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Add examples for pip and poetry (#358)
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‎.github/workflows/ci.yml

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uses: ./.github/workflows/bazel_download.yml
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cmake_installed_apt:
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uses: ./.github/workflows/cmake_installed_apt.yml
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pip:
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uses: ./.github/workflows/pip.yml
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poetry:
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uses: ./.github/workflows/poetry.yml
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file_sync:
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name: file sync
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runs-on: ubuntu-latest

‎.github/workflows/pip.yml

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# SPDX-License-Identifier: MIT-0
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---
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name: ci
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on:
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workflow_call:
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jobs:
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macos_sonoma_arm_pip:
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name: macos sonoma 14 arm
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runs-on: macos-14
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steps:
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- name: checkout
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uses: actions/checkout@v4
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# See issue https://github.com/actions/setup-python/issues/577. There is
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# some kind of environment conflict between the symlinks found in the
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# GitHub Actions runner and `brew upgrade python` where `brew` detects and
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# refuses to overwrite symlinks. The cause for our runs is not clear,
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# we do not use that action, but if that issue is closed this section
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# can be removed.
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- name: sanitize GHA / brew python environment
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run: |
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# Remove the symlinks that cause issues.
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find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete
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sudo rm -rf /Library/Frameworks/Python.framework/
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- name: python setup
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uses: actions/setup-python@v5
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with:
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python-version: '3.12'
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- name: venv setup and install
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working-directory: drake_pip
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run: setup/setup_env 3.12
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shell: zsh -eufo pipefail {0}
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- name: pip build and test
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working-directory: drake_pip
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run: .github/ci_build_test
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shell: zsh -efuo pipefail {0}
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ubuntu_jammy_pip:
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name: ubuntu 22.04 jammy
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runs-on: ubuntu-latest
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container: ubuntu:jammy
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steps:
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- name: checkout
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uses: actions/checkout@v4
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- name: pip setup
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working-directory: drake_pip
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run: .github/ubuntu_setup
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shell: bash
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- name: pip build and test
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working-directory: drake_pip
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run: .github/ci_build_test
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shell: bash

‎.github/workflows/poetry.yml

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# SPDX-License-Identifier: MIT-0
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---
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name: ci
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on:
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workflow_call:
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jobs:
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macos_sonoma_arm_poetry:
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name: macos sonoma 14 arm
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runs-on: macos-14
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steps:
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- name: checkout
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uses: actions/checkout@v4
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# See issue https://github.com/actions/setup-python/issues/577. There is
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# some kind of environment conflict between the symlinks found in the
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# GitHub Actions runner and `brew upgrade python` where `brew` detects and
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# refuses to overwrite symlinks. The cause for our runs is not clear,
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# we do not use that action, but if that issue is closed this section
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# can be removed.
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- name: sanitize GHA / brew python environment
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run: |
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# Remove the symlinks that cause issues.
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find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete
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sudo rm -rf /Library/Frameworks/Python.framework/
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- name: python setup
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uses: actions/setup-python@v5
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with:
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python-version: '3.12'
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- name: poetry setup
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working-directory: drake_poetry
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run: |
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.github/setup
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setup/install_prereqs 3.12
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shell: zsh -efuo pipefail {0}
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- name: poetry test
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working-directory: drake_poetry
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run: .github/ci_build_test
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shell: zsh -efuo pipefail {0}
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ubuntu_jammy_poetry:
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name: ubuntu 22.04 jammy
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runs-on: ubuntu-latest
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container: ubuntu:jammy
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steps:
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- name: checkout
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uses: actions/checkout@v4
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# setup and test must occur in one step
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# because when poetry is installed, the update to PATH
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# does not persist between steps on GHA
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- name: poetry setup and test
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working-directory: drake_poetry
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run: |
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.github/setup
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source $HOME/.profile
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setup/install_prereqs
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.github/ci_build_test
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shell: bash

‎LICENSE

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Copyright (c) 2017-2023 by the drake-external-examples developers.
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Copyright (c) 2017-2025 by the drake-external-examples developers.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎README.md

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* [`drake_cmake_external`](./drake_cmake_external)
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* [`drake_cmake_installed`](./drake_cmake_installed)
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* [`drake_cmake_installed_apt`](./drake_cmake_installed_apt)
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* [`drake_pip`](./drake_pip)
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* [`drake_poetry`](./drake_poetry)
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## Continuous Integration
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| `drake_cmake_external` | - | o |
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| `drake_cmake_installed` | o | - |
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| `drake_cmake_installed_apt` | o | - |
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| `drake_pip` | o | - |
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| `drake_poetry` | o | - |
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|| ![GitHub Actions](https://img.shields.io/github/actions/workflow/status/RobotLocomotion/drake-external-examples/ci.yml?branch=main) | [![Jenkins](https://img.shields.io/jenkins/build.svg?jobUrl=https://drake-jenkins.csail.mit.edu/job/RobotLocomotion/job/drake-external-examples/job/main)](https://drake-jenkins.csail.mit.edu/job/RobotLocomotion/job/drake-external-examples/) |
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Note, the GitHub Actions jobs only build and test `drake_bazel_download`,
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`drake_cmake_installed`, and `drake_cmake_installed_apt` since these are the
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exemplary cases for lightweight, open-source builds on public CI servers.
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`drake_cmake_installed`, `drake_cmake_installed_apt`, `drake_pip`, and
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`drake_poetry`, since these are the exemplary cases for lightweight,
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open-source builds on public CI servers.

‎drake_bazel_download/LICENSE

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Copyright (c) 2017-2023 by the drake-external-examples developers.
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Copyright (c) 2017-2025 by the drake-external-examples developers.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎drake_bazel_external/LICENSE

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Copyright (c) 2017-2023 by the drake-external-examples developers.
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Copyright (c) 2017-2025 by the drake-external-examples developers.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎drake_bazel_external_legacy/LICENSE

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Copyright (c) 2017-2023 by the drake-external-examples developers.
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Copyright (c) 2017-2025 by the drake-external-examples developers.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎drake_cmake_external/LICENSE

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Copyright (c) 2017-2023 by the drake-external-examples developers.
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Copyright (c) 2017-2025 by the drake-external-examples developers.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎drake_cmake_installed/LICENSE

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Copyright (c) 2017-2023 by the drake-external-examples developers.
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Copyright (c) 2017-2025 by the drake-external-examples developers.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎drake_cmake_installed_apt/LICENSE

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Copyright (c) 2017-2023 by the drake-external-examples developers.
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Copyright (c) 2017-2025 by the drake-external-examples developers.
22

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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎drake_pip/.github/ci_build_test

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#!/bin/bash
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# SPDX-License-Identifier: MIT-0
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set -euxo pipefail
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source env/bin/activate
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cd src
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python3 particle_test.py
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cd ..
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deactivate
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rm -rf env src/__pycache__

‎drake_pip/.github/ubuntu_setup

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#!/bin/bash
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# SPDX-License-Identifier: MIT-0
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set -euxo pipefail
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echo 'APT::Acquire::Retries "4";' > /etc/apt/apt.conf.d/80-acquire-retries
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echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
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export DEBIAN_FRONTEND='noninteractive'
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setup/install_prereqs

‎drake_pip/.github/workflows/ci.yml

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# SPDX-License-Identifier: MIT-0
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---
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name: ci
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on:
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push:
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branches:
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- main
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pull_request:
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branches:
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- main
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schedule:
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- cron: '0 12 * * *'
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concurrency:
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# Cancel previous CI runs when additional commits are added to a pull request.
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# This will not cancel CI runs associated with `schedule` or `push`.
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group: ${{ github.head_ref || github.run_id }}
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cancel-in-progress: true
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jobs:
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macos_sonoma_arm_pip:
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name: macos sonoma 14 arm
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runs-on: macos-14
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steps:
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- name: checkout
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uses: actions/checkout@v4
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# See issue https://github.com/actions/setup-python/issues/577. There is
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# some kind of environment conflict between the symlinks found in the
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# GitHub Actions runner and `brew upgrade python` where `brew` detects and
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# refuses to overwrite symlinks. The cause for our runs is not clear,
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# we do not use that action, but if that issue is closed this section
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# can be removed.
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- name: sanitize GHA / brew python environment
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run: |
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# Remove the symlinks that cause issues.
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find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete
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sudo rm -rf /Library/Frameworks/Python.framework/
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- name: python setup
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uses: actions/setup-python@v5
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with:
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python-version: '3.12'
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- name: venv setup and install
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working-directory: drake_pip
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run: setup/setup_env 3.12
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shell: zsh -eufo pipefail {0}
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- name: pip build and test
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working-directory: drake_pip
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run: .github/ci_build_test
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shell: zsh -efuo pipefail {0}
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ubuntu_jammy_pip:
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name: ubuntu 22.04 jammy
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runs-on: ubuntu-latest
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container: ubuntu:jammy
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steps:
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- name: checkout
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uses: actions/checkout@v4
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- name: pip setup
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working-directory: drake_pip
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run: .github/ubuntu_setup
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shell: bash
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- name: pip build and test
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working-directory: drake_pip
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run: .github/ci_build_test
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shell: bash

‎drake_pip/LICENSE

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Copyright (c) 2017-2025 by the drake-external-examples developers.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎drake_pip/README.md

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# Python Project with Drake Installed from Pip
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This installs Drake using [`pip`](https://pypi.org/project/pip/),
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the Python package manager.
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# Instructions
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Follow the setup instructions for [Ubuntu](#ubuntu-setup)
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or [Mac OS](#mac-setup).
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See [Installation via Pip](https://drake.mit.edu/pip.html#stable-releases)
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for more information on installation.
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## Ubuntu Setup
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If on Ubuntu, first install the required packages:
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```bash
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setup/install_prereqs
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```
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This script will also run `setup/setup_env`, which creates the virtual environment for this project and installs Drake.
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To start programming, simply activate the environment by calling:
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```bash
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source env/bin/activate
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```
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## Mac Setup
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If on Mac OS X, simply ensure the correct version of Python
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is installed from Homebrew by referring to the
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[Supported Configurations](https://drake.mit.edu/installation.html#supported-configurations).
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Then, run the following script to create the virtual environment for this project and install Drake:
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```bash
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setup/setup_env
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```
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*Note*: If you have multiple versions of Python installed,
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you can specify the correct version as an optional argument
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to the script. For example, `setup/setup_env 3.12`.
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To start programming, simply activate the environment by calling:
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```bash
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source env/bin/activate
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```
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# Examples
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To run the particle example tests in this directory,
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navigate to `src` and call the test file to execute the unit tests:
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```bash
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cd src
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python3 particle_test.py
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```
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For more information on what's available for Drake in Python,
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see [Using Drake from Python](https://drake.mit.edu/python_bindings.html)
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and the Python API [pydrake](https://drake.mit.edu/pydrake/index.html).

‎drake_pip/requirements.txt

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# Currently, this only includes the most recent version of drake.
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# Feel free to add more packages for your own project!
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drake

‎drake_pip/setup/install_prereqs

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#!/bin/bash
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# SPDX-License-Identifier: MIT-0
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set -euxo pipefail
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maybe_sudo=
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if [[ "${EUID}" -ne 0 ]]; then
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maybe_sudo=sudo
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fi
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# Ubuntu-specific installations
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# See https://github.com/RobotLocomotion/drake/blob/master/tools/wheel/content/INSTALLATION
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# for a complete list of the required libraries to be installed.
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${maybe_sudo} apt-get update
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${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
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libegl1
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libglib2.0-0
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libsm6
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libx11-6
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python3
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python3-venv
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EOF
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)
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setup/setup_env

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