-
Notifications
You must be signed in to change notification settings - Fork 6
/
Copy pathrelease_playbook.html
606 lines (542 loc) · 32.6 KB
/
release_playbook.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
<!DOCTYPE html>
<html lang="en-US">
<head>
<meta name="msapplication-config" content="/browserconfig.xml"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta charset="utf-8"/>
<link rel="apple-touch-icon" type="image/png" href="/apple-touch-icon.png"/>
<link rel="manifest" type="application/manifest+json" href="/site.webmanifest"/>
<link rel="mask-icon" type="image/svg+xml" href="/mask-icon.svg" color="#990000"/>
<link rel="shortcut icon" type="image/png" href="/favicon.png"/>
<title>Drake: Release Playbook</title>
<meta
name="description"
content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
analysis.
"/>
<!--
The "Work Sans" font is licensed under the SIL Open Font License (OFL). For
more information, see:
- https://fonts.google.com/specimen/Work+Sans?preview.text_type=custom#about
- https://scripts.sil.org/cms/scripts/page.php?site_id=nrsi&id=OFL
-->
<link href="https://fonts.googleapis.com/css2?family=Space+Mono:wght@400;700&family=Work+Sans:wght@300;400;600;700;800&display=swap" rel="stylesheet"/>
<link rel="stylesheet" href="/third_party/github-styling/github-markdown.css"/>
<link rel="stylesheet" href="/third_party/dracula/syntax.css"/>
<link rel="stylesheet" href="/third_party/pylons/pylons.css"/>
<link rel="stylesheet" href="/assets/css/main.css"/>
</head>
<body>
<header class="site-header">
<div class="site-header-inner contain">
<a href="/" class="drake-logo">
<img src="/images/drake-logo-white.svg">
</a>
<div class="menu-mobile-toggle">
<span></span>
</div>
<nav class="site-menu">
<ul>
<li class="site-menu-item site-menu-item-main">
<a href="/" class="site-menu-item">Home</a>
</li>
<li class="site-menu-item site-menu-item-main">
<a href="/installation.html" class="site-menu-item">Installation</a>
</li>
<li class="site-menu-item site-menu-item-main">
<a href="/gallery.html" class="site-menu-item">Gallery</a>
</li>
<li class="site-menu-item site-menu-item-main">
API Documentation
<div class="sub">
<a href="/doxygen_cxx/index.html" class="site-menu-item">C++</a>
<a href="/pydrake/index.html" class="site-menu-item">Python</a>
</div>
</li>
<li class="site-menu-item site-menu-item-main">
Resources
<div class="sub">
<a href="/getting_help.html" class="site-menu-item">Getting Help</a>
<a href="https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/%2Findex.ipynb" class="site-menu-item">Tutorials</a>
<a href="/troubleshooting.html" class="site-menu-item">Troubleshooting</a>
<a href="/python_bindings.html" class="site-menu-item">Python Bindings</a>
<a href="/developers.html" class="site-menu-item">For Developers</a>
<a href="/credits.html" class="site-menu-item">Credits</a>
</div>
</li>
<li class="search">
<div class="search-icon">
<!-- This is an inline SVG image of a magnifying glass. -->
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 374.9 374.84">
<path d="M235 270a148.74 148.74 0 1 1 35-35l97.74 97.74a24.37 24.37 0 0 1 0 34.58l-.4.4a24.47 24.47 0 0 1-34.58 0L235 270Zm-86.22-7.47A113.75 113.75 0 1 0 35 148.75 113.75 113.75 0 0 0 148.75 262.5Z"/>
</svg>
</div>
<div class="search-bar">
<form id="search_form" action="https://google.com/search" method="get">
<input type="text" name="q" placeholder="Search all of Drake…" />
<input type="hidden" name="q" value="site:drake.mit.edu OR site:underactuated.csail.mit.edu OR site:manipulation.csail.mit.edu" />
</form>
<div class="search-close">
<!-- This is an inline SVG image of an "X". -->
<svg height="20" width="20" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 373.61 373.57">
<path d="M219.71 186.77 366.71 40a23.43 23.43 0 1 0-33.13-33.13l-146.77 147-146.77-147A23.43 23.43 0 0 0 6.9 40l147 146.77-147 146.77a23.43 23.43 0 1 0 33.14 33.13l146.77-147 146.77 147a23.43 23.43 0 1 0 33.13-33.13Z"/>
</svg>
</div>
</div>
<ul id="results-container"></ul>
</li>
<li class="github-link">
<a href="https://github.com/RobotLocomotion/drake" class="site-menu-item">GitHub <img src="/third_party/images/GitHub-Mark-Light-64px.png" /></a>
</li>
</ul>
</nav>
</div>
</header>
<div class="page">
<div class="content">
<div class="drake-page">
<header class="drake-page-header">
<div class="contain">
<h1>Release Playbook</h1>
</div>
</header>
<section class="padding">
<div class="contain">
<article class="markdown-body">
<p>This document explains the steps related to publishing a version-numbered Drake
binary release. It is intended only for use by the few Drake Developer experts
who regularly handle the release process.</p>
<p>We publish a minor release approximately once per month in the middle of the
calendar month, with version number is <code class="language-plaintext highlighter-rouge">v1.N.0</code> where <code class="language-plaintext highlighter-rouge">N</code> is monotonically
increasing.</p>
<h1 id="minor-releases">Minor releases</h1>
<p>Begin this process around 1 week prior to the intended release date.</p>
<p>The release engineering tools (relnotes, download_release_candidate,
push_release, etc.) are supported only on Ubuntu (not macOS).</p>
<h2 id="prior-to-release">Prior to release</h2>
<ol>
<li>Choose the next version number.</li>
<li>Create a local Drake branch named <code class="language-plaintext highlighter-rouge">release_notes-v1.N.0</code> (so that others
can easily find and push to it after the PR is opened).</li>
<li>As the first commit on the branch, mimic the commit
<a href="https://github.com/RobotLocomotion/drake/commit/65adb4dd1f89835ad482d6a9a437cb899c05b779"><code class="language-plaintext highlighter-rouge">drake@65adb4dd</code></a>
in order to disable CI. A quick way to do this might be:
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>git fetch upstream 65adb4dd1f89835ad482d6a9a437cb899c05b779
git cherry-pick FETCH_HEAD
</code></pre></div> </div>
</li>
<li>Push that branch and then open a new pull request titled:
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>[doc] Add release notes v1.N.0
</code></pre></div> </div>
<p>Make sure that “Allow edits by maintainers” on the GitHub PR page is
enabled (the checkbox is checked). Set label <code class="language-plaintext highlighter-rouge">release notes: none</code>.</p>
</li>
<li>For release notes, on an ongoing basis, add recent commit messages to the
release notes draft using the <code class="language-plaintext highlighter-rouge">tools/release_engineering/relnotes</code> tooling.
(Instructions can be found atop its source code: <a href="https://github.com/RobotLocomotion/drake/blob/master/tools/release_engineering/relnotes.py"><code class="language-plaintext highlighter-rouge">relnotes.py</code></a>)
<ol>
<li>On the first run, use <code class="language-plaintext highlighter-rouge">--action=create</code> to bootstrap the file.
<ul>
<li>The output is draft release notes in <code class="language-plaintext highlighter-rouge">doc/_release-notes/v1.N.0.md</code>.</li>
</ul>
</li>
<li>On the subsequent runs, use <code class="language-plaintext highlighter-rouge">--action=update</code> to refresh the file.
<ul>
<li>Try to avoid updating the release notes to refer to changes newer than
the likely release, i.e., if you run <code class="language-plaintext highlighter-rouge">--update</code> on the morning you’re
actually doing the release, be sure to pass the <code class="language-plaintext highlighter-rouge">--target_commit=</code>
argument to avoid including commits that will not be part of the tag.</li>
</ul>
</li>
</ol>
</li>
<li>For release notes, on an ongoing basis, clean up and relocate the commit
notes to properly organized and wordsmithed bullet points. See <a href="#polishing-the-release-notes">Polishing
the release notes</a>.</li>
<li>From time to time, merge <code class="language-plaintext highlighter-rouge">upstream/master</code> into your
<code class="language-plaintext highlighter-rouge">origin/release_notes-v1.N.0</code> branch (so that it doesn’t go stale).
Never rebase or force-push to the branch. We expect that several people
will clone and push to it concurrently.</li>
<li>As the release is nearly ready, post a call for action for feature teams to
look at the draft document and provide suggestions (in reviewable) or fixes
(as pushes).
<ol>
<li>To help ensure that the “newly deprecated APIs” section is accurate, grep
the code for <code class="language-plaintext highlighter-rouge">YYYY-MM-01</code> deprecation notations, for the <code class="language-plaintext highlighter-rouge">MM</code> values
that would have been associated with our +3 months typical period.</li>
</ol>
</li>
</ol>
<h2 id="polishing-the-release-notes">Polishing the release notes</h2>
<p>Here are some guidelines for bringing commit notes from the relnotes tool into
the main body of the document:</p>
<ul>
<li>Many commit messages can be cut down to their summary strings and used as-is.</li>
<li>File geometry/optimization changes under the “Mathematical Program” heading,
not the “Multibody” heading.</li>
<li>Expand all acronyms (eg, MBP -> MultibodyPlant, SG -> SceneGraph).</li>
<li>Commits can be omitted if they only affect tests or non-installed examples.</li>
<li>In general you should mention deprecated/removed classes and methods using
their exact name (for easier searching).
<ul>
<li>In the deprecation section you can provide the fully-qualified name as the
whole line item; the meaning is clear from context.</li>
<li>This may mean having a long list of items for a single commit. That is
fine.</li>
</ul>
</li>
<li>We have four common grammatical forms for our commit messages:
<ul>
<li>Past tense (“Added new method foo”) is acceptable</li>
<li>Noun phrase (“Ability to foo the bar”) is acceptable</li>
<li>Imperative (“Add new method foo”, i.e. PEP-8 style) is acceptable</li>
<li>Present tense (“Adds new method foo”, i.e. Google styleguide style) is
discouraged</li>
</ul>
</li>
<li>Use exactly the same wording for the boilerplate items:
<ul>
<li>Every dependency upgrade line should be “Upgrade libfoobar to latest
release 1.2.3” or “Upgrade funrepo to latest commit”.</li>
<li>Dependencies should be referred to by their <code class="language-plaintext highlighter-rouge">workspace</code> name.</li>
<li>Only one dependency change per line. Even if both meshcat and meshcat-python
were upgraded in the same pull request, they each should get their own
line in the release notes.</li>
</ul>
</li>
<li>Keep all bullet points to one line.
<ul>
<li>Using hard linebreaks to stay under 80 columns makes the bullet lists hard
to maintain over time.</li>
</ul>
</li>
<li>Say “macOS” not “Mac” or “Apple” or etc.</li>
<li>Say “SDFormat” not “SDF” nor “sdf”.</li>
</ul>
<h2 id="cutting-the-release">Cutting the release</h2>
<ol>
<li>Find a plausible nightly build to use:
<ol>
<li>Make sure <a href="https://drake-jenkins.csail.mit.edu/view/Production/">https://drake-jenkins.csail.mit.edu/view/Production/</a> is clean</li>
<li>Make sure <a href="https://drake-jenkins.csail.mit.edu/view/Nightly%20Production/">https://drake-jenkins.csail.mit.edu/view/Nightly%20Production/</a>
has nothing still running (modulo the <code class="language-plaintext highlighter-rouge">*-coverage</code> builds, which we can
ignore)</li>
<li>Open the latest builds from the following builds:
<ol>
<li><a href="https://drake-jenkins.csail.mit.edu/view/Packaging/job/linux-jammy-unprovisioned-gcc-cmake-nightly-packaging/">https://drake-jenkins.csail.mit.edu/view/Packaging/job/linux-jammy-unprovisioned-gcc-cmake-nightly-packaging/</a></li>
<li><a href="https://drake-jenkins.csail.mit.edu/view/Packaging/job/linux-noble-unprovisioned-gcc-cmake-nightly-packaging/">https://drake-jenkins.csail.mit.edu/view/Packaging/job/linux-noble-unprovisioned-gcc-cmake-nightly-packaging/</a></li>
<li><a href="https://drake-jenkins.csail.mit.edu/view/Packaging/job/mac-arm-sonoma-unprovisioned-clang-cmake-nightly-packaging/">https://drake-jenkins.csail.mit.edu/view/Packaging/job/mac-arm-sonoma-unprovisioned-clang-cmake-nightly-packaging/</a></li>
</ol>
</li>
<li>Check the logs for those packaging builds and find the URLs they posted
to (open the latest build, go to “View as plain text”, and search for
<code class="language-plaintext highlighter-rouge">drake/nightly/drake-0.0.20</code>), and find the date. It will be <code class="language-plaintext highlighter-rouge">YYYYMMDD</code>
with today’s date (they kick off after midnight). All of the builds
should have the same date. If not, wait until the following night.</li>
<li>Use the
<code class="language-plaintext highlighter-rouge">tools/release_engineering/download_release_candidate</code> tool with the
<code class="language-plaintext highlighter-rouge">--find-git-sha</code> option to download and verify that all the nightlies
are built from the same commit. (It’s usage instructions are atop its
source code:
<a href="https://github.com/RobotLocomotion/drake/blob/master/tools/release_engineering/download_release_candidate.py">download_release_candidate.py</a>.)</li>
</ol>
</li>
<li>Launch the staging builds for that git commit sha:
<ol>
<li>Open the following Jenkins jobs (e.g., each in its own
new window, so you can copy-and-paste sha1 and version easily):
<ul>
<li><a href="https://drake-jenkins.csail.mit.edu/view/Staging/job/linux-jammy-unprovisioned-gcc-wheel-staging-release/">Linux Wheel Staging</a></li>
<li><a href="https://drake-jenkins.csail.mit.edu/view/Staging/job/mac-arm-sonoma-unprovisioned-clang-wheel-staging-release/">macOS arm Wheel Staging</a></li>
<li><a href="https://drake-jenkins.csail.mit.edu/view/Staging/job/linux-jammy-unprovisioned-gcc-cmake-staging-packaging/">Jammy Packaging Staging</a></li>
<li><a href="https://drake-jenkins.csail.mit.edu/view/Staging/job/linux-noble-unprovisioned-gcc-cmake-staging-packaging/">Noble Packaging Staging</a></li>
<li><a href="https://drake-jenkins.csail.mit.edu/view/Staging/job/mac-arm-sonoma-unprovisioned-clang-cmake-staging-packaging/">macOS arm Packaging Staging</a></li>
</ul>
</li>
<li>In the upper right, click “log in” (unless you’re already logged in). This
will use your GitHub credentials.</li>
<li>Click “Build with Parameters”.</li>
<li>Change “sha1” (not “ci_sha1”) to the full <strong>git sha</strong> corresponding to
<code class="language-plaintext highlighter-rouge">v1.N.0</code> and “release_version” to <code class="language-plaintext highlighter-rouge">1.N.0</code> (no “v”).
<ul>
<li>If you mistakenly provide the “v” in “release_version”, your build will
appear to work, but actually fail 5-6 minutes later.</li>
</ul>
</li>
<li>Click “Build”; each build will take around an hour, give or take.</li>
<li>Wait for all staging jobs to succeed. It’s OK to work on release notes
finishing touches in the meantime, but do not merge the release notes nor
tag the release until all five builds have succeeded.</li>
</ol>
</li>
<li>Update the release notes to have the <code class="language-plaintext highlighter-rouge">YYYY-MM-DD</code> we choose.
<ol>
<li>There is a dummy date 2099-12-31 nearby that should likewise be changed.</li>
<li>Make sure that the nightly build git sha from the prior steps matches the
<code class="language-plaintext highlighter-rouge">newest_commit</code> whose changes are enumerated in the notes.</li>
<li>Update the github links within <code class="language-plaintext highlighter-rouge">doc/_pages/from_binary.md</code> to reflect
the upcoming v1.N.0.</li>
</ol>
</li>
<li>Re-enable CI by reverting the commit you added way up above in step 3 of <strong>Prior to release</strong>.</li>
<li>Wait for the wheel builds to complete, and then download release artifacts:
<ol>
<li>Use the
<code class="language-plaintext highlighter-rouge">tools/release_engineering/download_release_candidate</code> tool with the
<code class="language-plaintext highlighter-rouge">--version</code> option to download and verify all binaries. (It’s usage
instructions are atop its source code:
<a href="https://github.com/RobotLocomotion/drake/blob/master/tools/release_engineering/download_release_candidate.py">download_release_candidate.py</a>.)</li>
</ol>
</li>
<li>Merge the release notes PR
<ol>
<li>Take care when squashing not to accept github’s auto-generated commit message if it is not appropriate.</li>
<li>After merge, go to <a href="https://drake-jenkins.csail.mit.edu/view/Documentation/job/linux-jammy-unprovisioned-gcc-bazel-nightly-documentation/">https://drake-jenkins.csail.mit.edu/view/Documentation/job/linux-jammy-unprovisioned-gcc-bazel-nightly-documentation/</a> and push “Build now”.
<ul>
<li>If you don’t have “Build now” click “Log in” first in upper right.</li>
</ul>
</li>
</ol>
</li>
<li>Open <a href="https://github.com/RobotLocomotion/drake/releases">https://github.com/RobotLocomotion/drake/releases</a> and choose “Draft
a new release”. Note that this page has neither history nor undo. Be
slow and careful!
<ol>
<li>Tag version is: v1.N.0</li>
<li>Target is: [the git sha from the <code class="language-plaintext highlighter-rouge">--find-git-sha</code> in step 1.v]
<ul>
<li>You should select the commit from Target > Recent Commits. The search
via commit does not work if you don’t use the correct length.</li>
</ul>
</li>
<li>Release title is: Drake v1.N.0</li>
<li>The body of the release should be forked from the prior release (open the
prior release’s web page and click “Edit” to get the markdown), with
appropriate edits as follows:
<ul>
<li>The version number</li>
</ul>
</li>
<li>Click the box labeled “Attach binaries by dropping them here or selecting
them.” and then choose for upload the <strong>30</strong> release files from
<code class="language-plaintext highlighter-rouge">/tmp/drake-release/v1.N.0/...</code>:
<ul>
<li>9: 3 <code class="language-plaintext highlighter-rouge">.tar.gz</code> + 6 checksums</li>
<li>6: 2 <code class="language-plaintext highlighter-rouge">.deb</code> + 4 checksums</li>
<li>9: 3 linux <code class="language-plaintext highlighter-rouge">.whl</code> + 6 checksums</li>
<li>6: 2 macOS arm <code class="language-plaintext highlighter-rouge">.whl</code> + 4 checksums</li>
<li>Note that on Jammy with <code class="language-plaintext highlighter-rouge">snap</code> provided Firefox, drag-and-drop from
Nautilus will fail, and drop all of your release page inputs typed so
far. Use the Firefox-provided selection dialog instead, by clicking on
the box.</li>
</ul>
</li>
<li>Choose “Save draft” and take a deep breath.</li>
</ol>
</li>
<li>Once the documentation build finishes, release!
<ol>
<li>Check that the link to drake.mit.edu docs from the GitHub release draft
page actually works.</li>
<li>Click “Publish release”</li>
<li>Notify <code class="language-plaintext highlighter-rouge">@BetsyMcPhail</code> by creating a GitHub issue asking her to manually
tag docker images and upload the releases to S3. Be sure to provide her
with the release tag in the same ping.</li>
<li>Create a GitHub issue on the <a href="https://github.com/RobotLocomotion/drake-ros/issues">drake-ros</a>
repository, requesting an update of the <code class="language-plaintext highlighter-rouge">DRAKE_SUGGESTED_VERSION</code>
constant.</li>
<li>Announce on Drake Slack, <code class="language-plaintext highlighter-rouge">#general</code>.</li>
<li>Party on, Wayne.</li>
</ol>
</li>
</ol>
<h2 id="post-release-wheel-upload">Post-release wheel upload</h2>
<p>After tagging the release, you must manually upload a PyPI release.</p>
<p>If you haven’t done so already, follow Drake’s PyPI
<a href="https://docs.google.com/document/d/17D0yzyr0kGH44eWpiNY7E33A8hW1aiJRmADaoAlVISE/edit#">account setup</a>
instructions to obtain a username and password.</p>
<p>Most likely, you will want to use an api token to authenticate yourself to the
<code class="language-plaintext highlighter-rouge">twine</code> uploader. See <a href="https://pypi.org/help/#apitoken">https://pypi.org/help/#apitoken</a> and <a href="https://packaging.python.org/en/latest/guides/distributing-packages-using-setuptools/#create-an-account">https://packaging.python.org/en/latest/guides/distributing-packages-using-setuptools/#create-an-account</a>
for advice on managing api tokens.</p>
<p>For Jammy (and later?), <code class="language-plaintext highlighter-rouge">apt install twine</code> gives a perfectly adequate
version of <code class="language-plaintext highlighter-rouge">twine</code>.</p>
<ol>
<li>
<p>Run <code class="language-plaintext highlighter-rouge">twine</code> to upload the wheel release, as follows:</p>
<ol>
<li>You will need your PyPI username and password for this. (Do not use drake-robot.)</li>
<li>Run <code class="language-plaintext highlighter-rouge">twine upload /tmp/drake-release/v1.N.0/*.whl</code>.</li>
<li>Confirm that all of the uploads succeeded without any error messages in
your terminal.</li>
</ol>
</li>
</ol>
<h2 id="post-release-tutorials-updates">Post-release tutorials updates</h2>
<p>Upgrade our Deepnote-hosted tutorials to the latest release. This requires
that you have “Edit” permission in the Deepnote project. If you don’t have
that yet, then ask for help on slack in the <code class="language-plaintext highlighter-rouge">#releases</code> channel. Provide
the email address associated with your github account.</p>
<ol>
<li>Post a new slack thread in <code class="language-plaintext highlighter-rouge">#releases</code> saying that you’re beginning the
tutorials deployment now (so that others are aware of the potentially-
disruptive changes).</li>
<li>Open the tutorials <a href="https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/Dockerfile">Dockerfile</a>:
<ol>
<li>Edit the first line to refer to the YYYYMMDD for this release (login
with your github account; otherwise, the file is read-only).
<ol>
<li>For reference, the typical content is thus:
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>FROM robotlocomotion/drake:jammy-20250115
RUN apt-get -q update && apt-get -q install -y --no-install-recommends curl nginx-light python3-venv && apt-get remove -y python3-notebook && apt-get autoremove -y && apt-get -q clean
ENV PATH="/opt/drake/bin:${PATH}" \
PYTHONPATH="/opt/drake/lib/python3.10/site-packages:${PYTHONPATH}"
</code></pre></div> </div>
</li>
<li>If the current content differs by more than just the date from the
above template, ask for help on slack in the <code class="language-plaintext highlighter-rouge">#releases</code> channel.</li>
</ol>
</li>
<li>After editing the date, click the “Build” button in the upper right,
and wait for the build to succeed.
<ol>
<li>If the build fails due to an infrastructure flake, you’ll need to
tweak the Dockerfile before Deepnote will allow you to re-run the
Build. For example, add <code class="language-plaintext highlighter-rouge">&& true</code> to the end of a RUN line.</li>
</ol>
</li>
</ol>
</li>
<li>For reference (no action required), the
<a href="https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/requirements.txt">requirements.txt</a>
file should have the following content:
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>ipywidgets==7.7.0
# We need to repeat drake's wheel dependencies here so that they end up in
# Deepnote's venv. Deepnote no longer sees the Ubuntu packages in /usr/lib.
matplotlib==3.5.1
numpy==1.21.5
pydot==1.4.2
PyYAML==5.3.1
</code></pre></div> </div>
</li>
<li>For reference (no action required), the initialization notebook at
<a href="https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/notebook/Init%20notebook-5fcfe3fc0bd0403899baab3b6cf37a18">init.ipynb</a>
has this cell added the bottom, as a Drake-specific customization:
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>%%bash
/opt/drake/share/drake/setup/deepnote/install_nginx
</code></pre></div> </div>
<p>For Jammy we also needed to add <code class="language-plaintext highlighter-rouge">cd /work</code> atop the stanza that checks for
<code class="language-plaintext highlighter-rouge">requirements.txt</code> to get it working again.</p>
</li>
<li>Copy the updated tutorials from the pinned Dockerfile release
(in <code class="language-plaintext highlighter-rouge">/opt/drake/share/drake/tutorials/...</code>) into the Deepnote project
storage (<code class="language-plaintext highlighter-rouge">~/work/...</code>):
<ol>
<li>Open <a href="https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/notebook/zzz_for_maintainers-fd55235184ab44289133abc40e94a5e0">zzz_for_maintainers.ipynb</a>.</li>
<li>Run each cell one by one, checking for errors as you go.</li>
<li>Note the first cell will take 1-2 minutes to finish because Deepnote
needs to boot the machine first.</li>
</ol>
</li>
<li>Next you’ll copy and run each notebook (in alphabetical order).
Read all of these instructions before performing any of them.
<ol>
<li>Caveats for specific notebook names:
<ol>
<li>Do not run <code class="language-plaintext highlighter-rouge">licensed_solvers_deepnote</code>; you don’t have a license.</li>
<li>Do not re-run <code class="language-plaintext highlighter-rouge">zzz_for_maintainers</code>; you’ve already done that.</li>
<li>The <code class="language-plaintext highlighter-rouge">authoring_multibody_simulation</code> notebook will appear to hang on
one of the middle cells where it uses JointSliders. It is <em>not</em> hung,
rather it is waiting for user input. Find the “Meshcat URL” link
earlier in the notebook, click through to open Meshcat in a new tab,
click “Open Controls”, then click “Stop JointSliders” repeatedly until
the option vanishes and the notebook completes.</li>
<li>The <code class="language-plaintext highlighter-rouge">rendering_multibody_plant</code> sometimes crashes with an interrupted
error. In that case, click through to the “Environment” gear in the
left-hand panel, then into the <code class="language-plaintext highlighter-rouge">init.ipynb</code> notebook and re-run the
initialization. Then go back to <code class="language-plaintext highlighter-rouge">rendering_multibody_plant</code> and try
again.</li>
</ol>
</li>
<li>To deploy run each of the ~2 dozen notebooks (i.e., do this step for
<code class="language-plaintext highlighter-rouge">authoring_leaf_system</code> then <code class="language-plaintext highlighter-rouge">authoring_multibody_simulation</code> then
… etc.):
<ol>
<li>In the left-hand panel of your screen, take note that each notebook
appears in two places – in “NOTEBOOKS” near the top and in “FILES”
near the bottom. The “NOTEBOOKS” is the older copy (from the prior
release); the “FILES” is the new copy (from this release). Our goal
is to replace the old copy with the new.</li>
<li>Scroll down to the “FILES” and choose the top-most name. Right click on
it and select “Move to notebooks”.
Be patient because the web interface could be slow, and there might be
delay while copying the file.
Note that even though the button says “Move”, it actually only <em>copies</em>
the file; it does not delete the item from “FILES”.</li>
<li>Because a notebook of that name already existed in “NOTEBOOKS” (the old
copy), the moved notebook will be renamed with a <code class="language-plaintext highlighter-rouge">-2</code> suffix.</li>
<li>Scroll up to “NOTEBOOKS”. Right click on the old copy (without <code class="language-plaintext highlighter-rouge">-2</code>)
and select “Delete” and confirm. Right click on the new notebook (with
<code class="language-plaintext highlighter-rouge">-2</code>) and select “Rename” and remove the <code class="language-plaintext highlighter-rouge">-2</code> suffix.</li>
<li>Open the (new) notebook and click “Run notebook”. It should succeed.</li>
<li>For all code cells, examine the output of each cell to check that no
exceptions have snuck through (or any other unexpected error text).
<ul>
<li>The error “‘%matplotlib notebook’ is not supported in Deepnote” is
expected and can be ignored.</li>
</ul>
</li>
<li>For all markdown cells, quickly skim over the rendered output to check
that no markup errors have snuck through (e.g., LaTeX syntax errors).</li>
<li>If you get an error like “Synchronization of file … failed, your
changes are not being saved. You might be running out of disk quota”
you may ignore it.</li>
<li>Leave the notebook output intact (do not clear the outputs). We want
users to be able to read the outputs on their own, without necessarily
running the notebook themselves.</li>
<li>Go back to “FILES” and right-click then “Delete” on the notebook you
just copied; it should still be the top-most <code class="language-plaintext highlighter-rouge">*.ipynb</code> in “FILES”.</li>
</ol>
</li>
</ol>
</li>
<li>On the left side, click “Environment” then “Stop Machine”, as a
courtesy. (It will time out on its own within the hour, but we might as
well save a few nanograms of CO2 where we can.)</li>
</ol>
</article>
</div>
</section>
</div>
<footer class="site-footer padding">
<div class="contain">
<a href="/" class="drake-logo">
<img src="/images/drake-logo.svg">
</a>
<div class="footer-menu">
<ul>
<li>
<a href="/doxygen_cxx/index.html" class="site-menu-item">C++</a>
</li>
<li>
<a href="/pydrake/index.html" class="site-menu-item">Python</a>
</li>
<li class="github-link">
<a href="https://github.com/RobotLocomotion/drake" class="site-menu-item">GitHub <img src="/third_party/images/GitHub-Mark-64px.png" /></a>
</li>
</ul>
</div>
</div>
<!-- TODO(eric.cousineau): Consider placing copyright here. -->
</footer>
</div>
</div>
<script src="/assets/js/mobile.js"></script>
<!-- Search -->
<script src="/assets/js/search.js"></script>
</body>
</html>