Add mujoco_menagerie as a test-only dependency

And use it for testing the mujoco parser.
Towards #20444 and #21648.

multibody/parsing/BUILD.bazel

@@ -17,6 +17,10 @@ load(
     "//tools/workspace/dm_control_internal:files.bzl",
     "dm_control_mujoco_files",
 )
+load(
+    "//tools/workspace/mujoco_menagerie_internal:files.bzl",
+    "mujoco_menagerie_files",
+)
 
 filegroup(
     name = "test_models",
@@ -44,6 +48,18 @@ _DM_CONTROL_MUJOCO_FILES = forward_files(
     visibility = ["//visibility:private"],
 )
 
+_MUJOCO_MENAGERIE_FILES = forward_files(
+    srcs = [
+        "@mujoco_menagerie_internal//:" +
+        x
+        for x in mujoco_menagerie_files()
+    ],
+    dest_prefix = "mujoco_menagerie/",
+    strip_prefix = "@mujoco_menagerie_internal//:",
+    tags = ["manual"],
+    visibility = ["//visibility:private"],
+)
+
 drake_cc_package_library(
     name = "parsing",
     visibility = ["//visibility:public"],
@@ -652,7 +668,7 @@ drake_cc_googletest(
         ":test_models",
         "//geometry:test_obj_files",
         "//geometry:test_stl_files",
-    ] + _DM_CONTROL_MUJOCO_FILES,
+    ] + _DM_CONTROL_MUJOCO_FILES + _MUJOCO_MENAGERIE_FILES,
     deps = [
         ":detail_mujoco_parser",
         "//common:find_resource",

multibody/parsing/test/detail_mujoco_parser_test.cc

@@ -117,10 +117,10 @@ class MujocoParserTest : public test::DiagnosticPolicyTestBase {
       "drake/multibody/parsing/test/box_package/urdfs/box.urdf"))};
 };
 
-class GymModelTest : public MujocoParserTest,
-                     public testing::WithParamInterface<const char*> {};
+class DeepMindControlTest : public MujocoParserTest,
+                            public testing::WithParamInterface<const char*> {};
 
-TEST_P(GymModelTest, GymModel) {
+TEST_P(DeepMindControlTest, DeepMindControl) {
   // Confirm successful parsing of the MuJoCo models in the DeepMind control
   // suite.
   std::string model{GetParam()};
@@ -134,13 +134,38 @@ TEST_P(GymModelTest, GymModel) {
   warning_records_.clear();
 }
 
-const char* gym_models[] = {
+const char* dm_control_models[] = {
     "acrobot",  "cartpole",   "cheetah",      "finger",  "fish",
     "hopper",   "humanoid",   "humanoid_CMU", "lqr",     "manipulator",
     "pendulum", "point_mass", "quadruped",    "reacher", "stacker",
     "swimmer",  "walker"};
-INSTANTIATE_TEST_SUITE_P(GymModels, GymModelTest,
-                         testing::ValuesIn(gym_models));
+INSTANTIATE_TEST_SUITE_P(DeepMindControl, DeepMindControlTest,
+                         testing::ValuesIn(dm_control_models));
+
+class MujocoMenagerieTest : public MujocoParserTest,
+                            public testing::WithParamInterface<const char*> {};
+
+TEST_P(MujocoMenagerieTest, MujocoMenagerie) {
+  // Confirm successful parsing of the MuJoCo models in the DeepMind control
+  // suite.
+  std::string model{GetParam()};
+  const std::string filename = FindResourceOrThrow(
+      fmt::format("drake/multibody/parsing/mujoco_menagerie/{}.xml", model));
+  AddModelFromFile(filename, model);
+
+  EXPECT_TRUE(plant_.HasModelInstanceNamed(model));
+
+  // For this test, ignore all warnings.
+  warning_records_.clear();
+}
+
+const char* mujoco_menagerie_models[] = {"google_robot/robot",
+                                         "kuka_iiwa_14/iiwa14"};
+// TODO(russt): Add the remaining models, once they can be parsed correctly, as
+// tracked in #20444.
+
+INSTANTIATE_TEST_SUITE_P(MujocoMenagerie, MujocoMenagerieTest,
+                         testing::ValuesIn(mujoco_menagerie_models));
 
 // In addition to confirming that the parser can successfully parse the model,
 // this test can be used to manually inspect the resulting visualization.

multibody/tree/geometry_spatial_inertia.h

@@ -10,7 +10,7 @@ namespace multibody {
 /** Computes the SpatialInertia of a body made up of a homogeneous material
  (of given `density` in kg/m³) uniformly distributed in the volume of the given
  `shape`.
- 
+
  The `shape` is defined in its canonical frame S and the body in frame B. The
  two frames are coincident and aligned (i.e., X_SB = I).
 
@@ -31,6 +31,10 @@ namespace multibody {
                  given `shape`.
  @throws std::exception if `shape` is an instance of geometry::HalfSpace or
                         geometry::MeshcatCone.
+ @throws std::exception if the resulting spatial inertia computation does not
+                        result in a physically meaningful value. See
+                        SpatialInertia::IsPhysicallyValid() for more
+                        information.
  @pydrake_mkdoc_identifier{shape} */
 SpatialInertia<double> CalcSpatialInertia(const geometry::Shape& shape,
                                           double density);

tools/workspace/default.bzl

@@ -51,6 +51,7 @@ load("//tools/workspace/meshcat:repository.bzl", "meshcat_repository")
 load("//tools/workspace/mosek:repository.bzl", "mosek_repository")
 load("//tools/workspace/mpmath_py_internal:repository.bzl", "mpmath_py_internal_repository")  # noqa
 load("//tools/workspace/msgpack_internal:repository.bzl", "msgpack_internal_repository")  # noqa
+load("//tools/workspace/mujoco_menagerie_internal:repository.bzl", "mujoco_menagerie_internal_repository")  # noqa
 load("//tools/workspace/mumps_internal:repository.bzl", "mumps_internal_repository")  # noqa
 load("//tools/workspace/mypy_extensions_internal:repository.bzl", "mypy_extensions_internal_repository")  # noqa
 load("//tools/workspace/mypy_internal:repository.bzl", "mypy_internal_repository")  # noqa
@@ -219,6 +220,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         mpmath_py_internal_repository(name = "mpmath_py_internal", mirrors = mirrors)  # noqa
     if "msgpack_internal" not in excludes:
         msgpack_internal_repository(name = "msgpack_internal", mirrors = mirrors)  # noqa
+    if "mujoco_menagerie_internal" not in excludes:
+        mujoco_menagerie_internal_repository(name = "mujoco_menagerie_internal", mirrors = mirrors)  # noqa
     if "mumps_internal" not in excludes:
         mumps_internal_repository(name = "mumps_internal")
     if "mypy_extensions_internal" not in excludes:

tools/workspace/mujoco_menagerie_internal/BUILD.bazel

@@ -0,0 +1,3 @@
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()

tools/workspace/mujoco_menagerie_internal/files.bzl

@@ -0,0 +1,74 @@
+# Keep the macros sorted alphabetically by macro name.
+# Keep the lists of files sorted alphabetically by filename.
+
+def mujoco_menagerie_files():
+    return [
+        "google_robot/robot.xml",
+        "google_robot/LICENSE",
+        "google_robot/assets/finger_base_texture.png",
+        "google_robot/assets/finger_tip_texture.png",
+        "google_robot/assets/link_base_0_00.stl",
+        "google_robot/assets/link_base_0_01.stl",
+        "google_robot/assets/link_base_1_00.stl",
+        "google_robot/assets/link_base_1_01.stl",
+        "google_robot/assets/link_base_1_02.stl",
+        "google_robot/assets/link_base_1_03.stl",
+        "google_robot/assets/link_base_1_04.stl",
+        "google_robot/assets/link_base_1_05.stl",
+        "google_robot/assets/link_base_1_06.stl",
+        "google_robot/assets/link_base_1_07.stl",
+        "google_robot/assets/link_base_1_08.stl",
+        "google_robot/assets/link_base_1_09.stl",
+        "google_robot/assets/link_base_1_10.stl",
+        "google_robot/assets/link_base_1_11.stl",
+        "google_robot/assets/link_base_1_12.stl",
+        "google_robot/assets/link_base_1_13.stl",
+        "google_robot/assets/link_base_1_14.stl",
+        "google_robot/assets/link_base_1_15.stl",
+        "google_robot/assets/link_base_1_16.stl",
+        "google_robot/assets/link_base_1_17.stl",
+        "google_robot/assets/link_base_1_18.stl",
+        "google_robot/assets/link_base_1_19.stl",
+        "google_robot/assets/link_base_v.obj",
+        "google_robot/assets/link_bicep.stl",
+        "google_robot/assets/link_bicep_v.obj",
+        "google_robot/assets/link_elbow.stl",
+        "google_robot/assets/link_elbow_v.obj",
+        "google_robot/assets/link_finger_base.stl",
+        "google_robot/assets/link_finger_base_v.obj",
+        "google_robot/assets/link_finger_tip.stl",
+        "google_robot/assets/link_finger_tip_v.obj",
+        "google_robot/assets/link_forearm.stl",
+        "google_robot/assets/link_forearm_v.obj",
+        "google_robot/assets/link_gripper.stl",
+        "google_robot/assets/link_gripper_v.obj",
+        "google_robot/assets/link_head_pan.stl",
+        "google_robot/assets/link_head_pan_v.obj",
+        "google_robot/assets/link_head_tilt.stl",
+        "google_robot/assets/link_head_tilt_v.obj",
+        "google_robot/assets/link_shoulder.stl",
+        "google_robot/assets/link_shoulder_v.obj",
+        "google_robot/assets/link_torso_00.stl",
+        "google_robot/assets/link_torso_01.stl",
+        "google_robot/assets/link_torso_v.obj",
+        "google_robot/assets/link_wheel_v.obj",
+        "google_robot/assets/link_wrist.stl",
+        "google_robot/assets/link_wrist_v.obj",
+        "google_robot/assets/robot_texture.png",
+    ] + [
+        "kuka_iiwa_14/iiwa14.xml",
+        "kuka_iiwa_14/LICENSE",
+        "kuka_iiwa_14/assets/band.obj",
+        "kuka_iiwa_14/assets/kuka.obj",
+        "kuka_iiwa_14/assets/link_0.obj",
+        "kuka_iiwa_14/assets/link_1.obj",
+        "kuka_iiwa_14/assets/link_2_grey.obj",
+        "kuka_iiwa_14/assets/link_2_orange.obj",
+        "kuka_iiwa_14/assets/link_3.obj",
+        "kuka_iiwa_14/assets/link_4_grey.obj",
+        "kuka_iiwa_14/assets/link_4_orange.obj",
+        "kuka_iiwa_14/assets/link_5.obj",
+        "kuka_iiwa_14/assets/link_6_grey.obj",
+        "kuka_iiwa_14/assets/link_6_orange.obj",
+        "kuka_iiwa_14/assets/link_7.obj",
+    ]

tools/workspace/mujoco_menagerie_internal/package.BUILD.bazel

@@ -0,0 +1,27 @@
+# -*- bazel -*-
+
+package(default_visibility = ["//visibility:public"])
+
+# We maintain a different export_files for each subdirectory of the repository,
+# and only once we have vetted the license (in the main LICENSE file).
+
+# google_robot
+exports_files(
+    srcs = [
+        "google_robot/robot.xml",
+        "google_robot/LICENSE",
+    ] + glob([
+      "google_robot/assets/*.obj",
+      "google_robot/assets/*.png",
+      "google_robot/assets/*.stl",
+    ]),
+)
+
+# kuka_iiwa_14
+exports_files(
+    srcs = [
+        "kuka_iiwa_14/iiwa14.xml",
+        "kuka_iiwa_14/LICENSE",
+    ] + glob(["kuka_iiwa_14/assets/*.obj"]),
+)
+

tools/workspace/mujoco_menagerie_internal/repository.bzl

@@ -0,0 +1,13 @@
+load("//tools/workspace:github.bzl", "github_archive")
+
+def mujoco_menagerie_internal_repository(
+        name,
+        mirrors = None):
+    github_archive(
+        name = name,
+        repository = "google-deepmind/mujoco_menagerie",
+        commit = "af493511dbdfce2e046858a4d2f2955e063e17fd",
+        sha256 = "2975d9a03728bf1b8a2b7d2b14e62bc8d411031b73264e797dcce649bbf4811c",  # noqa
+        build_file = ":package.BUILD.bazel",
+        mirrors = mirrors,
+    )