Add mujoco_menagerie as a test-only dependency

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

multibody/parsing/BUILD.bazel

@@ -652,10 +652,13 @@ drake_cc_googletest(
         ":test_models",
         "//geometry:test_obj_files",
         "//geometry:test_stl_files",
+        "@mujoco_menagerie_internal//:google_robot",
+        "@mujoco_menagerie_internal//:kuka_iiwa_14",
     ] + _DM_CONTROL_MUJOCO_FILES,
     deps = [
         ":detail_mujoco_parser",
         "//common:find_resource",
+        "//common:find_runfiles",
         "//common/test_utilities:diagnostic_policy_test_base",
         "//common/test_utilities:eigen_matrix_compare",
         "//common/test_utilities:expect_throws_message",

multibody/parsing/test/detail_mujoco_parser_test.cc

@@ -6,6 +6,7 @@
 #include <gtest/gtest.h>
 
 #include "drake/common/find_resource.h"
+#include "drake/common/find_runfiles.h"
 #include "drake/common/test_utilities/diagnostic_policy_test_base.h"
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
 #include "drake/common/test_utilities/expect_throws_message.h"
@@ -117,10 +118,10 @@ 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 +135,39 @@ 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 RlocationOrError rlocation = FindRunfile(
+      fmt::format("mujoco_menagerie_internal/{}.xml", model));
+  ASSERT_EQ(rlocation.error, "");
+  AddModelFromFile(rlocation.abspath, 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.

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/package.BUILD.bazel

@@ -0,0 +1,28 @@
+# -*- bazel -*-
+
+package(default_visibility = ["//visibility:public"])
+
+# We maintain a different filegroup for each subdirectory of the repository,
+# and only once we have vetted the license (in the main LICENSE file).
+#
+# DO NOT ADD new subdirectories here unless and until you vet their LICENSE.
+
+filegroup(
+    name = "google_robot",
+    srcs = [
+        "google_robot/robot.xml",
+        "google_robot/LICENSE",
+    ] + glob([
+        "google_robot/assets/*.obj",
+        "google_robot/assets/*.png",
+        "google_robot/assets/*.stl",
+    ]),
+)
+
+filegroup(
+    name = "kuka_iiwa_14",
+    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,
+    )