From 22442d9a4f2fdfb4601cda369029124cd40acd76 Mon Sep 17 00:00:00 2001
From: Rick Poyner <rick.poyner@tri.global>
Date: Tue, 7 Jan 2025 14:09:55 -0500
Subject: [PATCH] [parsing] Only skip mujoco examples for debug builds

Cases previously marked too slow will now run in non-debug builds, but are
still skipped in debug builds.
---
 .../detail_mujoco_parser_examples_test.cc     | 35 +++++++++++++------
 1 file changed, 24 insertions(+), 11 deletions(-)

diff --git a/multibody/parsing/test/detail_mujoco_parser_examples_test.cc b/multibody/parsing/test/detail_mujoco_parser_examples_test.cc
index e87cf5be5854..d3980e2f9823 100644
--- a/multibody/parsing/test/detail_mujoco_parser_examples_test.cc
+++ b/multibody/parsing/test/detail_mujoco_parser_examples_test.cc
@@ -99,6 +99,15 @@ constexpr std::string_view kSizeFromMesh =
     ".*size of the shape from the mesh.*";  // #22372
 }  // namespace KnownErrors
 
+constexpr const std::string_view& DebugIsTooSlow(
+    const std::string_view& non_debug_result) {
+#ifdef DRAKE_ASSERT_IS_ARMED
+  return kTooSlow;
+#else
+  return non_debug_result;
+#endif
+}
+
 class MujocoMenagerieTest : public MujocoParserExamplesTest,
                             public testing::WithParamInterface<
                                 std::pair<const char*, std::string_view>> {};
@@ -150,17 +159,17 @@ const std::pair<const char*, std::string_view> mujoco_menagerie_models[] = {
     {"boston_dynamics_spot/scene_arm", kItWorks},
     {"boston_dynamics_spot/spot", kItWorks},
     {"boston_dynamics_spot/spot_arm", kItWorks},
-    {"flybody/fruitfly", kTooSlow},  // kSizeFromMesh
-    {"flybody/scene", kTooSlow},     // kSizeFromMesh
+    {"flybody/fruitfly", DebugIsTooSlow(KnownErrors::kSizeFromMesh)},
+    {"flybody/scene", DebugIsTooSlow(KnownErrors::kSizeFromMesh)},
     {"franka_emika_panda/hand", kItWorks},
     {"franka_emika_panda/mjx_panda", kItWorks},
     {"franka_emika_panda/mjx_scene", kItWorks},
     {"franka_emika_panda/mjx_single_cube", kItWorks},
-    {"franka_emika_panda/panda", kTooSlow},         // kItWorks
-    {"franka_emika_panda/panda_nohand", kTooSlow},  // kItWorks
-    {"franka_emika_panda/scene", kTooSlow},         // kItWorks
-    {"franka_fr3/fr3", kTooSlow},                   // kItWorks
-    {"franka_fr3/scene", kTooSlow},                 // kItWorks
+    {"franka_emika_panda/panda", DebugIsTooSlow(kItWorks)},
+    {"franka_emika_panda/panda_nohand", DebugIsTooSlow(kItWorks)},
+    {"franka_emika_panda/scene", DebugIsTooSlow(kItWorks)},
+    {"franka_fr3/fr3", DebugIsTooSlow(kItWorks)},
+    {"franka_fr3/scene", DebugIsTooSlow(kItWorks)},
     {"google_barkour_v0/barkour_v0", kItWorks},
     {"google_barkour_v0/barkour_v0_mjx", kItWorks},
     {"google_barkour_v0/scene", kItWorks},
@@ -173,10 +182,14 @@ const std::pair<const char*, std::string_view> mujoco_menagerie_models[] = {
     {"google_barkour_vb/scene_mjx", kItWorks},
     {"google_robot/robot", kItWorks},
     {"google_robot/scene", kItWorks},
-    {"hello_robot_stretch/scene", kTooSlow},      // kNonUniformScale,
-    {"hello_robot_stretch/stretch", kTooSlow},    // kNonUniformScale,
-    {"hello_robot_stretch_3/scene", kTooSlow},    // kNonUniformScale,
-    {"hello_robot_stretch_3/stretch", kTooSlow},  // kNonUniformScale,
+    {"hello_robot_stretch/scene",
+     DebugIsTooSlow(KnownErrors::kNonUniformScale)},
+    {"hello_robot_stretch/stretch",
+     DebugIsTooSlow(KnownErrors::kNonUniformScale)},
+    {"hello_robot_stretch_3/scene",
+     DebugIsTooSlow(KnownErrors::kNonUniformScale)},
+    {"hello_robot_stretch_3/stretch",
+     DebugIsTooSlow(KnownErrors::kNonUniformScale)},
     {"kinova_gen3/gen3", kItWorks},
     {"kinova_gen3/scene", kItWorks},
     {"kuka_iiwa_14/iiwa14", kItWorks},