fixup! Simplify test resource finding

RobotLocomotion · Jun 30, 2024 · b95a2fe · b95a2fe
1 parent 1e02382
commit b95a2fe
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Showing 4 changed files with 16 additions and 99 deletions.
diff --git a/multibody/parsing/BUILD.bazel b/multibody/parsing/BUILD.bazel
@@ -17,10 +17,6 @@ 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",
@@ -48,18 +44,6 @@ _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"],
@@ -668,10 +652,13 @@ drake_cc_googletest(
         ":test_models",
         "//geometry:test_obj_files",
         "//geometry:test_stl_files",
-    ] + _DM_CONTROL_MUJOCO_FILES + _MUJOCO_MENAGERIE_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",

diff --git a/multibody/parsing/test/detail_mujoco_parser_test.cc b/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"
@@ -149,9 +150,10 @@ 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);
+  const RlocationOrError rlocation = FindRunfile(
+      fmt::format("mujoco_menagerie_internal/{}.xml", model));
+  ASSERT_EQ(rlocation.error, "");
+  AddModelFromFile(rlocation.abspath, model);
 
   EXPECT_TRUE(plant_.HasModelInstanceNamed(model));
 

diff --git a/tools/workspace/mujoco_menagerie_internal/files.bzl b/tools/workspace/mujoco_menagerie_internal/files.bzl
diff --git a/tools/workspace/mujoco_menagerie_internal/package.BUILD.bazel b/tools/workspace/mujoco_menagerie_internal/package.BUILD.bazel
@@ -2,11 +2,13 @@
 
 package(default_visibility = ["//visibility:public"])
 
-# We maintain a different export_files for each subdirectory of the repository,
+# 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.
 
-# google_robot
-exports_files(
+filegroup(
+    name = "google_robot",
     srcs = [
         "google_robot/robot.xml",
         "google_robot/LICENSE",
@@ -17,8 +19,8 @@ exports_files(
     ]),
 )
 
-# kuka_iiwa_14
-exports_files(
+filegroup(
+    name = "kuka_iiwa_14",
     srcs = [
         "kuka_iiwa_14/iiwa14.xml",
         "kuka_iiwa_14/LICENSE",