/quadrotor",
-    "//examples/rimless_wheel",
-    "//examples/zmp",
 ]
 
 filegroup(
-    name = "prod_models",
-    data = [package + ":prod_models" for package in INSTALLED_MODEL_PACKAGES],
+    name = "models",
+    data = [package + ":models" for package in INSTALLED_MODEL_PACKAGES],
     visibility = ["//visibility:public"],
 )
 

diff --git a/examples/acrobot/BUILD.bazel b/examples/acrobot/BUILD.bazel
@@ -13,6 +13,7 @@ load(
     "drake_py_test",
     "drake_py_unittest",
 )
+load("//tools/skylark:drake_data.bzl", "models_filegroup")
 load("//tools/install:install_data.bzl", "install_data")
 load(
     "@drake//tools/vector_gen:vector_gen.bzl",
@@ -22,6 +23,17 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(default_visibility = ["//visibility:private"])
 
+models_filegroup(
+    name = "models",
+    visibility = ["//visibility:public"],
+)
+
+install_data(
+    name = "install_data",
+    data = [":models"],
+    visibility = ["//visibility:public"],
+)
+
 drake_cc_vector_gen_library(
     name = "acrobot_input",
     srcs = ["acrobot_input_named_vector.yaml"],
@@ -424,6 +436,4 @@ drake_py_test(
     ],
 )
 
-install_data()
-
 add_lint_tests()
diff --git a/examples/atlas/BUILD.bazel b/examples/atlas/BUILD.bazel
@@ -6,10 +6,20 @@ load(
     "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")
 
 package(default_visibility = ["//visibility:public"])
 
+models_filegroup(
+    name = "models",
+)
+
+install_data(
+    name = "install_data",
+    data = [":models"],
+)
+
 drake_cc_binary(
     name = "atlas_run_dynamics",
     srcs = [
@@ -33,6 +43,4 @@ drake_cc_binary(
     ],
 )
 
-install_data()
-
 add_lint_tests()
diff --git a/examples/compass_gait/BUILD.bazel b/examples/compass_gait/BUILD.bazel
@@ -6,7 +6,6 @@ load(
     "drake_cc_googletest",
     "drake_cc_library",
 )
-load("//tools/install:install_data.bzl", "install_data")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 load(
     "@drake//tools/vector_gen:vector_gen.bzl",
@@ -87,6 +86,4 @@ drake_cc_googletest(
     ],
 )
 
-install_data()
-
 add_lint_tests()
diff --git a/examples/hardware_sim/BUILD.bazel b/examples/hardware_sim/BUILD.bazel
@@ -24,10 +24,10 @@ filegroup(
     srcs = [
         ":example_iiwa_wsg.dmd.yaml",
         ":example_scenarios.yaml",
-        "//examples/manipulation_station:prod_models",
-        "//examples/pendulum:prod_models",
-        "//manipulation/models/iiwa_description:prod_models",
-        "//manipulation/models/wsg_50_description:prod_models",
+        "//examples/manipulation_station:models",
+        "//examples/pendulum:models",
+        "//manipulation/models/iiwa_description:models",
+        "//manipulation/models/wsg_50_description:models",
     ],
     visibility = ["//:__pkg__"],
 )

diff --git a/examples/hydroelastic/python_nonconvex_mesh/BUILD.bazel b/examples/hydroelastic/python_nonconvex_mesh/BUILD.bazel
@@ -2,7 +2,6 @@
 
 load("//tools/skylark:drake_py.bzl", "drake_py_binary")
 load("//tools/lint:lint.bzl", "add_lint_tests")
-load("//tools/install:install_data.bzl", "install_data")
 load("@drake//tools/workspace:forward_files.bzl", "forward_files")
 load("//tools/workspace/models_internal:files.bzl", "veggies_mesh_files")
 load("//tools/workspace/models_internal:files.bzl", "dishes_files")

diff --git a/examples/hydroelastic/spatula_slip_control/BUILD.bazel b/examples/hydroelastic/spatula_slip_control/BUILD.bazel
@@ -3,6 +3,7 @@
 
 load("@drake//tools/skylark:drake_cc.bzl", "drake_cc_binary")
 load("@drake//tools/lint:lint.bzl", "add_lint_tests")
+load("//tools/skylark:drake_data.bzl", "models_filegroup")
 load("//tools/install:install_data.bzl", "install_data")
 load("@drake//tools/workspace:forward_files.bzl", "forward_files")
 load(
@@ -18,9 +19,17 @@ _WSG_50_HYDRO_BUBBLE_MESHES = forward_files(
     visibility = ["//visibility:private"],
 )
 
+models_filegroup(
+    name = "models",
+    extra_srcs = _WSG_50_HYDRO_BUBBLE_MESHES,
+    glob_exclude = ["images/**/*"],
+    visibility = ["//visibility:public"],
+)
+
 install_data(
-    extra_exclude_patterns = ["images/**/*"],
-    extra_prod_models = _WSG_50_HYDRO_BUBBLE_MESHES,
+    name = "install_data",
+    data = [":models"],
+    visibility = ["//visibility:public"],
 )
 
 drake_cc_binary(

diff --git a/examples/kuka_iiwa_arm/BUILD.bazel b/examples/kuka_iiwa_arm/BUILD.bazel
@@ -160,12 +160,6 @@ alias(
     visibility = ["//visibility:public"],
 )
 
-alias(
-    name = "prod_models",
-    actual = "//examples/kuka_iiwa_arm/models:prod_models",
-    visibility = ["//visibility:public"],
-)
-
 # === test/ ===
 
 drake_cc_googletest(

diff --git a/examples/kuka_iiwa_arm/models/BUILD.bazel b/examples/kuka_iiwa_arm/models/BUILD.bazel
@@ -1,10 +1,18 @@
 # -*- python -*-
 
+load("//tools/skylark:drake_data.bzl", "models_filegroup")
 load("//tools/install:install_data.bzl", "install_data")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(default_visibility = ["//visibility:public"])
 
-install_data()
+models_filegroup(
+    name = "models",
+)
+
+install_data(
+    name = "install_data",
+    data = [":models"],
+)
 
 add_lint_tests()
diff --git a/examples/manipulation_station/BUILD.bazel b/examples/manipulation_station/BUILD.bazel
@@ -13,10 +13,22 @@ load(
     "drake_py_library",
 )
 load("@drake//tools/skylark:test_tags.bzl", "vtk_test_tags")
+load("//tools/skylark:drake_data.bzl", "models_filegroup")
 load("//tools/install:install_data.bzl", "install_data")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 load("//tools/skylark:test_tags.bzl", "vtk_test_tags")
 
+models_filegroup(
+    name = "models",
+    visibility = ["//visibility:public"],
+)
+
+install_data(
+    name = "install_data",
+    data = [":models"],
+    visibility = ["//visibility:public"],
+)
+
 drake_cc_library(
     name = "manipulation_station",
     srcs = [
@@ -239,6 +251,4 @@ drake_py_binary(
     ],
 )
 
-install_data()
-
 add_lint_tests()
diff --git a/examples/multibody/cart_pole/BUILD.bazel b/examples/multibody/cart_pole/BUILD.bazel
@@ -7,6 +7,7 @@ load(
     "drake_cc_googletest",
     "drake_cc_library",
 )
+load("//tools/skylark:drake_data.bzl", "models_filegroup")
 load("//tools/install:install_data.bzl", "install_data")
 load(
     "@drake//tools/vector_gen:vector_gen.bzl",
@@ -16,6 +17,15 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(default_visibility = ["//visibility:public"])
 
+models_filegroup(
+    name = "models",
+)
+
+install_data(
+    name = "install_data",
+    data = [":models"],
+)
+
 drake_cc_vector_gen_library(
     name = "cart_pole_params",
     srcs = ["cart_pole_params_named_vector.yaml"],
@@ -53,6 +63,4 @@ drake_cc_googletest(
     ],
 )
 
-install_data()
-
 add_lint_tests()
diff --git a/examples/pendulum/BUILD.bazel b/examples/pendulum/BUILD.bazel
@@ -6,6 +6,7 @@ load(
     "drake_cc_googletest",
     "drake_cc_library",
 )
+load("//tools/skylark:drake_data.bzl", "models_filegroup")
 load("//tools/install:install_data.bzl", "install_data")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 load(
@@ -15,6 +16,17 @@ load(
 
 package(default_visibility = ["//visibility:private"])
 
+models_filegroup(
+    name = "models",
+    visibility = ["//visibility:public"],
+)
+
+install_data(
+    name = "install_data",
+    data = [":models"],
+    visibility = ["//visibility:public"],
+)
+
 drake_cc_vector_gen_library(
     name = "pendulum_vector_types",
     srcs = [
@@ -183,6 +195,4 @@ drake_cc_googletest(
     ],
 )
 
-install_data()
-
 add_lint_tests()