Developers.md

Requirements management with Poetry

pip3 install poetry
poetry install --with=dev,docs

(in a virtual environment) to install the requirements.

Bazel currently uses requirements-bazel.txt, which we generate from poetry

If the poetry dependencies change in pyproject.toml, then run

poetry lock
./book/htmlbook/PoetryExport.sh

to synchronize the requirements-bazel.txt file.

Hopefully direct poetry support in bazel will land soon, or I can use rules_python_poetry directly; but it looks like it will still require poetry to fix [their issue](# python-poetry/poetry-plugin-export#176).

Please install the pre-commit hooks

pip3 install pre-commit
pre-commit install

Autoflake for notebooks

`autoflake`` is not officially supported by nbqa because it has some risks: nbQA-dev/nbQA#755 But it can be valuable to run it manually and check the results.

nbqa autoflake --remove-all-unused-imports --in-place .

To Run the Unit Tests

Install the prerequisites:

bash setup/.../install_prereqs.sh

Make sure that you have done a recursive checkout in this repository, or have run

git submodule update --init --recursive

Then run

bazel test //...

To update the pip wheels

Update the version number in pyproject.toml, and the drake version, then from the root directory, run:

rm -rf dist/*
poetry publish --build

(Use poetry config pypi-token.pypi <token> once first)

Building the documentation

You will need to install sphinx:

poetry install --with docs
pip3 install sphinx myst-parser sphinx_rtd_theme

From the root directory, run

rm -rf book/python && sphinx-build -M html manipulation /tmp/manip_doc && cp -r /tmp/manip_doc/html book/python

Tips for developers

These are things that I often add to my preamble of the notebook (ever since vs code broke my pythonpath importing)

%load_ext autoreload
%autoreload 2
import sys
sys.path.append('/home/russt/drake-install/lib/python3.6/site-packages')
sys.path.append('/home/russt/manipulation')