new pip wheels (#443)

i've also improved the bazel logic to be able to run the minimal
dependencies variant (which tripped on CI) locally.

Author: RussTedrake

.github/workflows/main.yml

@@ -193,7 +193,8 @@ jobs:
           "from pathlib import Path; from pydrake.all import GetDrakePath; \
           print(Path(GetDrakePath()).parent)"` \
           MANIPULATION_DATA_DIR="`pwd`/book/data" \
-          ./book/htmlbook/workflows/ci/jammy/test_w_installed_deps
+          BAZEL_TEST_FLAGS="--define=use_dependencies=none" \
+          ./book/htmlbook/workflows/ci/jammy/test
         shell: bash
   jammy-pip-extra:
     # This should emulate a student's experience if they are doing the psets
@@ -231,5 +232,6 @@ jobs:
           "from pathlib import Path; from pydrake.all import GetDrakePath; \
           print(Path(GetDrakePath()).parent)"` \
           MANIPULATION_DATA_DIR="`pwd`/book/data" \
-          ./book/htmlbook/workflows/ci/jammy/test_w_installed_deps
+          BAZEL_TEST_FLAGS="--define=use_dependencies=none" \
+          ./book/htmlbook/workflows/ci/jammy/test
         shell: bash

book/chapters.js

@@ -41,6 +41,8 @@ rt_py_library(
     deps = [
       requirement("drake"),
       requirement("lxml"),
+    ],
+    optional_deps = [
       requirement("pycollada"),
       requirement("trimesh"),
     ],
@@ -151,6 +153,8 @@ rt_py_test(
     deps = [
       "manipulation",
       requirement("lxml"),
+    ],
+    optional_deps = [
       requirement("trimesh"),
       requirement("vhacdx"),
     ],
@@ -165,6 +169,8 @@ rt_py_test(
       "//manipulation/envs:box_flipup",
       "manipulation",
       "scenarios",
+    ],
+    optional_deps = [
       requirement("stable-baselines3"),
     ],
 )

book/htmlbook

@@ -6,14 +6,14 @@
 from lxml import etree
 from pydrake.multibody.parsing import PackageMap
 
-from manipulation.remotes import AddMujocoMenagerie
 from manipulation.utils import FindResource
 
 try:
     from manipulation.make_drake_compatible_model import (
         MakeDrakeCompatibleModel,
         _convert_mesh,
     )
+    from manipulation.remotes import AddMujocoMenagerie
 
     trimesh_available = True
 except ImportError:

manipulation/BUILD.bazel

@@ -2,7 +2,7 @@
 name = "manipulation"
 # Use e.g. 2024.10.4.rc0 if I need to release a release candidate.
 # Use e.g. 2024.10.4.post1 if I need to rerelease on the same day.
-version = "2025.1.24"
+version = "2025.2.16"
 description = "MIT 6.421 - Robotic Manipulation"
 authors = ["Russ Tedrake <[email protected]>"]
 license = "BSD License"