Run GHA jobs on custom builds of Drake

.github/workflows/bazel_download.yml

@@ -15,7 +15,12 @@ jobs:
         uses: actions/checkout@v4
       - name: setup
         working-directory: drake_bazel_download
-        run: .github/ubuntu_setup
+        run: |
+          args=()
+          if [[ '${{ github.event.inputs.linux_jammy_package_tar }}' != '' ]]; then
+            args+=(--package-url ${{ github.event.inputs.linux_jammy_package_tar }})
+          fi
+          .github/ubuntu_setup "${args[@]}"
         shell: bash
       - name: install_bazelisk
         working-directory: drake_bazel_download

.github/workflows/ci.yml

@@ -12,6 +12,22 @@ on:
   schedule:
     - cron: '0 12 * * *'
   workflow_dispatch:
+    inputs:
+      linux_jammy_package_tar:
+        description: 'Drake linux-jammy-*-packaging .tar.gz artifact URL'
+        required: false
+      linux_jammy_package_deb:
+        description: 'Drake linux-jammy-*-packaging .deb artifact URL'
+        required: false
+      mac_arm_sonoma_package_tar:
+        description: 'Drake mac-arm-sonoma-*-packaging .tar.gz artifact URL'
+        required: false
+      linux_jammy_wheel:
+        description: 'Drake linux-jammy-*-wheel-*-release Python 3.10 artifact URL'
+        required: false
+      mac_arm_sonoma_wheel:
+        description: 'Drake mac-arm-sonoma-*-wheel-*-release Python 3.12 artifact URL'
+        required: false
 concurrency:
   # Cancel previous CI runs when additional commits are added to a pull request.
   # This will not cancel CI runs associated with `schedule` or `push`.

.github/workflows/cmake_installed.yml

@@ -25,7 +25,12 @@ jobs:
           sudo rm -rf /Library/Frameworks/Python.framework/
       - name: setup
         working-directory: drake_cmake_installed
-        run: setup/install_prereqs
+        run: |
+          args=()
+          if [[ '${{ github.event.inputs.mac_arm_sonoma_package_tar }}' != '' ]]; then
+            args+=(--package-url ${{ github.event.inputs.mac_arm_sonoma_package_tar }})
+          fi
+          setup/install_prereqs "${args[@]}"
         shell: zsh -efuo pipefail {0}
       - name: cmake_installed build and test
         working-directory: drake_cmake_installed
@@ -40,7 +45,12 @@ jobs:
         uses: actions/checkout@v4
       - name: setup
         working-directory: drake_cmake_installed
-        run: .github/ubuntu_setup
+        run: |
+          args=()
+          if [[ '${{ github.event.inputs.linux_jammy_package_tar }}' != '' ]]; then
+            args+=(--package-url ${{ github.event.inputs.linux_jammy_package_tar }})
+          fi
+          .github/ubuntu_setup "${args[@]}"
         shell: bash
       - name: cmake_installed build and test
         working-directory: drake_cmake_installed

.github/workflows/cmake_installed_apt.yml

@@ -15,7 +15,12 @@ jobs:
         uses: actions/checkout@v4
       - name: setup
         working-directory: drake_cmake_installed_apt
-        run: .github/ubuntu_apt_setup
+        run: |
+          args=()
+          if [[ '${{ github.event.inputs.linux_jammy_package_deb }}' != '' ]]; then
+            args+=(--package-url ${{ github.event.inputs.linux_jammy_package_deb }})
+          fi
+          .github/ubuntu_apt_setup "${args[@]}"
         shell: bash
       - name: cmake_installed_apt build and test
         working-directory: drake_cmake_installed_apt

.github/workflows/pip.yml

@@ -31,7 +31,12 @@ jobs:
           python-version: ${{ env.PYTHON_VERSION }}
       - name: venv setup and install
         working-directory: drake_pip
-        run: setup/setup_env $PYTHON_VERSION
+        run: |
+          args=(--python-version $PYTHON_VERSION)
+          if [[ '${{ github.event.inputs.mac_arm_sonoma_wheel }}' != '' ]]; then
+            args+=(--wheel-url ${{ github.event.inputs.mac_arm_sonoma_wheel }})
+          fi
+          setup/setup_env "${args[@]}"
         shell: zsh -eufo pipefail {0}
       - name: pip build and test
         working-directory: drake_pip
@@ -46,7 +51,12 @@ jobs:
         uses: actions/checkout@v4
       - name: pip setup
         working-directory: drake_pip
-        run: .github/ubuntu_setup
+        run: |
+          args=()
+          if [[ '${{ github.event.inputs.linux_jammy_wheel }}' != '' ]]; then
+            args+=(--wheel-url ${{ github.event.inputs.linux_jammy_wheel }})
+          fi
+          .github/ubuntu_setup "${args[@]}"
         shell: bash
       - name: pip build and test
         working-directory: drake_pip

.github/workflows/poetry.yml

@@ -33,7 +33,11 @@ jobs:
         working-directory: drake_poetry
         run: |
           .github/setup
-          setup/install_prereqs $PYTHON_VERSION
+          args=(--python-version $PYTHON_VERSION)
+          if [[ '${{ github.event.inputs.mac_arm_sonoma_wheel }}' != '' ]]; then
+            args+=(--wheel-url ${{ github.event.inputs.mac_arm_sonoma_wheel }})
+          fi
+          setup/install_prereqs "${args[@]}"
         shell: zsh -efuo pipefail {0}
       - name: poetry test
         working-directory: drake_poetry
@@ -54,6 +58,10 @@ jobs:
         run: |
           .github/setup
           source $HOME/.profile
-          setup/install_prereqs
+          args=()
+          if [[ '${{ github.event.inputs.linux_jammy_wheel }}' != '' ]]; then
+            args+=(--wheel-url ${{ github.event.inputs.linux_jammy_wheel }})
+          fi
+          setup/install_prereqs "${args[@]}"
           .github/ci_build_test
         shell: bash

drake_bazel_download/.github/ci_build_test

@@ -3,5 +3,15 @@
 
 set -euxo pipefail
 
+# Use what we installed to $HOME/drake,
+# rather than the URL to the most recent nightly release
+# found in drake_bazel_download/MODULE.bazel.
+drake_override_flag+=("--override_repository=+_repo_rules2+drake=$HOME/drake")
+
+# Setup $HOME/drake as a Bazel workspace via
+# BUILD and WORKSPACE files.
+ln -sf $(realpath drake.BUILD.bazel) "$HOME/drake/BUILD.bazel"
+touch "$HOME/drake/WORKSPACE.bazel"
+
 bazel version
-bazel test //...
+bazel test "${drake_override_flag[@]}" //...

drake_bazel_download/.github/ubuntu_setup

@@ -8,4 +8,4 @@ echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-setup/install_prereqs
+setup/install_prereqs "$@"

drake_bazel_download/.github/workflows/ci.yml

@@ -12,6 +12,10 @@ on:
   schedule:
     - cron: '0 12 * * *'
   workflow_dispatch:
+    inputs:
+      linux_jammy_package_tar:
+        description: 'Drake linux-jammy-*-packaging .tar.gz artifact URL'
+        required: false
 concurrency:
   # Cancel previous CI runs when additional commits are added to a pull request.
   # This will not cancel CI runs associated with `schedule` or `push`.
@@ -27,7 +31,12 @@ jobs:
         uses: actions/checkout@v4
       - name: setup
         working-directory: drake_bazel_download
-        run: .github/ubuntu_setup
+        run: |
+          args=()
+          if [[ '${{ github.event.inputs.linux_jammy_package_tar }}' != '' ]]; then
+            args+=(--package-url ${{ github.event.inputs.linux_jammy_package_tar }})
+          fi
+          .github/ubuntu_setup "${args[@]}"
         shell: bash
       - name: install_bazelisk
         working-directory: drake_bazel_download

drake_bazel_download/README.md

@@ -39,3 +39,20 @@ above command prints out; however, be aware that your working directories may
 cause differences. This is important when using tools like
 `drake::FindResource` / `pydrake.common.FindResource`.
 You may generally want to stick to using `bazel run` when able.
+
+### Using a local checkout of Drake
+
+To use an installation of Drake on disk instead of downloaded from github, pass the flag
+``--override_repository=+_repo_rules2+drake=/home/user/stuff/drake`` to bazel on the command line
+or add a line such as the following to ``user.bazelrc`` in the current directory:
+
+```bash
+build --override_repository=+_repo_rules2+drake=/home/user/stuff/drake
+```
+
+Note that the local installation of Drake needs the following two files
+inside its top-level directory:
+
+* an empty `WORKSPACE.bazel` file
+* a symlink or copy of `drake.BUILD.bazel` (found in the current directory
+of this example) named `BUILD.bazel`

drake_bazel_download/setup/install_prereqs

@@ -31,6 +31,25 @@
 
 set -euxo pipefail
 
+package_url=
+
+while [ "${1:-}" != "" ]; do
+  case "$1" in
+    --package-url)
+      shift
+      if [[ $# -eq 0 ]]; then
+        echo 'No argument specified for --package-url' >&2
+        exit 1
+      fi
+      package_url="$1"
+      ;;
+    *)
+      echo 'Invalid command line argument' >&2
+      exit 1
+  esac
+  shift
+done
+
 maybe_sudo=
 if [[ "${EUID}" -ne 0 ]]; then
   maybe_sudo=sudo
@@ -51,8 +70,7 @@ EOF
 )
 
 # Download the drake source
-wget -O drake.tar.gz \
-  https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+wget -O drake.tar.gz "${package_url:-https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz}"
 trap 'rm -f drake.tar.gz' EXIT
 tar -xf drake.tar.gz -C $HOME
 

drake_cmake_installed/.github/ubuntu_setup

@@ -8,4 +8,4 @@ echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-setup/install_prereqs
+setup/install_prereqs "$@"

drake_cmake_installed/.github/workflows/ci.yml

@@ -12,6 +12,13 @@ on:
   schedule:
     - cron: '0 12 * * *'
   workflow_dispatch:
+    inputs:
+      linux_jammy_package_tar:
+        description: 'Drake linux-jammy-*-packaging .tar.gz artifact URL'
+        required: false
+      mac_arm_sonoma_package_tar:
+        description: 'Drake mac-arm-sonoma-*-packaging .tar.gz artifact URL'
+        required: false
 concurrency:
   # Cancel previous CI runs when additional commits are added to a pull request.
   # This will not cancel CI runs associated with `schedule` or `push`.
@@ -37,7 +44,12 @@ jobs:
           sudo rm -rf /Library/Frameworks/Python.framework/
       - name: setup
         working-directory: drake_cmake_installed
-        run: setup/install_prereqs
+        run: |
+          args=()
+          if [[ '${{ github.event.inputs.mac_arm_sonoma_package_tar }}' != '' ]]; then
+            args+=(--package-url ${{ github.event.inputs.mac_arm_sonoma_package_tar }})
+          fi
+          setup/install_prereqs "${args[@]}"
         shell: zsh -efuo pipefail {0}
       - name: cmake_installed build and test
         working-directory: drake_cmake_installed
@@ -52,7 +64,12 @@ jobs:
         uses: actions/checkout@v4
       - name: setup
         working-directory: drake_cmake_installed
-        run: .github/ubuntu_setup
+        run: |
+          args=()
+          if [[ '${{ github.event.inputs.linux_jammy_package_tar }}' != '' ]]; then
+            args+=(--package-url ${{ github.event.inputs.linux_jammy_package_tar }})
+          fi
+          .github/ubuntu_setup "${args[@]}"
         shell: bash
       - name: cmake_installed build and test
         working-directory: drake_cmake_installed

drake_cmake_installed/setup/install_prereqs

@@ -4,6 +4,25 @@
 
 set -euxo pipefail
 
+package_url=
+
+while [ "${1:-}" != "" ]; do
+  case "$1" in
+    --package-url)
+      shift
+      if [[ $# -eq 0 ]]; then
+        echo 'No argument specified for --package-url' >&2
+        exit 1
+      fi
+      package_url="$1"
+      ;;
+    *)
+      echo 'Invalid command line argument' >&2
+      exit 1
+  esac
+  shift
+done
+
 maybe_sudo=
 
 case "$OSTYPE" in
@@ -15,7 +34,7 @@ case "$OSTYPE" in
     fi
 
     # Download the drake source
-    curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac-arm64.tar.gz
+    curl -o drake.tar.gz "${package_url:-https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac-arm64.tar.gz}"
     trap 'rm -f drake.tar.gz' EXIT
     tar -xf drake.tar.gz -C $HOME
     ;;
@@ -41,8 +60,7 @@ EOF
     )
 
     # Download the drake source
-    wget -O drake.tar.gz \
-      https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+    wget -O drake.tar.gz "${package_url:-https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz}"
     trap 'rm -f drake.tar.gz' EXIT
     tar -xf drake.tar.gz -C $HOME
 

drake_cmake_installed_apt/.github/ubuntu_apt_setup

@@ -3,19 +3,48 @@
 
 set -euxo pipefail
 
+package_url=
+
+while [ "${1:-}" != "" ]; do
+  case "$1" in
+    --package-url)
+      shift
+      if [[ $# -eq 0 ]]; then
+        echo 'No argument specified for --package-url' >&2
+        exit 1
+      fi
+      package_url="$1"
+      ;;
+    *)
+      echo 'Invalid command line argument' >&2
+      exit 1
+  esac
+  shift
+done
+
 export DEBIAN_FRONTEND=noninteractive
 
 apt-get -qq update || (sleep 30; apt-get -qq update)
 apt-get -o Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends \
   install build-essential ca-certificates cmake gnupg lsb-release wget
 
-readonly codename="$(lsb_release -cs)"
+if [[ ! -z "${package_url}" ]]; then
+  # Install a custom Drake package if specified.
+  wget -O drake.deb ${package_url}
+  trap 'rm -f drake.deb' EXIT
 
-wget -qO- --retry-connrefused https://drake-apt.csail.mit.edu/drake.asc \
-  | gpg --dearmor - > /etc/apt/trusted.gpg.d/drake.gpg
-echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/${codename} ${codename} main" \
-  > /etc/apt/sources.list.d/drake.list
+  apt-get -o Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends \
+    install ./drake.deb
+else
+  # Otherwise, install the latest released version.
+  readonly codename="$(lsb_release -cs)"
 
-apt-get -qq update || (sleep 30; apt-get -qq update)
-apt-get -o Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends \
-  install drake-dev
+  wget -qO- --retry-connrefused https://drake-apt.csail.mit.edu/drake.asc \
+    | gpg --dearmor - > /etc/apt/trusted.gpg.d/drake.gpg
+  echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/${codename} ${codename} main" \
+    > /etc/apt/sources.list.d/drake.list
+
+  apt-get -qq update || (sleep 30; apt-get -qq update)
+  apt-get -o Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends \
+    install drake-dev
+fi