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To Run the Unit Tests

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

git submodule update --init --recursive

Then run

bazel test //...

If you would like to bazel to use a local installation of drake, you can set the DRAKE_INSTALL_DIR environment variable. Otherwise it will look in /opt/drake.

Additional setup on macos arm64

Currently, after pip installing nbconvert on apple m1, the jupyter --paths command still doesn't include /opt/homebrew/share/jupyter. As a result, nbconvert fails to find the python template. Hopefully this will be fixed, but for now a work-around is:

% cd ~/Library/Jupyter/nbconvert/
% mv templates templates_bk
% ln -s /opt/homebrew/share/jupyter/nbconvert/templates

To update the pip wheels

Update the version number in setup.cfg, then from the root directory, run:

rm -rf dist/*
python3 -m pip install --upgrade build twine
python3 -m build
python3 -m twine upload dist/* -u __token__

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')

Formatting

I use black + isort + autoflake. black and isort support jupyter files directly, but autoflake does not, so I run cleanipynb (which runs autopep8), and then rerun black.

Setting up PyCharm

In Settings > Python Interpreter, I set up a new "system interpreter". Then in the Python Interpreter window, in the dropdown, use "show all" to see the interpreters, then use "show paths for the selected interpreter" to add the path to your drake installation (e.g. /opt/drake/lib/python3.6/site-packages).

PyCharm will eat up all of your memory trying to index everything, if you don't also exclude the irrelevant directories from indexing (e.g. .binder, data, bazel-*, htmlbook/MathJax). Do this by right-clicking on the directory in the project view and selecting Mark directory as > Excluded.

I use selection and then Ctrl+alt+P for manual wrapping. I updated the HTML style to use 2 for tabs/indent/continuation, and added p to Other > Do not indent children of. I removed h1 from the "indent before", and unchecked "keep line breaks in text".

Ajax

There was a time when I used some ajax to include source code. If you are viewing the notes on a local machine and are missing source code, you'll need to run a local webserver for the code includes to work. I used the instructions at https://websitebeaver.com/set-up-localhost-on-macos-high-sierra-apache-mysql-and-php-7-with-sslhttps and just pointed by root doc directory directly at my underactuated checkout.