sync with underactuated (#444)

Author: RussTedrake

.github/workflows/main.yml

@@ -150,12 +150,19 @@ jobs:
         # be hermetic:
         run: |
           pip install -U manipulation[all] --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/
-          truncate -s0 requirements.txt 
+          truncate -s0 requirements*.txt 
           sed -i '/PYTHONNOUSERSITE/d' .bazelrc
-          bazel run //manipulation:prefetch_remotes
+          bazel run //manipulation:prefetch_remotes --define=use_dependencies=none
         shell: bash
       - name: test
-        run: EXCLUDE_TESTS="//book/htmlbook/..." ./book/htmlbook/workflows/ci/jammy/test
+        run: |
+          EXCLUDE_TESTS="(//book/htmlbook/... + attr(name, .*_linktest$, //...))" \
+          DRAKE_RESOURCE_ROOT=`python3 -c \
+          "from pathlib import Path; from pydrake.all import GetDrakePath; \
+          print(Path(GetDrakePath()).parent)"` \
+          MANIPULATION_DATA_DIR="`pwd`/book/data" \
+          BAZEL_TEST_FLAGS="--define=use_dependencies=none" \
+          ./book/htmlbook/workflows/ci/jammy/test
         shell: bash
   jammy-pip-core:
     # This should emulate a student's experience if they are doing the psets
@@ -182,9 +189,8 @@ jobs:
         run: |
           ./setup/ubuntu/22.04/install_prereqs.sh
           pip install manipulation --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/
-          truncate -s0 requirements.txt
+          truncate -s0 requirements*.txt
           sed -i '/PYTHONNOUSERSITE/d' .bazelrc
-          bazel run //manipulation:prefetch_remotes
         shell: bash
       - name: test
         run: |
@@ -221,13 +227,13 @@ jobs:
         run: |
           ./setup/ubuntu/22.04/install_prereqs.sh
           pip install manipulation[all] --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/
-          truncate -s0 requirements.txt
+          truncate -s0 requirements*.txt
           sed -i '/PYTHONNOUSERSITE/d' .bazelrc
-          bazel run //manipulation:prefetch_remotes
+          bazel run //manipulation:prefetch_remotes --define=use_dependencies=none
         shell: bash
       - name: test
         run: |
-          EXCLUDE_TESTS="//book/htmlbook/..." \
+          EXCLUDE_TESTS="(//book/htmlbook/... + attr(name, .*_linktest$, //...))" \
           DRAKE_RESOURCE_ROOT=`python3 -c \
           "from pathlib import Path; from pydrake.all import GetDrakePath; \
           print(Path(GetDrakePath()).parent)"` \

book/htmlbook

@@ -91,7 +91,7 @@ torch = ["torch", "torchvision"]
 rl = ["stable_baselines3", "gymnasium"]
 mesh = ["pycollada", "trimesh", "vhacdx", "coacd"]
 grader = ["gradescope-utils", "timeout-decorator", "nbconvert", "nbformat"]
-# 'all' should have all of the optional dependencies required to run bazel in this repo.
+# 'all' should have all of the optional dependencies required to run any notebook in this repo.
 all = [
   "cloudpickle",
   "gradescope-utils",
@@ -139,6 +139,8 @@ vhacdx = { version=">=0.0.5", optional=false }
 beautifulsoup4 = { version=">=4.6.3" }
 black = { version = ">=23.*", extras = ["jupyter"] }
 mysql-connector-python = { version=">=8.0.23" }
+packaging = ">=24.2"
+pip-requirements-parser = ">=32.0"
 pre-commit = "^3.4.0"
 poetry-pre-commit-plugin = "^0.1.2"
 requests = { version=">=2.25.1" }

poetry.lock

@@ -1,5 +1,5 @@
+--find-links https://download.pytorch.org/whl/torch_stable.html
 --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly
-
 anyio==4.8.0 ; python_version >= "3.10" and python_version < "4.0"
 asttokens==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
 attrs==25.1.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -50,7 +50,6 @@ identify==2.6.7 ; python_version >= "3.10" and python_version < "4.0"
 idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
 importlib-metadata==8.6.1 ; python_version >= "3.10" and python_version < "3.12"
 installer==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
-intel-openmp==2021.4.0 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 ipython==8.32.0 ; python_version >= "3.10" and python_version < "4.0"
 ipywidgets==8.1.5 ; python_version >= "3.10" and python_version < "4.0"
 jaraco-classes==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -75,7 +74,6 @@ markupsafe==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib-inline==0.1.7 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib==3.10.0 ; python_version >= "3.10" and python_version < "4.0"
 mistune==0.8.4 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
-mkl==2021.4.0 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 more-itertools==10.6.0 ; python_version >= "3.10" and python_version < "4.0"
 mpld3==0.5.10 ; python_version >= "3.10" and python_version < "4.0"
 mpmath==1.3.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -109,6 +107,7 @@ parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
 pillow==11.1.0 ; python_version >= "3.10" and python_version < "4.0"
+pip-requirements-parser==32.0.1 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.12.0 ; python_version >= "3.10" and python_version < "4.0"
 platformdirs==4.3.6 ; python_version >= "3.10" and python_version < "4.0"
 pre-commit==3.8.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -149,17 +148,14 @@ stable-baselines3==2.5.0 ; python_version >= "3.10" and python_version < "4.0"
 stack-data==0.6.3 ; python_version >= "3.10" and python_version < "4.0"
 svg-path==6.3 ; python_version >= "3.10" and python_version < "4.0"
 sympy==1.13.3 ; python_version >= "3.10" and python_version < "4.0"
-tbb==2021.13.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 testpath==0.6.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 threadpoolctl==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
 timeout-decorator==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 tokenize-rt==6.1.0 ; python_version >= "3.10" and python_version < "4.0"
 tomli==2.2.1 ; python_version >= "3.10" and python_version < "3.11"
 tomlkit==0.13.2 ; python_version >= "3.10" and python_version < "4.0"
---find-links https://download.pytorch.org/whl/torch_stable.html
-torch==2.3.1+cpu ; python_version >= "3.10" and sys_platform == "linux"
---find-links https://download.pytorch.org/whl/torch_stable.html
-torchvision==0.18.1+cpu ; python_version >= "3.10" and sys_platform == "linux"
+torch==2.3.1+cpu ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
+torchvision==0.18.1+cpu ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 tornado==6.4.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 tqdm==4.67.1 ; python_version >= "3.10" and python_version < "4.0"
 traitlets==5.14.3 ; python_version >= "3.10" and python_version < "4.0"

pyproject.toml

@@ -1,5 +1,5 @@
+--find-links https://download.pytorch.org/whl/torch_stable.html
 --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly
-
 anyio==4.8.0 ; python_version >= "3.10" and python_version < "4.0"
 asttokens==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
 attrs==25.1.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -48,7 +48,6 @@ identify==2.6.7 ; python_version >= "3.10" and python_version < "4.0"
 idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
 importlib-metadata==8.6.1 ; python_version >= "3.10" and python_version < "3.12"
 installer==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
-intel-openmp==2021.4.0 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 ipython==8.32.0 ; python_version >= "3.10" and python_version < "4.0"
 ipywidgets==8.1.5 ; python_version >= "3.10" and python_version < "4.0"
 jaraco-classes==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -72,7 +71,6 @@ markupsafe==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib-inline==0.1.7 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib==3.10.0 ; python_version >= "3.10" and python_version < "4.0"
 mistune==2.0.5 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
-mkl==2021.4.0 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 more-itertools==10.6.0 ; python_version >= "3.10" and python_version < "4.0"
 mpld3==0.5.10 ; python_version >= "3.10" and python_version < "4.0"
 mpmath==1.3.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -105,6 +103,7 @@ parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
 pillow==11.1.0 ; python_version >= "3.10" and python_version < "4.0"
+pip-requirements-parser==32.0.1 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.12.0 ; python_version >= "3.10" and python_version < "4.0"
 platformdirs==4.3.6 ; python_version >= "3.10" and python_version < "4.0"
 pre-commit==3.8.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -144,17 +143,14 @@ stable-baselines3==2.5.0 ; python_version >= "3.10" and python_version < "4.0"
 stack-data==0.6.3 ; python_version >= "3.10" and python_version < "4.0"
 svg-path==6.3 ; python_version >= "3.10" and python_version < "4.0"
 sympy==1.13.3 ; python_version >= "3.10" and python_version < "4.0"
-tbb==2021.13.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 threadpoolctl==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
 timeout-decorator==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 tinycss2==1.4.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
 tokenize-rt==6.1.0 ; python_version >= "3.10" and python_version < "4.0"
 tomli==2.2.1 ; python_version >= "3.10" and python_version < "3.11"
 tomlkit==0.13.2 ; python_version >= "3.10" and python_version < "4.0"
---find-links https://download.pytorch.org/whl/torch_stable.html
-torch==2.3.1 ; python_version >= "3.10" and sys_platform == "darwin"
---find-links https://download.pytorch.org/whl/torch_stable.html
-torchvision==0.18.1 ; python_version >= "3.10" and sys_platform == "darwin"
+torch==2.3.1 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
+torchvision==0.18.1 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
 tornado==6.4.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 tqdm==4.67.1 ; python_version >= "3.10" and python_version < "4.0"
 traitlets==5.14.3 ; python_version >= "3.10" and python_version < "4.0"

requirements-bazel-linux.txt

@@ -1,5 +1,5 @@
+--find-links https://download.pytorch.org/whl/torch_stable.html
 --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly
-
 anyio==4.8.0 ; python_version >= "3.10" and python_version < "4.0"
 asttokens==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
 attrs==25.1.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -112,6 +112,7 @@ parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
 pillow==11.1.0 ; python_version >= "3.10" and python_version < "4.0"
+pip-requirements-parser==32.0.1 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.12.0 ; python_version >= "3.10" and python_version < "4.0"
 platformdirs==4.3.6 ; python_version >= "3.10" and python_version < "4.0"
 pre-commit==3.8.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -161,12 +162,10 @@ tinycss2==1.4.0 ; python_version >= "3.10" and python_version < "4.0" and sys_pl
 tokenize-rt==6.1.0 ; python_version >= "3.10" and python_version < "4.0"
 tomli==2.2.1 ; python_version >= "3.10" and python_version < "3.11"
 tomlkit==0.13.2 ; python_version >= "3.10" and python_version < "4.0"
---find-links https://download.pytorch.org/whl/torch_stable.html
-torch==2.3.1+cpu ; python_version >= "3.10" and sys_platform == "linux"
-torch==2.3.1 ; python_version >= "3.10" and sys_platform == "darwin"
---find-links https://download.pytorch.org/whl/torch_stable.html
-torchvision==0.18.1+cpu ; python_version >= "3.10" and sys_platform == "linux"
-torchvision==0.18.1 ; python_version >= "3.10" and sys_platform == "darwin"
+torch==2.3.1 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
+torch==2.3.1+cpu ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
+torchvision==0.18.1 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
+torchvision==0.18.1+cpu ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 tornado==6.4.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 tqdm==4.67.1 ; python_version >= "3.10" and python_version < "4.0"
 traitlets==5.14.3 ; python_version >= "3.10" and python_version < "4.0"

requirements-bazel-mac.txt

@@ -1,3 +1,4 @@
+--find-links https://download.pytorch.org/whl/torch_stable.html
 --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly
 
 anyio==4.8.0 ; python_version >= "3.10" and python_version < "4.0"
@@ -112,8 +113,13 @@ parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
 pillow==11.1.0 ; python_version >= "3.10" and python_version < "4.0"
+pip-requirements-parser==32.0.1 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.12.0 ; python_version >= "3.10" and python_version < "4.0"
 platformdirs==4.3.6 ; python_version >= "3.10" and python_version < "4.0"
+poetry-core==1.9.1 ; python_version >= "3.10" and python_version < "4.0"
+poetry-plugin-export==1.8.0 ; python_version >= "3.10" and python_version < "4.0"
+poetry-pre-commit-plugin==0.1.2 ; python_version >= "3.10" and python_version < "4.0"
+poetry==1.8.5 ; python_version >= "3.10" and python_version < "4.0"
 pre-commit==3.8.0 ; python_version >= "3.10" and python_version < "4.0"
 prompt-toolkit==3.0.50 ; python_version >= "3.10" and python_version < "4.0"
 psutil==7.0.0 ; python_version >= "3.10" and python_version < "4.0"