[manipulation] Purge some obsolete tools

manipulation/util/BUILD.bazel

@@ -6,24 +6,10 @@ load(
     "drake_cc_library",
     "drake_cc_package_library",
 )
-load(
-    "//tools/skylark:drake_py.bzl",
-    "drake_py_binary",
-    "drake_py_library",
-    "drake_py_unittest",
-)
+load("//tools/skylark:drake_py.bzl", "drake_py_binary")
 
 package(default_visibility = ["//visibility:public"])
 
-drake_py_library(
-    name = "module_py",
-    srcs = ["__init__.py"],
-    visibility = [":__pkg__"],
-    deps = [
-        "//manipulation:module_py",
-    ],
-)
-
 drake_cc_package_library(
     name = "util",
     visibility = ["//visibility:public"],
@@ -134,7 +120,6 @@ drake_cc_library(
 drake_py_binary(
     name = "show_model",
     srcs = ["show_model.py"],
-    data = ["@drake_models//:jaco_description"],
     deps = ["//bindings/pydrake"],
 )
 
@@ -264,15 +249,4 @@ filegroup(
     ],
 )
 
-drake_py_unittest(
-    name = "meshlab_to_sdf_test",
-    data = [
-        "meshlab_to_sdf.py",
-    ],
-)
-
-add_lint_tests(
-    python_lint_extra_srcs = [
-        "convert_to_visualize_collisions.py",
-    ],
-)
+add_lint_tests()

manipulation/util/meshlab_to_sdf.py

@@ -1,193 +1,9 @@
-"""Given the output of Meshlab, suggests an SDF fragment for a mesh.
+# Prints a message pointing the user to our replacement tool.
+# TODO(jwnimmer-tri) Remove this stub on or around 2025-01-01.
 
-This partially automates the instructions from:
-http://gazebosim.org/tutorials?tut=inertia
-
-(1) Open Meshlab for the OBJ in question.
-
-In Meshlab, select the menu option:
-  Filters ->
-    Quality Measure and Computations ->
-      Compute Geometric Measures
-
-(2) Copy + paste the entire output of Meshlab (from your console window) into a
-text file, e.g., myobject_meshlab_log.txt.
-
-(3) Run this tool, passing the text file name as an argument, along with the
-mass and scale of your model.
-
-If your inertia matrix values are too small, rescale the mesh in Meshlab (but
-don't save it!) prior to computing the Geometric Measures.  Be sure that
-the --scale value passed to this tool reflects the rescaling.
-
-This tool has been tested only with Meshlab v1.3.2, which is the version
-available in Ubuntu Xenial 16.04.  It might not work with other versions.
-"""
-
-
-import argparse
-import os
-import re
 import sys
 
-_TEMPLATE = """<?xml version='1.0'?>
-<sdf version='1.7'>
-  <model name='{name}'>
-    <link name='{name}'>
-      <inertial>
-        <pose>{inertial_pose}</pose>
-        <mass>{mass}</mass>
-        <inertia>
-          <ixx>{ixx}</ixx>
-          <ixy>{ixy}</ixy>
-          <ixz>{ixz}</ixz>
-          <iyy>{iyy}</iyy>
-          <iyz>{iyz}</iyz>
-          <izz>{izz}</izz>
-        </inertia>
-      </inertial>
-      <visual name='visual'>
-        <geometry>
-          <mesh>
-            <uri>{mesh_uri}</uri>
-            <scale>{mesh_scale}</scale>
-          </mesh>
-        </geometry>
-    </link>
-  </model>
-</sdf>
-"""
-
-
-def _search(log_text, regexp):
-    result = re.search(regexp, log_text)
-    if result is None:
-        raise RuntimeError("Could not find '{}' in '{}'".format(
-            regexp, log_text))
-    return result.groups()
-
-
-def _rescale(value_string, scale):
-    result = float(value_string) * scale
-    if result == 0.0:
-        # Remove negative zeros.
-        result = 0.0
-    return result
-
-
-def convert(log_text, scale, mass_kg):
-    # Match "LOG: 0 Opened mesh myfile.obj in 54 msec".
-    obj_filename, = _search(log_text, "Opened mesh (.*) in .* msec")
-    model_name, _ = os.path.splitext(os.path.basename(obj_filename))
-
-    # Match "LOG: 2 Center of Mass  is 0.421246 -0.000000 4.383873".
-    log_text_com, _ = _search(
-        log_text,
-        "Center of Mass  is(( [-.0-9]+){3})\n")
-    com_x, com_y, com_z = map(
-        lambda token: _rescale(token, scale),
-        log_text_com.split())
-
-    # Match: "LOG: 2 Mesh Volume  is 147.826782".
-    log_text_volume, = _search(
-        log_text,
-        "Mesh Volume  is ([-.0-9]+)\n")
-    volume_m3 = _rescale(log_text_volume, scale ** 3)
-
-    # Match:
-    # LOG: 2 Inertia Tensor is :
-    # LOG: 2     | 2053.508545  -0.000000  -72.085564 |
-    # LOG: 2     | -0.000000  2370.329590  -0.000000 |
-    # LOG: 2     | -72.085564  -0.000000  1909.948364 |
-    elements = _search(
-        log_text,
-        r"LOG. 2 +Inertia Tensor is .\n"
-        r"LOG. 2 +\| +([-.0-9]+) +([-.0-9]+) +([-.0-9]+) +\|\n"
-        r"LOG. 2 +\| +([-.0-9]+) +([-.0-9]+) +([-.0-9]+) +\|\n"
-        r"LOG. 2 +\| +([-.0-9]+) +([-.0-9]+) +([-.0-9]+) +\|\n"
-    )
-    inertia_scale = (scale ** 5) * mass_kg / volume_m3
-    ixx = _rescale(elements[0], inertia_scale)
-    ixy = _rescale(elements[1], inertia_scale)
-    ixz = _rescale(elements[2], inertia_scale)
-    iyx = _rescale(elements[3], inertia_scale)
-    iyy = _rescale(elements[4], inertia_scale)
-    iyz = _rescale(elements[5], inertia_scale)
-    izx = _rescale(elements[6], inertia_scale)
-    izy = _rescale(elements[7], inertia_scale)
-    izz = _rescale(elements[8], inertia_scale)
-    assert ixy == iyx
-    assert ixz == izx
-    assert iyz == izy
-
-    # Reject too-small inertia matrices.  Meshlab truncates its printouts to
-    # 0.000001; if the inertia values are too small, they may round to zero or
-    # have too little precision.
-    if max([float(e) for e in elements]) < 1e-3:
-        raise RuntimeError(
-            "The inertia matrix elements are too small; "
-            "rescale the mesh to have more volume, then try again")
-
-    # We want to print the inertia matrix consistently.  So, given a precision
-    # (as number of significant figures) for the floating point General Format
-    # in https://docs.python.org/3.4/library/string.html, we'll determine the
-    # Fixed Point precision of the maximum element that yields the correct
-    # number of sig figs.  Then we'll apply that to all of the other elements.
-    inertia_sigfigs = 3
-    max_element = max([ixx, ixy, ixz, iyy, iyz, izz])
-    exp = int("{:.{}e}".format(max_element, inertia_sigfigs).split('e')[-1])
-    inertia_precision = max(0, inertia_sigfigs - 1 - exp)
-    inertia_format_template = "{: .#f}".replace('#', str(inertia_precision))
-
-    subs = dict()
-    subs["name"] = model_name
-    subs["inertial_pose"] = "{x:.3g} {y:.3g} {z:.3g} 0 0 0".format(
-        x=com_x, y=com_y, z=com_z)
-    subs["mass"] = "{:.3g}".format(mass_kg)
-    subs["ixx"] = inertia_format_template.format(ixx)
-    subs["ixy"] = inertia_format_template.format(ixy)
-    subs["ixz"] = inertia_format_template.format(ixz)
-    subs["iyy"] = inertia_format_template.format(iyy)
-    subs["iyz"] = inertia_format_template.format(iyz)
-    subs["izz"] = inertia_format_template.format(izz)
-    subs["mesh_uri"] = obj_filename
-    subs["mesh_scale"] = "{s:g} {s:g} {s:g}".format(
-        s=scale)
-    return _TEMPLATE.format(**subs)
-
-
-def main():
-    parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument(
-        "--scale", type=float, required=True,
-        help="Mesh scale factor that yields meters; "
-        "e.g., a mesh drawn in centimeters should supply 0.01."
-        "If you have rescaled the mesh for numerical reasons, you must "
-        "incorporate both the original units and rescaling here so that "
-        "the result is still meters."
-    )
-    parser.add_argument(
-        "--mass_kg", type=float, required=True,
-        help="Mass of the object")
-    parser.add_argument(
-        "filename", nargs=1,
-        help="A foo.txt file that contains meshlab log output.")
-    args = parser.parse_args()
-
-    filename = args.filename[0]
-    _, ext = os.path.splitext(os.path.basename(filename))
-    if ext == ".txt":
-        with open(filename) as log_file:
-            log_text = "".join(log_file.readlines())
-        sdf_text = convert(log_text, args.scale, args.mass_kg)
-        print(sdf_text)
-    else:
-        print("Can't handle a '{}' file (wanted '.txt')".format(
-            ext))
-        return 1
-
-    return 0
-
-
 if __name__ == '__main__':
-    sys.exit(main())
+    print("** Error: This script has been removed. **")
+    print("Instead, please use pydrake.multibody.mesh_to_model or pydrake.multibody.fix_inertia.")  # noqa
+    sys.exit(1)

manipulation/util/show_model.py

@@ -1,4 +1,5 @@
 # Prints a deprecation notice and forwards to the equivalent pydrake script.
+# TODO(jwnimmer-tri) Remove this stub on or around 2025-01-01.
 
 from pydrake.visualization.model_visualizer import _main