[ci] Add parse_test

.private/parse_test.py

@@ -0,0 +1,104 @@
+from pathlib import Path
+from typing import Iterator
+import unittest
+
+from pydrake.planning import RobotDiagramBuilder
+
+
+class TestDrakeModels(unittest.TestCase):
+
+    @staticmethod
+    def inventory() -> Iterator[str]:
+        """Generates the list of all files in this repository. The result is
+        strings like "franka_description/urdf/hand.urdf".
+        """
+        with open("inventory.txt", encoding="utf-8") as f:
+            for line in f.readlines():
+                yield line.strip()
+
+    @staticmethod
+    def get_all_models() -> Iterator[str]:
+        """Generates the Paths of all model files. The result is
+        URLs like "package://drake_models/franka_description/urdf/hand.urdf".
+        """
+        for path in TestDrakeModels.inventory():
+            url = f"package://drake_models/{path}"
+            if any([path.endswith(".dmd.yaml"),
+                    path.endswith(".sdf"),
+                    path.endswith(".urdf")]):
+                yield url
+
+    def test_all_models(self):
+        """Checks that all model files parse without any errors nor warnings.
+        """
+        all_models = list(TestDrakeModels.get_all_models())
+
+        # Allow warnings on these models until they are repaired.
+        models_with_warnings = [
+            # TODO(#19992) for tracking these warnings.
+            "package://drake_models/atlas/atlas_convex_hull.urdf",
+            "package://drake_models/atlas/atlas_minimal_contact.urdf",
+            # We don't have any tracking issue for fixing the allegro models,
+            # because we don't use them for anything we care about. If someone
+            # wants to fix the warnings, be our guest.
+            "package://drake_models/allegro_hand_description/urdf/allegro_hand_description_left.urdf",  # noqa
+            "package://drake_models/allegro_hand_description/urdf/allegro_hand_description_right.urdf",  # noqa
+            # TODO(jwnimmer-tri) Fix these warnings.
+            "package://drake_models/jaco_description/urdf/j2n6s300_col.urdf",
+            # We don't have any tracking issue for fixing the PR2 models,
+            # because we don't use them for anything we care about. If someone
+            # wants to fix the warnings, be our guest.
+            "package://drake_models/pr2_description/urdf/pr2_simplified.urdf"
+        ]
+        self.assertFalse(set(models_with_warnings) - set(all_models))
+
+        # Allow errors on these models until they are repaired.
+        models_with_errors = [
+            # This file is not designed to be loaded independently from its
+            # parent file `homecart.dmd.yaml`; it will always error out.
+            "package://drake_models/tri_homecart/homecart_grippers.dmd.yaml",
+        ]
+        self.assertFalse(set(models_with_errors) - set(all_models))
+        self.assertFalse(set(models_with_warnings) & set(models_with_errors))
+
+        # Run all tests.
+        for url in all_models:
+            with self.subTest(url=url):
+                expect_warnings = url in models_with_warnings
+                expect_errors = url in models_with_errors
+                self._check_model(
+                    url=url,
+                    expect_warnings=expect_warnings,
+                    expect_errors=expect_errors)
+
+    def _check_model(self, *,
+                     url: str,
+                     expect_warnings: bool,
+                     expect_errors: bool):
+        """Checks that when parsed, the given url contains warnings and/or
+        errors consistent with the expected conditions.
+        """
+        if expect_errors:
+            with self.assertRaises(Exception):
+                self._parse(url=url, strict=False)
+            return
+        if expect_warnings:
+            self._parse(url=url, strict=False)
+            with self.assertRaises(Exception):
+                self._parse(url=url, strict=True)
+            return
+        self._parse(url=url, strict=True)
+
+    def _parse(self, *, url: str, strict: bool):
+        builder = RobotDiagramBuilder()
+        parser = builder.parser()
+        package_map = parser.package_map()
+        for name in package_map.GetPackageNames():
+            package_map.Remove(name)
+        package_map.AddPackageXml(str(Path("package.xml").absolute()))
+        if strict:
+            parser.SetStrictParsing()
+        parser.AddModels(url=url)
+
+if __name__ == "__main__":
+    unittest.main()

.private/requirements.in

@@ -0,0 +1 @@
+drake==1.27.0