def METHOD_NAME() -> Iterator[str]:
    """Generates the Paths of all top-level model files in @drake_models.
    The result is URLs like "package://drake_models/veggies/pepper.sdf".
    """
    for path in TestDrakeModels.inventory():
        url = f"package://{path}"
        if any([path.endswith(".dmd.yaml"),
                path.endswith(".sdf"),
                path.endswith(".urdf")]):
            yield url
        elif path.endswith(".xml"):
            # We can't tell a MuJoCo file just by its suffix.
            runfiles = TestDrakeModels.package_xml().parent.parent
            if "<mujoco" in (runfiles / path).open().read():
                yield url
    return