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base repository: RobotLocomotion/drake
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base: 21b970cdb948a2f8c8d83b400bc5ac78899dee2e
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head repository: RobotLocomotion/drake
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compare: 7816034f597c21a0595eb6de18f06e95edf34bd0
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Showing with 11 additions and 12 deletions.
  1. +1 −0 geometry/proximity/BUILD.bazel
  2. +10 −12 geometry/proximity/test/boxes_overlap_test.cc
1 change: 1 addition & 0 deletions geometry/proximity/BUILD.bazel
Original file line number Diff line number Diff line change
@@ -972,6 +972,7 @@ drake_cc_googletest(
name = "boxes_overlap_test",
deps = [
":boxes_overlap",
"//common/test_utilities:maybe_pause_for_user",
"//geometry:meshcat",
"//geometry:rgba",
"//geometry:shape_specification",
22 changes: 10 additions & 12 deletions geometry/proximity/test/boxes_overlap_test.cc
Original file line number Diff line number Diff line change
@@ -6,18 +6,17 @@
#include <gflags/gflags.h>
#include <gtest/gtest.h>

#include "drake/common/test_utilities/maybe_pause_for_user.h"
#include "drake/common/text_logging.h"
#include "drake/geometry/meshcat.h"
#include "drake/geometry/rgba.h"
#include "drake/geometry/shape_specification.h"

DEFINE_bool(visualize, false, "If defined, visualizes the test cases");
DEFINE_int32(
delay, 3,
"If visualize is set to true, defines the number of seconds between "
"instantiation of a valid Meshcat URL and the beginning of the tests. "
"The test run quickly, and without this delay, it may prove impossible "
"to visualize the test cases in the browser.");
DEFINE_bool(
visualize, false,
"If true, visualizes the test cases. To use this, run the test as "
"./bazel-bin/geometry/proximity/boxes_overlap_test --visualize. "
"You will have the opportunity to open a meshcat browser session.");

namespace drake {
namespace geometry {
@@ -149,11 +148,10 @@ class BoxesOverlapTest_ : public ::testing::Test {
if (FLAGS_visualize) {
meshcat_ = std::make_unique<Meshcat>();
drake::log()->info(
"The test will stall {} seconds for you to open the URL. Use the "
"flag --delay to control how long that delay is. The test case "
"geometry will be marked invisible initially.",
FLAGS_delay);
sleep(FLAGS_delay);
"Please open a browser to the indicated URL before proceeding. When "
"the test is complete, the browser will appear empty, but the path "
"drake/BoxesOverlapTest/ should contain all of the test cases.");
common::MaybePauseForUser();
}
}