diff --git a/.bazelignore b/.bazelignore
deleted file mode 100644
index a415184a..00000000
--- a/.bazelignore
+++ /dev/null
@@ -1,2 +0,0 @@
-venv
-.venv
diff --git a/.bazelrc b/.bazelrc
deleted file mode 100644
index 8f1a2faf..00000000
--- a/.bazelrc
+++ /dev/null
@@ -1,77 +0,0 @@
-# Enable bzlmod by default (Bazel's new module system)
-# This replaces the WORKSPACE-based dependency management
-build --enable_bzlmod
-common --enable_bzlmod
-
-# Automatic platform-specific Python version selection following Drake recommendations
-# These configs are automatically applied based on the detected platform
-
-# macOS: Python 3.13
-build:macos --@rules_python//python/config_settings:python_version=3.13
-build:macos --action_env=PATH=/opt/homebrew/opt/python@3.13/bin:/opt/homebrew/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin
-
-# Linux: Default to Python 3.12 (Noble), but can be overridden by OS version detection
-build:linux --@rules_python//python/config_settings:python_version=3.12
-build:linux --action_env=PATH=/usr/bin:/bin:/usr/sbin:/sbin
-
-# Manual override configs (for testing or specific use cases)
-build:force-python-313 --@rules_python//python/config_settings:python_version=3.13
-build:force-python-312 --@rules_python//python/config_settings:python_version=3.12
-build:force-python-310 --@rules_python//python/config_settings:python_version=3.10
-
-# Python version is automatically selected based on what's available on the system
-# Following Drake's platform defaults: Jammy=3.10, Noble=3.12, macOS=3.13
-
-# Location of the Gurobi license key file, typically named "gurobi.lic".
-build --action_env=GRB_LICENSE_FILE
-
-# Location of the MOSEK license file, typically named "mosek.lic"
-build --action_env=MOSEKLM_LICENSE_FILE
-
-build --coverage_report_generator=//book/htmlbook/tools/coverage:coverage_report_generator
-build --coverage_support=//book/htmlbook/tools/coverage:coverage_support
-build --enable_platform_specific_config=yes
-
-build --incompatible_disable_target_provider_fields=yes
-build --incompatible_load_python_rules_from_bzl=yes
-#build --incompatible_no_rule_outputs_param=yes
-build --incompatible_run_shell_command_string=yes
-build --incompatible_strict_action_env=yes
-build --incompatible_visibility_private_attributes_at_definition=yes
-
-build --legacy_external_runfiles=no
-build --strict_filesets=yes
-
-build --test_env=DISPLAY
-build --test_env=GRB_LICENSE_FILE
-build --test_env=LANG=en_US.UTF-8
-build --test_env=LC_ALL=en_US.UTF-8
-build --test_env=MOSEKLM_LICENSE_FILE
-build --test_env=MPLBACKEND=Template
-build --test_env=MPLCONFIGDIR=/tmp
-
-# TODO(jamiesnape): Fix "Invalid -W option ignored: invalid module name:
-# 'pydrake.common.deprecation' warning and ensure that Drake deprecation
-# warnings are promoted to errors.
-# build --test_env=PYTHONWARNINGS=error::pydrake.common.deprecation.DrakeDeprecationWarning
-
-build --test_output=errors
-build --test_summary=terse
-
-build:linux --action_env=PATH=/usr/sbin:/usr/bin:/sbin:/bin
-
-build:macos --action_env=PATH=/opt/homebrew/opt/python@3.13/bin:/opt/homebrew/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin
-build:macos --test_timeout=120,600,1800,7200
-
-# Disable python imports from ~/.local (pip -U) during build and test.
-# https://github.com/bazelbuild/bazel/issues/4939
-# https://github.com/RobotLocomotion/drake/issues/8475
-build --action_env=PYTHONNOUSERSITE=1
-build --test_env=PYTHONNOUSERSITE=1
-
-# Set matplotlib config directory to avoid conflicts (Drake issue #14250)
-build --action_env=MPLCONFIGDIR=/tmp
-build --action_env=MPLBACKEND=Template
-
-try-import %workspace%/user.bazelrc
-try-import %workspace%/.bazelrc.local
diff --git a/.bazelversion b/.bazelversion
deleted file mode 100644
index 6b0e58e7..00000000
--- a/.bazelversion
+++ /dev/null
@@ -1 +0,0 @@
-7.4.1
\ No newline at end of file
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index dd21338f..3e238b85 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -37,21 +37,20 @@ on:
       - synchronize
   pull_request_target:
     types:
-      - opened
-      - reopened
-      - synchronize
       - labeled
   push:
     branches:
       - master
   schedule:
     - cron: '0 8 * * *'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
 jobs:
-  # First job: Check if we should run tests with solutions
   check-approval:
     name: Check PR approval status
     runs-on: ubuntu-latest
-    if: github.event_name == 'pull_request_target' || github.event_name == 'push' || github.event_name == 'schedule'
     outputs:
       should-run: ${{ steps.check.outputs.should-run }}
       is-trusted: ${{ steps.check.outputs.is-trusted }}
@@ -59,7 +58,6 @@ jobs:
       - name: Check approval status
         id: check
         run: |
-          # For push events (commits to master) and scheduled runs, always run
           if [[ "${{ github.event_name }}" != "pull_request_target" ]]; then
             echo "is-trusted=true" >> $GITHUB_OUTPUT
             echo "should-run=true" >> $GITHUB_OUTPUT
@@ -67,7 +65,6 @@ jobs:
             exit 0
           fi
 
-          # Check if this is a trusted contributor
           if [[ "${{ github.event.pull_request.author_association }}" == "COLLABORATOR" ]] || \
              [[ "${{ github.event.pull_request.author_association }}" == "MEMBER" ]] || \
              [[ "${{ github.event.pull_request.author_association }}" == "OWNER" ]]; then
@@ -84,8 +81,9 @@ jobs:
             echo "⏳ First-time contributor - waiting for maintainer approval"
             echo "To approve this PR for CI, add the 'approved-for-ci' label"
           fi
-  noble:
-    name: ubuntu 24.04 noble
+
+  noble-poetry:
+    name: ubuntu noble using poetry
     runs-on: ubuntu-24.04
     container: ubuntu:24.04
     needs: [check-approval]
@@ -94,6 +92,7 @@ jobs:
        github.event.pull_request.head.repo.full_name == github.repository)
       ||
       (github.event_name == 'pull_request_target' &&
+       github.event.pull_request.head.repo.full_name != github.repository &&
        needs.check-approval.outputs.should-run == 'true')
       ||
       (github.event_name != 'pull_request' &&
@@ -103,101 +102,221 @@ jobs:
         run: |
           export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive
           apt-get update -o APT::Acquire::Retries=4 -qq
-          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg
+          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg sudo
           apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24
           echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu noble main' > /etc/apt/sources.list.d/git.list
           apt-get update -o APT::Acquire::Retries=4 -qq
           apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git
+          # Create non-root user for running repository setup / tests
+          useradd -m -s /bin/bash runner
+          echo 'runner ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
           rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/*
         shell: bash
-      
-      # For pull_request_target: carefully checkout PR code excluding .github/
+
       - name: checkout PR code
         if: github.event_name == 'pull_request_target'
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: ${{ github.event.pull_request.head.sha }}
           sparse-checkout: |
             *
             !.github
           sparse-checkout-cone-mode: false
-      
-      # For regular events: normal checkout
+
       - name: checkout
         if: github.event_name != 'pull_request_target'
-        uses: actions/checkout@v4
-      
+        uses: actions/checkout@v6
+        with:
+          submodules: recursive
+
       - name: checkout solutions
+        env:
+          SOLUTIONS_TOKEN: ${{ secrets.SOLUTIONS_TOKEN }}
         run: |
-          git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions
+          if [[ -z "${SOLUTIONS_TOKEN}" ]]; then
+            echo "SOLUTIONS_TOKEN not available; skipping solutions checkout"
+            exit 0
+          fi
+          git clone https://x-access-token:${SOLUTIONS_TOKEN}@github.com/RobotLocomotion/manipulation-solutions.git solutions
           cd solutions && git checkout $(cat ../solutions_sha.txt) && cd ..
         shell: bash
-      - name: setup and build
+
+      - name: install dependencies
         run: |
-          ./setup/submodule_checkout
+          # Fix ownership of the workspace
+          chown -R runner:runner .
+          # Switch to runner user for remaining commands
+          sudo -H -u runner ./setup/submodule_checkout
+          # Install system packages as root
           ./setup/ubuntu/24.04/install_prereqs.sh
           apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends xvfb
+          sudo -H -u runner python3 -m pip install --user --break-system-packages poetry==2.1.4
+          sudo -H -u runner python3 -m poetry config virtualenvs.in-project true
+          sudo -H -u runner python3 -m poetry install --all-extras --with dev
           rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/*
-          # Run bazel operations as root (Python 3.12 via .bazelrc linux config)
-          bazel fetch //...
-          bazel run //manipulation:prefetch_remotes
         shell: bash
-  #      - name: Check disk space
-  #        run: |
-  #          dpkg-query -Wf '${Installed-Size}\t${Package}\n' | sort -nr | head
-  #          df . -h
-  #          du /usr/ -hx -d 4 --threshold=1G | sort -hr | head
-  #        shell: bash
+
       - name: test
-        run: ./book/htmlbook/workflows/ci/noble/test
+        run: |
+          set -euo pipefail
+          VENV_PYTHON="$(pwd)/.venv/bin/python"
+          sudo -H -u runner xvfb-run \
+            --auto-servernum \
+            --server-args='-screen 0 1280x1024x24 -ac +extension GLX +extension RANDR +render -noreset' \
+            "$VENV_PYTHON" -m pytest -ra
         shell: bash
 
-  sonoma:
-    name: macos sonoma 14
-    runs-on: macos-14
+  # TODO(russt): add noble-pip-core workflow which only runs the tests in manipulation,
+  # but uses the manipulation module from pip.
+  noble-pip-all:
+    name: ubuntu noble using pip all
+    runs-on: ubuntu-24.04
+    container: ubuntu:24.04
+    needs: [check-approval]
+    if: >
+      ((github.event_name == 'pull_request' &&
+        github.event.pull_request.head.repo.full_name == github.repository)
+       ||
+       (github.event_name == 'pull_request_target' &&
+        github.event.pull_request.head.repo.full_name != github.repository &&
+        needs.check-approval.outputs.should-run == 'true')
+       ||
+       (github.event_name != 'pull_request' &&
+        github.event_name != 'pull_request_target'))
+      &&
+      !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels')
+    steps:
+      - name: pre-checkout setup
+        run: |
+          export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive
+          apt-get update -o APT::Acquire::Retries=4 -qq
+          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg sudo
+          apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24
+          echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu noble main' > /etc/apt/sources.list.d/git.list
+          apt-get update -o APT::Acquire::Retries=4 -qq
+          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git
+          # Create non-root user for running repository setup / tests
+          useradd -m -s /bin/bash runner
+          echo 'runner ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+          rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/*
+        shell: bash
+
+      - name: checkout PR code
+        if: github.event_name == 'pull_request_target'
+        uses: actions/checkout@v6
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          sparse-checkout: |
+            *
+            !.github
+          sparse-checkout-cone-mode: false
+
+      - name: checkout
+        if: github.event_name != 'pull_request_target'
+        uses: actions/checkout@v6
+        with:
+          submodules: recursive
+
+      - name: checkout solutions
+        env:
+          SOLUTIONS_TOKEN: ${{ secrets.SOLUTIONS_TOKEN }}
+        run: |
+          if [[ -z "${SOLUTIONS_TOKEN}" ]]; then
+            echo "SOLUTIONS_TOKEN not available; skipping solutions checkout"
+            exit 0
+          fi
+          git clone https://x-access-token:${SOLUTIONS_TOKEN}@github.com/RobotLocomotion/manipulation-solutions.git solutions
+          cd solutions && git checkout $(cat ../solutions_sha.txt) && cd ..
+        shell: bash
+
+      - name: install dependencies
+        run: |
+          # Fix ownership of the workspace
+          chown -R runner:runner .
+          # Switch to runner user for remaining commands
+          sudo -H -u runner ./setup/submodule_checkout
+          # Install system packages as root
+          ./setup/ubuntu/24.04/install_prereqs.sh
+          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends xvfb
+          rm -rf ./manipulation  # remove local module, force pip module.
+          sudo -H -u runner python3 -m pip install --user --break-system-packages --upgrade manipulation[all] pytest pytest-timeout
+          rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/*
+        shell: bash
+
+      - name: test
+        run: |
+          set -euo pipefail
+          find book/htmlbook -type f -name 'test_*.py' -delete  # remove htmlbook tests (extra Python requirements)
+          sudo -H -u runner MANIPULATION_DATA_DIR="$(pwd)/book/data" xvfb-run \
+            --auto-servernum \
+            --server-args='-screen 0 1280x1024x24 -ac +extension GLX +extension RANDR +render -noreset' \
+            python3 -m pytest -ra
+        shell: bash
+
+  sequoia:
+    name: macos sequoia 15
+    runs-on: macos-15
     needs: [check-approval]
     if: >
       (github.event_name == 'pull_request' &&
        github.event.pull_request.head.repo.full_name == github.repository)
       ||
       (github.event_name == 'pull_request_target' &&
+       github.event.pull_request.head.repo.full_name != github.repository &&
        needs.check-approval.outputs.should-run == 'true')
       ||
       (github.event_name != 'pull_request' &&
        github.event_name != 'pull_request_target')
     steps:
-      # For pull_request_target: carefully checkout PR code excluding .github/
       - name: checkout PR code
         if: github.event_name == 'pull_request_target'
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: ${{ github.event.pull_request.head.sha }}
           sparse-checkout: |
             *
             !.github
           sparse-checkout-cone-mode: false
-      
-      # For regular events: normal checkout
+
       - name: checkout
         if: github.event_name != 'pull_request_target'
-        uses: actions/checkout@v4
-      
+        uses: actions/checkout@v6
+        with:
+          submodules: recursive
+
+      - name: setup python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.13'
+
       - name: checkout solutions
+        env:
+          SOLUTIONS_TOKEN: ${{ secrets.SOLUTIONS_TOKEN }}
         run: |
-          git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions
+          if [[ -z "${SOLUTIONS_TOKEN}" ]]; then
+            echo "SOLUTIONS_TOKEN not available; skipping solutions checkout"
+            exit 0
+          fi
+          git clone https://x-access-token:${SOLUTIONS_TOKEN}@github.com/RobotLocomotion/manipulation-solutions.git solutions
           cd solutions && git checkout $(cat ../solutions_sha.txt) && cd ..
         shell: zsh -efuo pipefail {0}
-      - name: submodule checkout
-        run:  ./setup/submodule_checkout
-        shell: zsh -efuo pipefail {0}
+
       - name: setup
         run: |
-          ./book/htmlbook/workflows/ci/sonoma/setup
-          bazel run //manipulation:prefetch_remotes
+          ./setup/submodule_checkout
+          ./setup/mac/install_prereqs.sh
+          python -m pip install --user poetry==2.1.4
+          python -m poetry config virtualenvs.in-project true
+          python -m poetry env use "$(python -c 'import sys; print(sys.executable)')"
+          python -m poetry install --all-extras --with dev
         shell: zsh -efuo pipefail {0}
+
       - name: test
-        run: ./book/htmlbook/workflows/ci/sonoma/test
+        run: |
+          set -euo pipefail
+          .venv/bin/python -m pytest -ra
         shell: zsh -efuo pipefail {0}
+
   lint:
     runs-on: ubuntu-latest
     needs: [check-approval]
@@ -206,240 +325,64 @@ jobs:
        github.event.pull_request.head.repo.full_name == github.repository)
       ||
       (github.event_name == 'pull_request_target' &&
+       github.event.pull_request.head.repo.full_name != github.repository &&
        needs.check-approval.outputs.should-run == 'true')
       ||
       (github.event_name != 'pull_request' &&
        github.event_name != 'pull_request_target')
     steps:
-      # For pull_request_target: carefully checkout PR code excluding .github/
       - name: checkout PR code
         if: github.event_name == 'pull_request_target'
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: ${{ github.event.pull_request.head.sha }}
           sparse-checkout: |
             *
             !.github
           sparse-checkout-cone-mode: false
-      
-      # For regular events: normal checkout
+
       - name: checkout repo
         if: github.event_name != 'pull_request_target'
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
+        with:
+          submodules: recursive
+
       - name: setup python
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10' 
+          python-version: '3.10'
+
       - name: black
         uses: psf/black@stable
         with:
           version: 24.10.0
           jupyter: true
+
       - name: isort
         uses: isort/isort-action@master
         with:
-            configuration: "--profile black --check-only"
-            isort-version: 5.12.0
+          configuration: "--profile black --check-only"
+          isort-version: 5.12.0
+
       - name: autoflake
         uses: creyD/autoflake_action@master
         with:
-            options: --remove-all-unused-imports --in-place
-            # Pegging version s.t. https://github.com/creyD/autoflake_action/issues/1
+          options: --remove-all-unused-imports --in-place
+          # Pegging version s.t. https://github.com/creyD/autoflake_action/issues/1
+
       - name: Install and configure Poetry
         uses: snok/install-poetry@v1
         with:
           version: 2.1.4
           virtualenvs-create: true
           virtualenvs-in-project: true
+
       - name: build the docs
         run: |
           poetry install --only docs
           source .venv/bin/activate
           sphinx-build -M html manipulation book/python
         shell: bash
+
       - name: Test full poetry install
         run: poetry install
-  # The following jobs rely on the pip wheels being up to date. They can be disabled for a PR by adding the "requires new pip wheels" label.
-  docker:
-    name: dockerfile
-    runs-on: ubuntu-latest
-    needs: [check-approval]
-    if: >
-      ((github.event_name == 'pull_request' &&
-        github.event.pull_request.head.repo.full_name == github.repository)
-       ||
-       (github.event_name == 'pull_request_target' &&
-        needs.check-approval.outputs.should-run == 'true')
-       ||
-       (github.event_name != 'pull_request' &&
-        github.event_name != 'pull_request_target'))
-      &&
-      !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels')
-    container: russtedrake/manipulation:latest
-    steps:
-      # For pull_request_target: carefully checkout PR code excluding .github/
-      - name: checkout PR code
-        if: github.event_name == 'pull_request_target'
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          sparse-checkout: |
-            *
-            !.github
-          sparse-checkout-cone-mode: false
-      
-      # For regular events: normal checkout
-      - name: checkout
-        if: github.event_name != 'pull_request_target'
-        uses: actions/checkout@v4
-      
-      - name: checkout solutions
-        run: |
-          git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions
-          cd solutions && git checkout $(cat ../solutions_sha.txt) && cd ..
-        shell: bash
-      - name: setup
-        run: |
-          apt-get update -o APT::Acquire::Retries=4 -qq
-          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb
-          ./setup/submodule_checkout
-
-          # Note: we **don't** reinstall drake's dependencies here. If we need
-          # to do that, we should update our docker image.
-          
-          # Install manipulation via pip (to mimic student experience)
-          # Use --break-system-packages to handle externally managed environment
-          # Only install manipulation[all] to avoid conflicts with system packages
-          pip install --upgrade manipulation[all] --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ --break-system-packages
-        shell: bash
-      - name: test
-        run: |
-          ./book/htmlbook/workflows/ci/noble/test_wheels
-        shell: bash
-
-  noble-pip-core:
-    # This should emulate a student's experience if they are doing exercises
-    # via pip install manipulation.
-    name: pip notebooks on noble
-    runs-on: ubuntu-24.04
-    needs: [check-approval]
-    if: >
-      ((github.event_name == 'pull_request' &&
-        github.event.pull_request.head.repo.full_name == github.repository)
-       ||
-       (github.event_name == 'pull_request_target' &&
-        needs.check-approval.outputs.should-run == 'true')
-       ||
-       (github.event_name != 'pull_request' &&
-        github.event_name != 'pull_request_target'))
-      &&
-      !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels')
-    container: ubuntu:24.04
-    steps:
-      - name: pre-checkout setup
-        run: |
-          apt-get update -o APT::Acquire::Retries=4 -qq
-          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb
-        shell: bash
-      
-      # For pull_request_target: carefully checkout PR code excluding .github/
-      - name: checkout PR code
-        if: github.event_name == 'pull_request_target'
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          sparse-checkout: |
-            *
-            !.github
-          sparse-checkout-cone-mode: false
-      
-      # For regular events: normal checkout
-      - name: checkout
-        if: github.event_name != 'pull_request_target'
-        uses: actions/checkout@v4
-      
-      - name: checkout solutions
-        run: |
-          git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions
-          cd solutions && git checkout $(cat ../solutions_sha.txt) && cd ..
-        shell: bash
-      - name: setup
-        run: |
-          ./setup/submodule_checkout
-          # Install system dependencies for Drake
-          ./setup/ubuntu/24.04/install_prereqs.sh
-          
-          # Install manipulation via pip (to mimic student experience)
-          # Handle system package conflicts by using --ignore-installed for problematic packages
-          pip install manipulation jupyter nbconvert ipykernel --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ --break-system-packages --ignore-installed traitlets
-
-        shell: bash
-      - name: test
-        run: |
-          # The manipulation library needs be robust against partial
-          # installations, but the examples will assume a full installation. So
-          # we test only the manipulation library here.
-          ./book/htmlbook/workflows/ci/noble/test_wheels --core-library-only
-        shell: bash
-
-  noble-pip-extra:
-    # This should emulate a student's experience if they are doing exercises
-    # via pip install manipulation[all].
-    name: pip extra on noble
-    runs-on: ubuntu-24.04
-    needs: [check-approval]
-    if: >
-      ((github.event_name == 'pull_request' &&
-        github.event.pull_request.head.repo.full_name == github.repository)
-       ||
-       (github.event_name == 'pull_request_target' &&
-        needs.check-approval.outputs.should-run == 'true')
-       ||
-       (github.event_name != 'pull_request' &&
-        github.event_name != 'pull_request_target'))
-      &&
-      !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels')
-    container: ubuntu:24.04
-    steps:
-      - name: pre-checkout setup
-        run: |
-          apt-get update -o APT::Acquire::Retries=4 -qq
-          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb
-        shell: bash
-      
-      # For pull_request_target: carefully checkout PR code excluding .github/
-      - name: checkout PR code
-        if: github.event_name == 'pull_request_target'
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          sparse-checkout: |
-            *
-            !.github
-          sparse-checkout-cone-mode: false
-      
-      # For regular events: normal checkout
-      - name: checkout
-        if: github.event_name != 'pull_request_target'
-        uses: actions/checkout@v4
-      
-      - name: checkout solutions
-        run: |
-          git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions
-          cd solutions && git checkout $(cat ../solutions_sha.txt) && cd ..
-        shell: bash
-      - name: setup
-        run: |
-          ./setup/submodule_checkout
-          # Install system dependencies for Drake
-          ./setup/ubuntu/24.04/install_prereqs.sh
-          
-          # Install manipulation via pip (to mimic student experience)
-          # Handle system package conflicts by using --ignore-installed for problematic packages
-          pip install manipulation[all] jupyter nbconvert ipykernel --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ --break-system-packages --ignore-installed traitlets
-        shell: bash
-      - name: test
-        run: |
-          ./book/htmlbook/workflows/ci/noble/test_wheels
-        shell: bash
-
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 57d2004b..97654dda 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -14,9 +14,10 @@ repos:
     - id: autoflake
       args: [--remove-all-unused-imports, --in-place]
 - repo: https://github.com/nbQA-dev/nbQA # for jupyter notebooks
-  rev: 1.7.1
+  rev: 1.9.1
   hooks:
-    - id: nbqa-isort 
+    - id: nbqa-isort
+      additional_dependencies: [setuptools, isort==5.12.0]
     # Note: autoflake is not officially supported; see Developers.md
 - repo: https://github.com/floatingpurr/sync_with_poetry
   rev: 1.1.0
diff --git a/AGENTS.md b/AGENTS.md
new file mode 100644
index 00000000..c3b1ff60
--- /dev/null
+++ b/AGENTS.md
@@ -0,0 +1,4 @@
+# Repository Agent Notes
+
+- Always run Python commands (including tests, linting, type checks, scripts, and tooling) using the repository virtual environment at `.venv`.
+- Prefer `.venv/bin/python -m <tool>` over system Python or globally installed executables.
diff --git a/BUILD.bazel b/BUILD.bazel
deleted file mode 100644
index fa0e7730..00000000
--- a/BUILD.bazel
+++ /dev/null
@@ -1,24 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/html:defs.bzl", "rt_html_test")
-load("//book/htmlbook/tools/tidy:def.bzl", "html_tidy_test")
-
-exports_files(
-    [
-      "LICENSE.TXT",
-      "pyproject.toml",
-      "solutions_sha.txt",
-    ],
-    visibility = ["//visibility:public"],
-)
-
-# Some methods look for this file to find the root directory.
-filegroup(
-    name = "workspace",
-    srcs = ["MODULE.bazel"],
-    visibility = ["//visibility:public"],
-)
diff --git a/MODULE.bazel b/MODULE.bazel
deleted file mode 100644
index acef2f8a..00000000
--- a/MODULE.bazel
+++ /dev/null
@@ -1,135 +0,0 @@
-module(name = "manipulation")
-
-# If you don't want to support building on macOS, you may remove the next line.
-# Note that it must appear prior to loading "rules_cc", per the documentation:
-# https://github.com/bazelbuild/apple_support?tab=readme-ov-file#bazel-7-setup
-bazel_dep(name = "apple_support", version = "1.17.1")
-
-# Add the Bazel rules we need.
-bazel_dep(name = "bazel_skylib", version = "1.8.0")
-bazel_dep(name = "rules_cc", version = "0.2.0") 
-bazel_dep(name = "rules_python", version = "0.40.0")
-
-# Note: This repository uses Drake via pip wheels, not as a Bazel dependency.
-# We only use drake_models as a Bazel repository for performance.
-
-# Drake models repository for the manipulation examples
-http_archive = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
-http_archive(
-    name = "drake_models",
-    urls = [
-        "https://github.com/RobotLocomotion/models/archive/2799af70868d0cb4b25e046209fbd5d578b3e1b1.tar.gz",
-        "https://drake-mirror.csail.mit.edu/github/RobotLocomotion/models/2799af70868d0cb4b25e046209fbd5d578b3e1b1.tar.gz",
-        "https://s3.amazonaws.com/drake-mirror/github/RobotLocomotion/models/2799af70868d0cb4b25e046209fbd5d578b3e1b1.tar.gz",
-    ],
-    sha256 = "fd2dc12d0701f41199eb4ea6bf3e09b5a5041d92f5103e8322013f63a3c380b8",
-    strip_prefix = "models-2799af70868d0cb4b25e046209fbd5d578b3e1b1",
-    build_file_content = """
-package(default_visibility = ["//visibility:public"])
-
-_SRCS = glob(["**/*"])
-
-exports_files(_SRCS)
-
-filegroup(
-    name = "drake_models",
-    srcs = _SRCS,
-)
-
-""",
-)
-
-# Buildifier dependencies
-http_file = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_file")
-http_file(
-    name = "buildifier_linux",
-    downloaded_file_path = "buildifier",
-    executable = True,
-    sha256 = "ec064a5edd2a2a210cf8162305869a27b3ed6c7e50caa70687bc9d72177f61f3",
-    urls = ["https://github.com/bazelbuild/buildtools/releases/download/1.0.0/buildifier"],
-)
-http_file(
-    name = "buildifier_macos",
-    downloaded_file_path = "buildifier",
-    executable = True,
-    sha256 = "6e7545fdfd4b142041b4fefd8f338b31dee556aa37e9fa8e244ee66a765d352f",
-    urls = ["https://github.com/bazelbuild/buildtools/releases/download/1.0.0/buildifier.mac"],
-)
-
-# Tidy dependencies - local file repositories
-local_file = use_repo_rule("//book/htmlbook/tools/repo:local.bzl", "local_file")
-local_file(
-    name = "tidy_linux",
-    path = "/usr/bin/tidy",
-    symlinked_file_path = "tidy",
-)
-local_file(
-    name = "tidy_macos_i386",
-    path = "/usr/local/bin/tidy",
-    symlinked_file_path = "tidy",
-)
-local_file(
-    name = "tidy_macos_arm64",
-    path = "/opt/homebrew/bin/tidy",
-    symlinked_file_path = "tidy",
-)
-
-# Note: We allow bazel to run as root in containerized environments (CI,
-# Docker, Deepnote). This maintains cache consistency since dependencies are
-# installed as root in Dockerfile and eliminates the need for complex user
-# management in CI workflows.
-
-python = use_extension("@rules_python//python/extensions:python.bzl", "python")
-python.toolchain(python_version = "3.10", ignore_root_user_error = True) 
-python.toolchain(python_version = "3.12", ignore_root_user_error = True)
-python.toolchain(python_version = "3.13", ignore_root_user_error = True)
-use_repo(python, "python_3_10", "python_3_12", "python_3_13")
-
-# Python pip dependencies with automatic platform detection
-pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
-
-# Multi-version pip repository using same hub_name
-# This allows automatic Python version selection at runtime
-pip.parse(
-    hub_name = "htmlbook_pip",
-    python_version = "3.10",
-    requirements_darwin = "//:requirements-bazel-mac.txt",
-    requirements_linux = "//:requirements-bazel-linux.txt", 
-    requirements_lock = "//:requirements-bazel.txt",
-    experimental_requirement_cycles = {
-      "lxml": [
-        "lxml",
-        "lxml-html-clean",
-      ],
-    },
-)
-
-pip.parse(
-    hub_name = "htmlbook_pip",
-    python_version = "3.12",
-    requirements_darwin = "//:requirements-bazel-mac.txt",
-    requirements_linux = "//:requirements-bazel-linux.txt", 
-    requirements_lock = "//:requirements-bazel.txt",
-    experimental_requirement_cycles = {
-      "lxml": [
-        "lxml",
-        "lxml-html-clean",
-      ],
-    },
-)
-
-pip.parse(
-    hub_name = "htmlbook_pip",
-    python_version = "3.13",
-    requirements_darwin = "//:requirements-bazel-mac.txt",
-    requirements_linux = "//:requirements-bazel-linux.txt", 
-    requirements_lock = "//:requirements-bazel.txt",
-    experimental_requirement_cycles = {
-      "lxml": [
-        "lxml",
-        "lxml-html-clean",
-      ],
-    },
-)
-
-use_repo(pip, "htmlbook_pip")
diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock
deleted file mode 100644
index d62ee563..00000000
--- a/MODULE.bazel.lock
+++ /dev/null
@@ -1,260 +0,0 @@
-{
-  "lockFileVersion": 11,
-  "registryFileHashes": {
-    "https://bcr.bazel.build/bazel_registry.json": "8a28e4aff06ee60aed2a8c281907fb8bcbf3b753c91fb5a5c57da3215d5b3497",
-    "https://bcr.bazel.build/modules/abseil-cpp/20210324.2/MODULE.bazel": "7cd0312e064fde87c8d1cd79ba06c876bd23630c83466e9500321be55c96ace2",
-    "https://bcr.bazel.build/modules/abseil-cpp/20211102.0/MODULE.bazel": "70390338f7a5106231d20620712f7cccb659cd0e9d073d1991c038eb9fc57589",
-    "https://bcr.bazel.build/modules/abseil-cpp/20230125.1/MODULE.bazel": "89047429cb0207707b2dface14ba7f8df85273d484c2572755be4bab7ce9c3a0",
-    "https://bcr.bazel.build/modules/abseil-cpp/20230802.0.bcr.1/MODULE.bazel": "1c8cec495288dccd14fdae6e3f95f772c1c91857047a098fad772034264cc8cb",
-    "https://bcr.bazel.build/modules/abseil-cpp/20230802.0/MODULE.bazel": "d253ae36a8bd9ee3c5955384096ccb6baf16a1b1e93e858370da0a3b94f77c16",
-    "https://bcr.bazel.build/modules/abseil-cpp/20230802.1/MODULE.bazel": "fa92e2eb41a04df73cdabeec37107316f7e5272650f81d6cc096418fe647b915",
-    "https://bcr.bazel.build/modules/abseil-cpp/20240116.1/MODULE.bazel": "37bcdb4440fbb61df6a1c296ae01b327f19e9bb521f9b8e26ec854b6f97309ed",
-    "https://bcr.bazel.build/modules/abseil-cpp/20240116.1/source.json": "9be551b8d4e3ef76875c0d744b5d6a504a27e3ae67bc6b28f46415fd2d2957da",
-    "https://bcr.bazel.build/modules/apple_support/1.17.1/MODULE.bazel": "655c922ab1209978a94ef6ca7d9d43e940cd97d9c172fb55f94d91ac53f8610b",
-    "https://bcr.bazel.build/modules/apple_support/1.17.1/source.json": "6b2b8c74d14e8d485528a938e44bdb72a5ba17632b9e14ef6e68a5ee96c8347f",
-    "https://bcr.bazel.build/modules/apple_support/1.5.0/MODULE.bazel": "50341a62efbc483e8a2a6aec30994a58749bd7b885e18dd96aa8c33031e558ef",
-    "https://bcr.bazel.build/modules/bazel_features/1.1.1/MODULE.bazel": "27b8c79ef57efe08efccbd9dd6ef70d61b4798320b8d3c134fd571f78963dbcd",
-    "https://bcr.bazel.build/modules/bazel_features/1.10.0/MODULE.bazel": "f75e8807570484a99be90abcd52b5e1f390362c258bcb73106f4544957a48101",
-    "https://bcr.bazel.build/modules/bazel_features/1.11.0/MODULE.bazel": "f9382337dd5a474c3b7d334c2f83e50b6eaedc284253334cf823044a26de03e8",
-    "https://bcr.bazel.build/modules/bazel_features/1.15.0/MODULE.bazel": "d38ff6e517149dc509406aca0db3ad1efdd890a85e049585b7234d04238e2a4d",
-    "https://bcr.bazel.build/modules/bazel_features/1.17.0/MODULE.bazel": "039de32d21b816b47bd42c778e0454217e9c9caac4a3cf8e15c7231ee3ddee4d",
-    "https://bcr.bazel.build/modules/bazel_features/1.18.0/MODULE.bazel": "1be0ae2557ab3a72a57aeb31b29be347bcdc5d2b1eb1e70f39e3851a7e97041a",
-    "https://bcr.bazel.build/modules/bazel_features/1.19.0/MODULE.bazel": "59adcdf28230d220f0067b1f435b8537dd033bfff8db21335ef9217919c7fb58",
-    "https://bcr.bazel.build/modules/bazel_features/1.28.0/MODULE.bazel": "4b4200e6cbf8fa335b2c3f43e1d6ef3e240319c33d43d60cc0fbd4b87ece299d",
-    "https://bcr.bazel.build/modules/bazel_features/1.28.0/source.json": "16a3fc5b4483cb307643791f5a4b7365fa98d2e70da7c378cdbde55f0c0b32cf",
-    "https://bcr.bazel.build/modules/bazel_features/1.4.1/MODULE.bazel": "e45b6bb2350aff3e442ae1111c555e27eac1d915e77775f6fdc4b351b758b5d7",
-    "https://bcr.bazel.build/modules/bazel_features/1.9.1/MODULE.bazel": "8f679097876a9b609ad1f60249c49d68bfab783dd9be012faf9d82547b14815a",
-    "https://bcr.bazel.build/modules/bazel_skylib/1.0.3/MODULE.bazel": "bcb0fd896384802d1ad283b4e4eb4d718eebd8cb820b0a2c3a347fb971afd9d8",
-    "https://bcr.bazel.build/modules/bazel_skylib/1.1.1/MODULE.bazel": "1add3e7d93ff2e6998f9e118022c84d163917d912f5afafb3058e3d2f1545b5e",
-    "https://bcr.bazel.build/modules/bazel_skylib/1.2.0/MODULE.bazel": "44fe84260e454ed94ad326352a698422dbe372b21a1ac9f3eab76eb531223686",
-    "https://bcr.bazel.build/modules/bazel_skylib/1.2.1/MODULE.bazel": "f35baf9da0efe45fa3da1696ae906eea3d615ad41e2e3def4aeb4e8bc0ef9a7a",
-    "https://bcr.bazel.build/modules/bazel_skylib/1.3.0/MODULE.bazel": "20228b92868bf5cfc41bda7afc8a8ba2a543201851de39d990ec957b513579c5",
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-    "https://bcr.bazel.build/modules/bazel_skylib/1.4.2/MODULE.bazel": "3bd40978e7a1fac911d5989e6b09d8f64921865a45822d8b09e815eaa726a651",
-    "https://bcr.bazel.build/modules/bazel_skylib/1.5.0/MODULE.bazel": "32880f5e2945ce6a03d1fbd588e9198c0a959bb42297b2cfaf1685b7bc32e138",
-    "https://bcr.bazel.build/modules/bazel_skylib/1.6.1/MODULE.bazel": "8fdee2dbaace6c252131c00e1de4b165dc65af02ea278476187765e1a617b917",
-    "https://bcr.bazel.build/modules/bazel_skylib/1.7.0/MODULE.bazel": "0db596f4563de7938de764cc8deeabec291f55e8ec15299718b93c4423e9796d",
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-    "https://bcr.bazel.build/modules/bazel_skylib/1.8.0/MODULE.bazel": "2fb3fb53675f6adfc1ca5bfbd5cfb655ae350fba4706d924a8ec7e3ba945671c",
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-    "https://bcr.bazel.build/modules/buildozer/7.1.2/MODULE.bazel": "2e8dd40ede9c454042645fd8d8d0cd1527966aa5c919de86661e62953cd73d84",
-    "https://bcr.bazel.build/modules/buildozer/7.1.2/source.json": "c9028a501d2db85793a6996205c8de120944f50a0d570438fcae0457a5f9d1f8",
-    "https://bcr.bazel.build/modules/google_benchmark/1.8.2/MODULE.bazel": "a70cf1bba851000ba93b58ae2f6d76490a9feb74192e57ab8e8ff13c34ec50cb",
-    "https://bcr.bazel.build/modules/googletest/1.11.0/MODULE.bazel": "3a83f095183f66345ca86aa13c58b59f9f94a2f81999c093d4eeaa2d262d12f4",
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-    "https://bcr.bazel.build/modules/jsoncpp/1.9.5/MODULE.bazel": "31271aedc59e815656f5736f282bb7509a97c7ecb43e927ac1a37966e0578075",
-    "https://bcr.bazel.build/modules/jsoncpp/1.9.5/source.json": "4108ee5085dd2885a341c7fab149429db457b3169b86eb081fa245eadf69169d",
-    "https://bcr.bazel.build/modules/libpfm/4.11.0/MODULE.bazel": "45061ff025b301940f1e30d2c16bea596c25b176c8b6b3087e92615adbd52902",
-    "https://bcr.bazel.build/modules/platforms/0.0.10/MODULE.bazel": "8cb8efaf200bdeb2150d93e162c40f388529a25852b332cec879373771e48ed5",
-    "https://bcr.bazel.build/modules/platforms/0.0.10/source.json": "f22828ff4cf021a6b577f1bf6341cb9dcd7965092a439f64fc1bb3b7a5ae4bd5",
-    "https://bcr.bazel.build/modules/platforms/0.0.4/MODULE.bazel": "9b328e31ee156f53f3c416a64f8491f7eb731742655a47c9eec4703a71644aee",
-    "https://bcr.bazel.build/modules/platforms/0.0.5/MODULE.bazel": "5733b54ea419d5eaf7997054bb55f6a1d0b5ff8aedf0176fef9eea44f3acda37",
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-  }
-}
diff --git a/book/BUILD.bazel b/book/BUILD.bazel
deleted file mode 100644
index 8758a009..00000000
--- a/book/BUILD.bazel
+++ /dev/null
@@ -1,118 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/html:defs.bzl", "rt_html_test")
-load("//book/htmlbook/tools/tidy:def.bzl", "html_tidy_test")
-
-filegroup(
-    name = "html",
-    srcs = glob([
-        "*.html",
-        "*.html.in",
-    ]),
-    visibility = ["//:__subpackages__"],
-)
-
-html_tidy_test(
-    name = "html_tidy",
-    srcs = [":html"],
-    config = ".tidy.config",
-)
-
-rt_html_test(
-    srcs = ["intro.html"],
-)
-
-rt_html_test(
-    srcs = ["robot.html"],
-)
-
-rt_html_test(
-    srcs = ["pick.html"],
-    data = [
-      "//book/data:gripper_position_trajectory.html",
-      "//book/data:gripper_trajectory.html",
-      "//book/data:pick.html",
-      "//book/data:two_link_singularities.html",
-      "//book/figures:scaling_spatial_velocity.py",
-    ],
-)
-
-rt_html_test(
-    srcs = ["pose.html"],
-    data = [
-      "//book/data:depth_camera_diagram.svg",
-      "//book/data:icp_noise.html",
-      "//book/data:icp_outliers.html",
-      "//book/data:icp_partial_view.html",
-      "//book/data:iterative_closest_point.html",
-      "//book/data:mustard.html",
-    ],
-)
-
-rt_html_test(
-    srcs = ["clutter.html"],
-    data = [
-      "//book/data:falling_bricks_2d.html",
-      "//book/data:foam_brick_contact_geometry.html",
-      "//book/data:mustard_bottle_point_clouds.html",
-    ],
-)
-
-rt_html_test(
-    srcs = ["segmentation.html"],
-)
-
-rt_html_test(
-    srcs = ["deep_perception.html"],
-)
-
-rt_html_test(
-    srcs = ["force.html"],
-    data = [
-      "//book/data:force_flip_up.html",
-    ],
-)
-
-rt_html_test(
-    srcs = ["trajectories.html"],
-    data = [
-      "//book/data:iiwa_shelves_configuration_space.html",
-      "//book/data:shelf_ik_prog.html",
-      "//book/data:shelf_ik_prog_zoom.html",
-    ],
-)
-
-rt_html_test(
-    srcs = ["rl.html"],
-)
-
-rt_html_test(
-    srcs = ["drake.html"],
-)
-
-rt_html_test(
-    srcs = ["misc.html"],
-)
-
-rt_html_test(
-    srcs = ["station.html"],
-)
-
-filegroup(
-    name = "chapters",
-    srcs = ["chapters.json"],
-    visibility = ["//visibility:public"],
-)
-
-filegroup(
-    name = "deepnote",
-    srcs = [
-      "Deepnote.json",
-      "Deepnote_workspace.txt",
-    ],
-    visibility = ["//visibility:public"],
-)
\ No newline at end of file
diff --git a/book/clutter/BUILD.bazel b/book/clutter/BUILD.bazel
deleted file mode 100644
index 76b12f6b..00000000
--- a/book/clutter/BUILD.bazel
+++ /dev/null
@@ -1,106 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "falling_things",
-    srcs = ["falling_things.ipynb"],
-    flaky = True,  # occasionally mbp will crash.
-    data = ["//manipulation/models"],
-    tags = ["no-sandbox"],  # from vtk-test-tags() in drake
-    deps = [
-        "//manipulation",
-        "//manipulation:scenarios",
-        "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "contact_inspector",
-    srcs = ["contact_inspector.ipynb"],
-    data = ["//manipulation/models"],
-    deps = [
-        "//manipulation",
-        "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "contact_wrench",
-    srcs = ["contact_wrench.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "point_cloud_processing",
-    srcs = ["point_cloud_processing.ipynb"],
-    tags = ["no-sandbox"],  # from vtk-test-tags() in drake
-    deps = [
-        "//manipulation",
-        "//manipulation:mustard_depth_camera_example",
-    ],
-)
-
-rt_ipynb_test(
-    name = "normal_estimation",
-    srcs = ["normal_estimation.ipynb"],
-    data = ["//manipulation/models"],
-    tags = ["no-sandbox"],  # from vtk-test-tags() in drake
-    deps = [
-        "//manipulation",
-        "//manipulation:mustard_depth_camera_example",
-        "//manipulation:meshcat_utils",
-        requirement("scipy"),
-    ],
-)
-
-rt_ipynb_test(
-    name = "grasp_selection",
-    srcs = ["grasp_selection.ipynb"],
-    flaky = True,  # occasionally mbp will crash.
-    data = ["//manipulation/models"],
-    tags = ["no-sandbox"],  # from vtk-test-tags() in drake
-    deps = [
-        "//manipulation",
-        "//manipulation:mustard_depth_camera_example",
-        "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "suction",
-    srcs = ["suction.ipynb"],
-    flaky = True,  # occasionally mbp will crash.
-    data = ["//manipulation/models"],
-    tags = ["no-sandbox"],  # from vtk-test-tags() in drake
-    deps = [
-        "//manipulation",
-        "//manipulation:meshcat_utils",
-        "//manipulation:scenarios",
-        "//manipulation:station",
-    ],
-)
-
-
-rt_ipynb_test(
-    name = "clutter_clearing",
-    srcs = ["clutter_clearing.ipynb"],
-    data = ["//manipulation/models"],
-    tags = ["no-sandbox"],  # from vtk-test-tags() in drake
-    deps = [
-      "//manipulation",
-      "//manipulation:clutter",
-      "//manipulation:meshcat_utils",
-      "//manipulation:pick",
-      "//manipulation:scenarios",
-      "//manipulation:station",
-    ],
-)
\ No newline at end of file
diff --git a/book/clutter/exercises/BUILD.bazel b/book/clutter/exercises/BUILD.bazel
deleted file mode 100644
index 9873705b..00000000
--- a/book/clutter/exercises/BUILD.bazel
+++ /dev/null
@@ -1,60 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "static_equilibrium",
-    srcs = ["static_equilibrium.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "normal_estimation_depth",
-    srcs = ["normal_estimation_depth.ipynb"],
-    tags = ["no-sandbox"], # for rendering, see drake#7004
-    deps = [
-        "//manipulation",
-        "//manipulation:meshcat_utils",
-        "//manipulation:scenarios",
-        "//manipulation:mustard_depth_camera_example",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/clutter:test_normal",
-    ],
-)
-
-rt_ipynb_test(
-    name = "analytic_antipodal_grasps",
-    srcs = ["analytic_antipodal_grasps.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/clutter:test_analytic_grasp",
-    ],
-)
-
-rt_ipynb_test(
-    name = "grasp_candidate",
-    srcs = ["grasp_candidate.ipynb"],
-    tags = ["no-sandbox"], # for rendering, see drake#7004
-    data = [
-      "//manipulation/models",
-    ],
-    deps = [
-        "//manipulation",
-        "//manipulation:meshcat_utils",
-        "//manipulation:mustard_depth_camera_example",
-        "//manipulation:scenarios",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/clutter:test_grasp_candidate",
-        requirement("scipy"),
-    ],
-)
-
diff --git a/book/clutter/exercises/test_notebooks_clutter_exercises.py b/book/clutter/exercises/test_notebooks_clutter_exercises.py
new file mode 100644
index 00000000..545b2eb4
--- /dev/null
+++ b/book/clutter/exercises/test_notebooks_clutter_exercises.py
@@ -0,0 +1,6 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("static_equilibrium.ipynb")
+ipynb_test("normal_estimation_depth.ipynb")
+ipynb_test("analytic_antipodal_grasps.ipynb")
+ipynb_test("grasp_candidate.ipynb")
diff --git a/book/clutter/test_notebooks_clutter.py b/book/clutter/test_notebooks_clutter.py
new file mode 100644
index 00000000..efdbf8a6
--- /dev/null
+++ b/book/clutter/test_notebooks_clutter.py
@@ -0,0 +1,10 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("falling_things.ipynb")
+ipynb_test("contact_inspector.ipynb")
+ipynb_test("contact_wrench.ipynb")
+ipynb_test("point_cloud_processing.ipynb")
+ipynb_test("normal_estimation.ipynb")
+ipynb_test("grasp_selection.ipynb")
+ipynb_test("suction.ipynb")
+ipynb_test("clutter_clearing.ipynb")
diff --git a/book/deep_perception.html b/book/deep_perception.html
index 75b7d1e1..54a330b9 100644
--- a/book/deep_perception.html
+++ b/book/deep_perception.html
@@ -176,7 +176,7 @@ <h1><a href="index.html" style="text-decoration:none;">Robotic Manipulation</a><
 
     <subsection><h1>Pose estimation benchmarks</h1>
 
-      <p><a href="https://bop.felk.cvut.cz/home/">Benchmark for 6D Object Pose Estimation (BOP)</a><elib>Hodan20</elib>.  </p>
+      <p>Benchmark for 6D Object Pose Estimation (BOP)<elib>Hodan20</elib>.  </p>
 
       <!-- maybe: Common Objects in 3D:
 Large-Scale Learning and Evaluation of Real-life 3D Category Reconstruction -->
diff --git a/book/deep_perception/exercises/BUILD.bazel b/book/deep_perception/exercises/BUILD.bazel
deleted file mode 100644
index a010408c..00000000
--- a/book/deep_perception/exercises/BUILD.bazel
+++ /dev/null
@@ -1,18 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "contrastive",
-    srcs = ["contrastive.ipynb"],
-    deps = [
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/deep_perception:test_contrastive",
-        requirement("drake"),
-    ],
-)
diff --git a/book/deep_perception/exercises/test_notebooks_deep_perception_exercises.py b/book/deep_perception/exercises/test_notebooks_deep_perception_exercises.py
new file mode 100644
index 00000000..984cc1aa
--- /dev/null
+++ b/book/deep_perception/exercises/test_notebooks_deep_perception_exercises.py
@@ -0,0 +1,3 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("contrastive.ipynb")
diff --git a/book/figures/BUILD.bazel b/book/figures/BUILD.bazel
deleted file mode 100644
index b6d576e3..00000000
--- a/book/figures/BUILD.bazel
+++ /dev/null
@@ -1,44 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_test")
-
-rt_ipynb_test(
-    name = "grasp_frames",
-    srcs = ["grasp_frames.ipynb"],
-    deps = ["//manipulation:scenarios"],
-)
-
-rt_ipynb_test(
-    name = "nonlinear_pose_estimation",
-    srcs = ["nonlinear_pose_estimation.ipynb"],
-    deps = ["//manipulation"],
-)
-
-rt_py_test(
-    name = "scaling_spatial_velocity",
-    srcs = ["scaling_spatial_velocity.py"],
-    deps = [ 
-      requirement("drake"),
-    ],
-)
-
-rt_py_test(
-    name = "two_link_singularities",
-    srcs = ["two_link_singularities.py"],
-    data = ["//manipulation/models"],
-    deps = [
-      "//manipulation",
-    ],
-)
-
-# Export some files so that I can link to them from the text.
-exports_files(
-    ["scaling_spatial_velocity.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/book/figures/test_notebooks_figures.py b/book/figures/test_notebooks_figures.py
new file mode 100644
index 00000000..d07f78ba
--- /dev/null
+++ b/book/figures/test_notebooks_figures.py
@@ -0,0 +1,4 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("grasp_frames.ipynb")
+ipynb_test("nonlinear_pose_estimation.ipynb")
diff --git a/book/figures/test_scripts_figures.py b/book/figures/test_scripts_figures.py
new file mode 100644
index 00000000..994a8293
--- /dev/null
+++ b/book/figures/test_scripts_figures.py
@@ -0,0 +1,33 @@
+from __future__ import annotations
+
+import contextlib
+import os
+import runpy
+import tempfile
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[2]
+
+
+@contextlib.contextmanager
+def _chdir(path: Path):
+    old = Path.cwd()
+    os.chdir(path)
+    try:
+        yield
+    finally:
+        os.chdir(old)
+
+
+def _run(script_rel: str) -> None:
+    with tempfile.TemporaryDirectory(prefix="script_cwd_") as temp_cwd:
+        with _chdir(Path(temp_cwd)):
+            runpy.run_path(str(ROOT / script_rel), run_name="__main__")
+
+
+def test_scaling_spatial_velocity_script() -> None:
+    _run("book/figures/scaling_spatial_velocity.py")
+
+
+def test_two_link_singularities_script() -> None:
+    _run("book/figures/two_link_singularities.py")
diff --git a/book/force.html b/book/force.html
index 066d9e5b..71f22234 100644
--- a/book/force.html
+++ b/book/force.html
@@ -951,7 +951,7 @@ <h1>Manipulator Control</h1>
       and command some Cartesian forces through $\tau_{ff}$ if we desire them.
       (If you are interested in the driver details, then I would recommend the
       documentation for the
-      <a href="https://frankarobotics.github.io/docs/libfranka.html">Franka Control
+      <a href="https://frankarobotics.github.io/docs/libfranka/docs/overview.html">Franka Control
       Interface</a> which is much easier to find and read, and is very similar
       to functionality provided by the iiwa driver.)</p>
   
diff --git a/book/force/BUILD.bazel b/book/force/BUILD.bazel
deleted file mode 100644
index 74a3a2b9..00000000
--- a/book/force/BUILD.bazel
+++ /dev/null
@@ -1,45 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "point_finger",
-    srcs = ["point_finger.ipynb"],
-    tags = ["requires-network"], # For gurobi
-    data = ["//manipulation/models"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-      "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "tracking",
-    srcs = ["tracking.ipynb"],
-    deps = [
-      "//manipulation",
-    ]
-)
-
-rt_ipynb_test(
-    name = "writing",
-    srcs = ["writing.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-      "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "bounce",
-    srcs = ["bounce.ipynb"],
-    deps = [
-      "//manipulation",
-    ],
-)
\ No newline at end of file
diff --git a/book/force/exercises/BUILD.bazel b/book/force/exercises/BUILD.bazel
deleted file mode 100644
index fabcb28e..00000000
--- a/book/force/exercises/BUILD.bazel
+++ /dev/null
@@ -1,21 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "hybrid_force_position",
-    srcs = ["hybrid_force_position.ipynb"],
-    data = [
-      "//manipulation/models",
-    ],
-    deps = [
-        "//manipulation",
-        "//manipulation:station",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/force:test_hybrid",
-    ],
-)
diff --git a/book/force/exercises/test_notebooks_force_exercises.py b/book/force/exercises/test_notebooks_force_exercises.py
new file mode 100644
index 00000000..b05f1724
--- /dev/null
+++ b/book/force/exercises/test_notebooks_force_exercises.py
@@ -0,0 +1,3 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("hybrid_force_position.ipynb")
diff --git a/book/force/test_notebooks_force.py b/book/force/test_notebooks_force.py
new file mode 100644
index 00000000..8bd552e9
--- /dev/null
+++ b/book/force/test_notebooks_force.py
@@ -0,0 +1,6 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("point_finger.ipynb")
+ipynb_test("tracking.ipynb")
+ipynb_test("writing.ipynb")
+ipynb_test("bounce.ipynb")
diff --git a/book/htmlbook b/book/htmlbook
index 4963d0da..32e5b9c5 160000
--- a/book/htmlbook
+++ b/book/htmlbook
@@ -1 +1 @@
-Subproject commit 4963d0da4d9ebfa8445d333af64d5decec65ea40
+Subproject commit 32e5b9c5f5ad2f81a2892d192be7992ca12133fb
diff --git a/book/intro/BUILD.bazel b/book/intro/BUILD.bazel
deleted file mode 100644
index a74f9a5a..00000000
--- a/book/intro/BUILD.bazel
+++ /dev/null
@@ -1,19 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "intro",
-    srcs = ["intro.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-      "//manipulation:systems",
-      "//manipulation:station",
-    ],
-)
diff --git a/book/intro/exercises/04_hardwarestation_and_scenarios.ipynb b/book/intro/exercises/04_hardwarestation_and_scenarios.ipynb
index a6c9ec97..2f8a9131 100644
--- a/book/intro/exercises/04_hardwarestation_and_scenarios.ipynb
+++ b/book/intro/exercises/04_hardwarestation_and_scenarios.ipynb
@@ -63,13 +63,7 @@
     "from pathlib import Path\n",
     "\n",
     "import numpy as np\n",
-    "from pydrake.all import (\n",
-    "    Diagram,\n",
-    "    DiagramBuilder,\n",
-    "    RigidTransform,\n",
-    "    Simulator,\n",
-    "    StartMeshcat,\n",
-    ")\n",
+    "from pydrake.all import Diagram, DiagramBuilder, RigidTransform, Simulator, StartMeshcat\n",
     "\n",
     "from manipulation.exercises.grader import Grader\n",
     "from manipulation.exercises.intro.test_hardwarestation_and_scenarios import (\n",
@@ -78,11 +72,7 @@
     "    TestHardwareStationFullSystem,\n",
     ")\n",
     "from manipulation.letter_generation import create_sdf_asset_from_letter\n",
-    "from manipulation.station import (\n",
-    "    LoadScenario,\n",
-    "    MakeHardwareStation,\n",
-    "    RobotDiagram,\n",
-    ")\n",
+    "from manipulation.station import LoadScenario, MakeHardwareStation, RobotDiagram\n",
     "from manipulation.utils import RenderDiagram, running_as_notebook"
    ]
   },
@@ -278,7 +268,7 @@
     "**YOUR TASK:** Create a new scenario with two IIWA14 robots, each welded to the world at different positions.\n",
     "\n",
     "\n",
-    "**Key concept:** Scenario files make it simple and flexible to modify your scene\u2014adding robots, changing positions, or updating configurations can be done with just a few lines.\n",
+    "**Key concept:** Scenario files make it simple and flexible to modify your scene—adding robots, changing positions, or updating configurations can be done with just a few lines.\n",
     "\n",
     "\n",
     "**Reference:** To understand how to write scenario directives and use the functions above, we recommend looking at the [Bimanual Manipulation Example](https://deepnote.com/workspace/Manipulation-ac8201a1-470a-4c77-afd0-2cc45bc229ff/project/8f86172b-b597-4ceb-9bad-92d11ac7a6cc/notebook/bimanual-3df3abe2b1b949eb9daaf3748b16a218).\n"
diff --git a/book/intro/test_notebooks_intro.py b/book/intro/test_notebooks_intro.py
new file mode 100644
index 00000000..69e79e3d
--- /dev/null
+++ b/book/intro/test_notebooks_intro.py
@@ -0,0 +1,3 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("intro.ipynb")
diff --git a/book/mobile/BUILD.bazel b/book/mobile/BUILD.bazel
deleted file mode 100644
index d23b820c..00000000
--- a/book/mobile/BUILD.bazel
+++ /dev/null
@@ -1,69 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "mecanum",
-    srcs = ["mecanum.ipynb"],
-    data = ["//manipulation/models"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-    ],
-)
-
-rt_ipynb_test(
-    name = "mobile_iiwa",
-    srcs = ["mobile_iiwa.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "rainbow",
-    srcs = ["rainbow.ipynb"],
-    tags = ["requires-network", "no-sandbox"],
-    deps = [
-      "//manipulation",
-      "//manipulation:remotes",
-    ],
-)
-
-rt_ipynb_test(
-    name = "scene_synthesizer",
-    srcs = ["scene_synthesizer.ipynb"],
-    tags = ["requires-network", "no-sandbox"], # for rainbow
-    deps = [
-      "//manipulation",
-      "//manipulation:remotes",
-      requirement("scene_synthesizer"),
-      requirement("scipy"), # scene_synthesizer needs scipy, but does not declare it as a dependency
-    ],
-)
-
-rt_ipynb_test(
-    name = "spot",
-    srcs = ["spot.ipynb"],
-    tags = ["requires-network", "no-sandbox"],
-    deps = [
-      "//manipulation",
-      "//manipulation:remotes",
-      "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "pr2",
-    srcs = ["pr2.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:station",
-    ],
-)
diff --git a/book/mobile/exercises/BUILD.bazel b/book/mobile/exercises/BUILD.bazel
deleted file mode 100644
index e0869c85..00000000
--- a/book/mobile/exercises/BUILD.bazel
+++ /dev/null
@@ -1,18 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "mobile_base_ik",
-    srcs = ["mobile_base_ik.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation:scenarios",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/mobile:test_mobile_base_ik",
-    ],
-)
\ No newline at end of file
diff --git a/book/mobile/exercises/simulation_set_up.ipynb b/book/mobile/exercises/simulation_set_up.ipynb
index e14a8c68..dec1ffac 100644
--- a/book/mobile/exercises/simulation_set_up.ipynb
+++ b/book/mobile/exercises/simulation_set_up.ipynb
@@ -330,12 +330,12 @@
     "        RollPitchYaw(np.asarray([45, 30, 0]) * np.pi / 180), p=[0, 0, 0.8]\n",
     "    )\n",
     "    X_WorldCracker = X_WorldTable.multiply(X_TableCracker)\n",
-    "    plant.SetDefaultFreeBodyPose(cracker_box, X_WorldCracker)\n",
+    "    plant.SetDefaultFloatingBaseBodyPose(cracker_box, X_WorldCracker)\n",
     "\n",
     "    sugar_box = plant.GetBodyByName(\"base_link_sugar\")\n",
     "    X_TableSugar = RigidTransform(p=[0, -0.25, 0.8])\n",
     "    X_WorldSugar = X_WorldTable.multiply(X_TableSugar)\n",
-    "    plant.SetDefaultFreeBodyPose(sugar_box, X_WorldSugar)\n",
+    "    plant.SetDefaultFloatingBaseBodyPose(sugar_box, X_WorldSugar)\n",
     "\n",
     "    # Add visualization to see the geometries.\n",
     "    AddDefaultVisualization(builder=builder, meshcat=meshcat)\n",
diff --git a/book/mobile/exercises/test_notebooks_mobile_exercises.py b/book/mobile/exercises/test_notebooks_mobile_exercises.py
new file mode 100644
index 00000000..176491f1
--- /dev/null
+++ b/book/mobile/exercises/test_notebooks_mobile_exercises.py
@@ -0,0 +1,3 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("mobile_base_ik.ipynb")
diff --git a/book/mobile/scene_synthesizer.ipynb b/book/mobile/scene_synthesizer.ipynb
index d25fcecc..9cbaea06 100644
--- a/book/mobile/scene_synthesizer.ipynb
+++ b/book/mobile/scene_synthesizer.ipynb
@@ -84,7 +84,7 @@
     "        0\n",
     "    ]\n",
     "    plant = visualizer.parser().plant()\n",
-    "    plant.SetDefaultFreeBodyPose(plant.GetBodyByName(\"base\", rby1_id), X_WRby1)\n",
+    "    plant.SetDefaultFloatingBaseBodyPose(plant.GetBodyByName(\"base\", rby1_id), X_WRby1)\n",
     "    visualizer.Run(loop_once=True)\n",
     "\n",
     "\n",
diff --git a/book/mobile/test_notebooks_mobile.py b/book/mobile/test_notebooks_mobile.py
new file mode 100644
index 00000000..f2c92ad8
--- /dev/null
+++ b/book/mobile/test_notebooks_mobile.py
@@ -0,0 +1,8 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("mecanum.ipynb")
+ipynb_test("mobile_iiwa.ipynb")
+ipynb_test("rainbow.ipynb")
+ipynb_test("scene_synthesizer.ipynb")
+ipynb_test("spot.ipynb")
+ipynb_test("pr2.ipynb")
diff --git a/book/pick/BUILD.bazel b/book/pick/BUILD.bazel
deleted file mode 100644
index 1a3f5f43..00000000
--- a/book/pick/BUILD.bazel
+++ /dev/null
@@ -1,83 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "pick",
-    srcs = ["pick.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "kinematic_tree",
-    srcs = ["kinematic_tree.ipynb"],
-    data = ["//manipulation/models"],
-    deps = [
-      "//manipulation",
-    ],
-)
-
-rt_ipynb_test(
-    name = "forward_kinematics",
-    srcs = ["forward_kinematics.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "qdot_vs_v",
-    data = ["@drake_models"],
-    srcs = ["qdot_vs_v.ipynb"],
-    deps = [
-      requirement("drake"),
-    ]
-)
-
-rt_ipynb_test(
-    name = "jacobian",
-    srcs = ["jacobian.ipynb"],
-    data = ["//manipulation/models"],
-    deps = [
-      "//manipulation",
-    ],
-)
-
-rt_ipynb_test(
-    name = "grasp",
-    srcs = ["grasp.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "pseudoinverse",
-    srcs = ["pseudoinverse.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "qp_diff_ik",
-    srcs = ["qp_diff_ik.ipynb"],
-    tags = ["requires-network"], # For gurobi
-    data = ["//manipulation/models:two_link_iiwa14.urdf"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-      "//manipulation:scenarios",
-    ],
-)
diff --git a/book/pick/pick.ipynb b/book/pick/pick.ipynb
index 5dcea93d..efae8cc0 100644
--- a/book/pick/pick.ipynb
+++ b/book/pick/pick.ipynb
@@ -656,7 +656,7 @@
     "scenario = LoadScenario(data=scenario_data)\n",
     "station = builder.AddSystem(MakeHardwareStation(scenario, meshcat=meshcat))\n",
     "plant = station.GetSubsystemByName(\"plant\")\n",
-    "plant.SetDefaultFreeBodyPose(plant.GetBodyByName(\"base_link\"), X_O[\"initial\"])\n",
+    "plant.SetDefaultFloatingBaseBodyPose(plant.GetBodyByName(\"base_link\"), X_O[\"initial\"])\n",
     "\n",
     "# Find the initial pose of the gripper and object (as set in the default Context)\n",
     "temp_context = station.CreateDefaultContext()\n",
diff --git a/book/pick/test_notebooks_pick.py b/book/pick/test_notebooks_pick.py
new file mode 100644
index 00000000..1651b3d8
--- /dev/null
+++ b/book/pick/test_notebooks_pick.py
@@ -0,0 +1,10 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("pick.ipynb")
+ipynb_test("kinematic_tree.ipynb")
+ipynb_test("forward_kinematics.ipynb")
+ipynb_test("qdot_vs_v.ipynb")
+ipynb_test("jacobian.ipynb")
+ipynb_test("grasp.ipynb")
+ipynb_test("pseudoinverse.ipynb")
+ipynb_test("qp_diff_ik.ipynb")
diff --git a/book/pose.html b/book/pose.html
index 8f6c4870..7266e166 100644
--- a/book/pose.html
+++ b/book/pose.html
@@ -120,7 +120,7 @@ <h1><a href="index.html" style="text-decoration:none;">Robotic Manipulation</a><
     
       <p>Primarily RGB-D (ToF vs projected texture stereo vs ...) cameras and Lidar</p>
 
-      <p>The cameras we are using in this course are <a href="https://www.intelrealsense.com/depth-camera-d415/">Intel RealSense D415</a>.</p>
+      <p>The cameras we are using in this course are Intel RealSense D415.</p>
 
       <p>Monocular depth.</p>
 
diff --git a/book/pose/BUILD.bazel b/book/pose/BUILD.bazel
deleted file mode 100644
index dc67906f..00000000
--- a/book/pose/BUILD.bazel
+++ /dev/null
@@ -1,45 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "camera_sim",
-    srcs = ["camera_sim.ipynb"],
-    data = ["//manipulation/models"],
-    tags = ["no-sandbox"],  # from vtk-test-tags() in drake
-    deps = [
-      "//manipulation",
-      "//manipulation:scenarios",
-      "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "icp",
-    srcs = ["icp.ipynb"],
-    deps = [
-      "//manipulation",
-      requirement("scipy"),
-    ],
-)
-
-rt_ipynb_test(
-    name = "pose",
-    srcs = ["pose.ipynb"],
-    data = ["//manipulation/models"],
-    tags = ["no-sandbox"],  # from vtk-test-tags() in drake
-    deps = [
-      "//manipulation",
-      "//manipulation:icp",
-      "//manipulation:mustard_depth_camera_example",
-      "//manipulation:meshcat_utils",
-      "//manipulation:pick",
-      "//manipulation:scenarios",
-      "//manipulation:station",
-    ],
-)
\ No newline at end of file
diff --git a/book/pose/exercises/BUILD.bazel b/book/pose/exercises/BUILD.bazel
deleted file mode 100644
index 05108298..00000000
--- a/book/pose/exercises/BUILD.bazel
+++ /dev/null
@@ -1,46 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "bunny_icp",
-    srcs = ["bunny_icp.ipynb"],
-    data = ["//manipulation/models/bunny:bunny.npy"],
-    deps = [
-        "//manipulation",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/pose:test_icp",
-        requirement("scipy"),
-    ],
-)
-
-rt_ipynb_test(
-    name = "ransac",
-    srcs = ["ransac.ipynb"],
-    data = ["//manipulation/models/bunny:bunny.npy"],
-    deps = [
-        "//manipulation",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/pose:test_ransac",
-    ],
-)
-
-rt_ipynb_test(
-    name = "pose_estimation_icp",
-    srcs = ["pose_estimation_icp.ipynb"],
-    timeout = "moderate",
-    tags = ["no-sandbox"], # for rendering, see drake#7004
-    deps = [
-        "//manipulation",
-        "//manipulation:icp",
-        "//manipulation:scenarios",
-        "//manipulation:station",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/pose:test_pose_estimation",
-    ],
-)
diff --git a/book/pose/exercises/test_notebooks_pose_exercises.py b/book/pose/exercises/test_notebooks_pose_exercises.py
new file mode 100644
index 00000000..4e0fde6d
--- /dev/null
+++ b/book/pose/exercises/test_notebooks_pose_exercises.py
@@ -0,0 +1,5 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("bunny_icp.ipynb")
+ipynb_test("ransac.ipynb")
+ipynb_test("pose_estimation_icp.ipynb")
diff --git a/book/pose/test_notebooks_pose.py b/book/pose/test_notebooks_pose.py
new file mode 100644
index 00000000..2bedd8da
--- /dev/null
+++ b/book/pose/test_notebooks_pose.py
@@ -0,0 +1,5 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("camera_sim.ipynb")
+ipynb_test("icp.ipynb")
+ipynb_test("pose.ipynb")
diff --git a/book/rl/BUILD.bazel b/book/rl/BUILD.bazel
deleted file mode 100644
index 033561fa..00000000
--- a/book/rl/BUILD.bazel
+++ /dev/null
@@ -1,41 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_test")
-
-rt_ipynb_test(
-    name = "black_box",
-    srcs = ["black_box.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-    ],
-)
-
-rt_ipynb_test(
-    name = "box_flipup",
-    srcs = ["box_flipup.ipynb"],
-    data = ["//book/data:box_flipup_ppo_state.zip"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-      "//manipulation/envs:box_flipup",
-      requirement("psutil"),
-      requirement("stable_baselines3"),
-    ],
-)
-
-#rt_py_test(
-#  name = "train_boxflipup",
-#    srcs = ["train_boxflipup.py"],
-#    args = ["--test"],
-#    imports = [".."],
-#    deps = [
-#      "//manipulation/envs:box_flipup",
-#    ],
-#)
diff --git a/book/rl/exercises/BUILD.bazel b/book/rl/exercises/BUILD.bazel
deleted file mode 100644
index 1c65f92f..00000000
--- a/book/rl/exercises/BUILD.bazel
+++ /dev/null
@@ -1,32 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "stochastic_optimization",
-    srcs = ["stochastic_optimization.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/rl:test_stochastic_optimization",
-    ],
-)
-
-rt_ipynb_test(
-    name = "policy_gradient",
-    srcs = ["policy_gradient.ipynb"],
-    data = ["//manipulation/models"],
-    deps = [
-        "//manipulation",
-        "//manipulation/envs:planar_gripper_pushing_a_box",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/rl:test_vpg",
-        requirement("scipy"),
-        requirement("torch"),
-    ],
-)
diff --git a/book/rl/exercises/test_notebooks_rl_exercises.py b/book/rl/exercises/test_notebooks_rl_exercises.py
new file mode 100644
index 00000000..ab887876
--- /dev/null
+++ b/book/rl/exercises/test_notebooks_rl_exercises.py
@@ -0,0 +1,4 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("stochastic_optimization.ipynb")
+ipynb_test("policy_gradient.ipynb")
diff --git a/book/rl/test_notebooks_rl.py b/book/rl/test_notebooks_rl.py
new file mode 100644
index 00000000..a987b89d
--- /dev/null
+++ b/book/rl/test_notebooks_rl.py
@@ -0,0 +1,4 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("black_box.ipynb")
+ipynb_test("box_flipup.ipynb")
diff --git a/book/robot.html b/book/robot.html
index c51ebb5f..c491bbd1 100644
--- a/book/robot.html
+++ b/book/robot.html
@@ -597,7 +597,7 @@ <h1><a href="index.html" style="text-decoration:none;">Robotic Manipulation</a><
         <img style="height:250px" src="figures/allegro_hand.png"/>
         </td></tr>
         </table>
-        <figcaption>Dexterous hands.  Left: the <a href="https://www.shadowrobot.com/dexterous-hand-series/">Shadow Dexterous Hand</a>.  Right: the <a href="http://www.wonikrobotics.com/Allegro-Hand.htm">Allegro Hand</a>.</figcaption>
+        <figcaption>Dexterous hands.  Left: the <a href="https://www.shadowrobot.com/dexterous-hand-series/">Shadow Dexterous Hand</a>.  Right: the <a href="https://wonikrobotics.com/en/">Allegro Hand</a>.</figcaption>
       </figure>
 
       <p>Of course, our fascination with the human hand is well placed, and we
diff --git a/book/robot/BUILD.bazel b/book/robot/BUILD.bazel
deleted file mode 100644
index b5944cdf..00000000
--- a/book/robot/BUILD.bazel
+++ /dev/null
@@ -1,71 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "inspector",
-    srcs = ["inspector.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:make_drake_compatible_model",
-    ],
-)
-
-rt_ipynb_test(
-    name = "menagerie",
-    srcs = ["menagerie.ipynb"],
-    tags = ["requires-network", "no-sandbox"],
-    deps = [
-      "//manipulation",
-      "//manipulation:make_drake_compatible_model",
-      "//manipulation:remotes",
-    ],
-)
-
-rt_ipynb_test(
-    name = "gymnasium_robotics",
-    srcs = ["gymnasium_robotics.ipynb"],
-    tags = ["requires-network", "no-sandbox"],
-    deps = [
-      "//manipulation",
-      "//manipulation:make_drake_compatible_model",
-      "//manipulation:remotes",
-    ],
-)
-
-rt_ipynb_test(
-    name = "simulation",
-    srcs = ["simulation.ipynb"],
-    deps = ["//manipulation"],
-)
-
-rt_ipynb_test(
-    name = "bimanual",
-    srcs = ["bimanual.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "iiwa_with_allegro",
-    srcs = ["iiwa_with_allegro.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "rubiks_cube",
-    data = ["//manipulation/models"],
-    srcs = ["rubiks_cube.ipynb"],
-    deps = [
-      "//manipulation",
-    ],
-)
diff --git a/book/robot/exercises/BUILD.bazel b/book/robot/exercises/BUILD.bazel
deleted file mode 100644
index 1c814143..00000000
--- a/book/robot/exercises/BUILD.bazel
+++ /dev/null
@@ -1,41 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "03_direct_joint_control",
-    srcs = ["03_direct_joint_control.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/robot:test_direct_joint_control",
-        "//manipulation:meshcat_utils",
-        "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "02_hardware_station_io",
-    srcs = ["02_hardware_station_io.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/robot:test_hardware_station_io",
-        "//manipulation:station",
-    ],
-)
-
-rt_ipynb_test(
-    name = "01_reflected_inertia",
-    srcs = ["01_reflected_inertia.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/robot:test_reflected_inertia",
-        "//manipulation/exercises/robot:test_survey",
-    ],
-)
diff --git a/book/robot/exercises/test_notebooks_robot_exercises.py b/book/robot/exercises/test_notebooks_robot_exercises.py
new file mode 100644
index 00000000..3ea91b4a
--- /dev/null
+++ b/book/robot/exercises/test_notebooks_robot_exercises.py
@@ -0,0 +1,5 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("03_direct_joint_control.ipynb")
+ipynb_test("02_hardware_station_io.ipynb")
+ipynb_test("01_reflected_inertia.ipynb")
diff --git a/book/robot/inspector.ipynb b/book/robot/inspector.ipynb
index 3a4ac127..7aa7e7ca 100644
--- a/book/robot/inspector.ipynb
+++ b/book/robot/inspector.ipynb
@@ -86,7 +86,9 @@
     "    elif description == \"Franka Emika Panda\":\n",
     "        return \"package://drake_models/franka_description/urdf/panda_arm_hand.urdf\"\n",
     "    elif description == \"UR3e\":\n",
-    "        return \"package://drake_models/ur_description/urdf/ur3e_cylinders_collision.urdf\"\n",
+    "        return (\n",
+    "            \"package://drake_models/ur_description/urdf/ur3e_cylinders_collision.urdf\"\n",
+    "        )\n",
     "    raise Exception(\"Unknown model\")\n",
     "\n",
     "\n",
diff --git a/book/robot/test_notebooks_robot.py b/book/robot/test_notebooks_robot.py
new file mode 100644
index 00000000..68852d20
--- /dev/null
+++ b/book/robot/test_notebooks_robot.py
@@ -0,0 +1,9 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("inspector.ipynb")
+ipynb_test("menagerie.ipynb")
+ipynb_test("gymnasium_robotics.ipynb")
+ipynb_test("simulation.ipynb")
+ipynb_test("bimanual.ipynb")
+ipynb_test("iiwa_with_allegro.ipynb")
+ipynb_test("rubiks_cube.ipynb")
diff --git a/book/segmentation/BUILD.bazel b/book/segmentation/BUILD.bazel
deleted file mode 100644
index 0bb74c77..00000000
--- a/book/segmentation/BUILD.bazel
+++ /dev/null
@@ -1,30 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_test")
-
-# TODO(russt): move clutter_maskrcnn_data to huggingface?
-#rt_ipynb_test(
-#    name = "segmentation_inference",
-#    srcs = ["segmentation_inference.ipynb"],
-#    deps = ["//manipulation"],
-#    data = ["//book/data:clutter_maskrcnn_data"],
-#)
-
-rt_py_test(
-  name = "segmentation_data",
-    srcs = ["segmentation_data.py"],
-    data = ["//manipulation/models"],
-    timeout = "moderate",
-    args = ["--test"],
-    imports = [".."],
-    tags = ["no-sandbox"], # for rendering, see drake#7004
-    deps = [
-      "//manipulation",
-      "//manipulation:scenarios",
-    ],
-)
diff --git a/book/segmentation/exercises/BUILD.bazel b/book/segmentation/exercises/BUILD.bazel
deleted file mode 100644
index 675ed979..00000000
--- a/book/segmentation/exercises/BUILD.bazel
+++ /dev/null
@@ -1,47 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "label_generation",
-    srcs = ["label_generation.ipynb"],
-    data = ["//manipulation/models"],
-    # This is failing on mac CI.  I don't understand why.
-    target_compatible_with = [
-        "@platforms//cpu:x86_64",
-        "@platforms//os:linux",
-    ],
-    tags = ["no-sandbox"], # for rendering, see drake#7004
-    deps = [
-        "//manipulation",
-        "//manipulation:mustard_depth_camera_example",
-        "//manipulation:scenarios",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/segmentation:test_mask",
-    ],
-)
-
-rt_ipynb_test(
-    name = "segmentation_and_grasp",
-    srcs = ["segmentation_and_grasp.ipynb"],
-    data = [
-      "//manipulation/models",
-      "//book/data:prediction_0.npz",
-      "//book/data:prediction_1.npz",
-    ],
-    tags = ["no-sandbox"], # for rendering, see drake#7004
-    deps = [
-        "//manipulation",
-        "//manipulation:scenarios",
-        "//manipulation:clutter",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/segmentation:test_segmentation_and_grasp",
-        requirement("torch"),
-        requirement("torchvision"),
-    ],
-)
\ No newline at end of file
diff --git a/book/segmentation/exercises/test_notebooks_segmentation_exercises.py b/book/segmentation/exercises/test_notebooks_segmentation_exercises.py
new file mode 100644
index 00000000..cf4ec86a
--- /dev/null
+++ b/book/segmentation/exercises/test_notebooks_segmentation_exercises.py
@@ -0,0 +1,4 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("label_generation.ipynb")
+ipynb_test("segmentation_and_grasp.ipynb")
diff --git a/book/segmentation/test_scripts_segmentation.py b/book/segmentation/test_scripts_segmentation.py
new file mode 100644
index 00000000..56adf94e
--- /dev/null
+++ b/book/segmentation/test_scripts_segmentation.py
@@ -0,0 +1,33 @@
+from __future__ import annotations
+
+import os
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[2]
+
+
+def test_segmentation_data_script() -> None:
+    cmd = [
+        sys.executable,
+        str(ROOT / "book/segmentation/segmentation_data.py"),
+        "--test",
+    ]
+    env = os.environ.copy()
+    env.setdefault("OMP_NUM_THREADS", "1")
+    env.setdefault("OPENBLAS_NUM_THREADS", "1")
+    env.setdefault("MKL_NUM_THREADS", "1")
+    env.setdefault("NUMEXPR_NUM_THREADS", "1")
+    with tempfile.TemporaryDirectory(prefix="segmentation_script_") as run_cwd:
+        result = subprocess.run(
+            cmd, cwd=run_cwd, env=env, capture_output=True, text=True
+        )
+    if result.returncode != 0:
+        message = [f"segmentation_data.py failed with exit code {result.returncode}"]
+        if result.stdout:
+            message.append(f"STDOUT:\n{result.stdout}")
+        if result.stderr:
+            message.append(f"STDERR:\n{result.stderr}")
+        raise AssertionError("\n\n".join(message))
diff --git a/book/template/template_notebook.ipynb b/book/template/template_notebook.ipynb
index 9579d6a5..04271cb1 100644
--- a/book/template/template_notebook.ipynb
+++ b/book/template/template_notebook.ipynb
@@ -74,16 +74,9 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from pydrake.all import (\n",
-    "    DiagramBuilder,\n",
-    "    Simulator,\n",
-    "    StartMeshcat,\n",
-    ")\n",
+    "from pydrake.all import DiagramBuilder, Simulator, StartMeshcat\n",
     "\n",
-    "from manipulation.station import (\n",
-    "    LoadScenario,\n",
-    "    MakeHardwareStation,\n",
-    ")"
+    "from manipulation.station import LoadScenario, MakeHardwareStation"
    ]
   },
   {
diff --git a/book/trajectories/BUILD.bazel b/book/trajectories/BUILD.bazel
deleted file mode 100644
index 9373cc78..00000000
--- a/book/trajectories/BUILD.bazel
+++ /dev/null
@@ -1,101 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "interactive_ik",
-    srcs = ["interactive_ik.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-      "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "cspace",
-    srcs = ["cspace.ipynb"],
-    data = ["//manipulation/models"],
-    deps = [
-      "//manipulation",
-      "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "gcs_derivatives",
-    srcs = ["gcs_derivatives.ipynb"],
-    deps = [ 
-      requirement("drake"),
-      requirement("ipython"),
-    ],
-)
-
-rt_ipynb_test(
-    name = "gcs_simple_2d_cspace",
-    srcs = ["gcs_simple_2d_cspace.ipynb"],
-    data = ["//manipulation/models"],
-    deps = [
-      "//manipulation",
-      requirement("scipy"),
-    ],
-    tags = ["requires-network"], # For gurobi
-)
-
-# See https://github.com/RobotLocomotion/drake/issues/21343
-#rt_ipynb_test(
-#    name = "iris_in_configuration_space",
-#    srcs = ["iris_in_configuration_space.ipynb"],
-#    tags = ["requires-network"], # For gurobi
-#    data = ["//manipulation/models"],
-#    deps = [
-#      "//manipulation",
-#      "//manipulation:meshcat_utils",
-#      "//manipulation:scenarios",
-#    ],
-#)
-
-rt_ipynb_test(
-    name = "iris_builder",
-    srcs = ["iris_builder.ipynb"],
-    deps = [
-      "//manipulation",
-      requirement("scipy"),
-    ],
-    data = ["//book/data:iiwa_shelve_and_bins_science_robotics.yaml"],
-    tags = ["requires-network"], # For gurobi
-)
-
-rt_ipynb_test(
-    name = "kinematic_trajectory_optimization",
-    srcs = ["kinematic_trajectory_optimization.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-      "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "optimization_landscape",
-    srcs = ["optimization_landscape.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:meshcat_utils",
-      "//manipulation:scenarios",
-    ],
-)
-
-rt_ipynb_test(
-    name = "rrt",
-    srcs = ["rrt.ipynb"],
-    deps = [
-      "//manipulation",
-      "//manipulation:scenarios",
-    ],
-)
\ No newline at end of file
diff --git a/book/trajectories/exercises/5_plan_place_initials.ipynb b/book/trajectories/exercises/5_plan_place_initials.ipynb
index 6cd492b0..2ce10988 100644
--- a/book/trajectories/exercises/5_plan_place_initials.ipynb
+++ b/book/trajectories/exercises/5_plan_place_initials.ipynb
@@ -72,10 +72,7 @@
     "    ConfigurationSpace,\n",
     "    Range,\n",
     ")\n",
-    "from manipulation.exercises.trajectories.rrt_planner.rrt_planning import (\n",
-    "    RRT,\n",
-    "    TreeNode,\n",
-    ")\n",
+    "from manipulation.exercises.trajectories.rrt_planner.rrt_planning import RRT, TreeNode\n",
     "from manipulation.letter_generation import create_sdf_asset_from_letter\n",
     "from manipulation.meshcat_utils import AddMeshcatTriad\n",
     "from manipulation.station import LoadScenario, MakeHardwareStation"
@@ -1442,8 +1439,8 @@
     "    path_reset: list[np.ndarray],\n",
     ") -> tuple[\"PiecewisePolynomial\", \"PiecewisePolynomial\"]:\n",
     "    \"\"\"Sequence:\n",
-    "    pick \u2192 q_grasp (OPEN) \u2192 pause 0.5 \u2192 CLOSE (no motion) \u2192 pause 0.5 \u2192 q_approach \u2192\n",
-    "    place \u2192 pause 0.5 \u2192 OPEN (no motion) \u2192 pause 0.5 \u2192 reset\n",
+    "    pick → q_grasp (OPEN) → pause 0.5 → CLOSE (no motion) → pause 0.5 → q_approach →\n",
+    "    place → pause 0.5 → OPEN (no motion) → pause 0.5 → reset\n",
     "    \"\"\"\n",
     "    times: list[float] = []\n",
     "    Q: list[np.ndarray] = []\n",
@@ -1484,7 +1481,7 @@
     "    # 9) path_reset\n",
     "    t = _append_path(times, Q, t, path_reset)\n",
     "\n",
-    "    # Build Drake trajectories (7\u00d7N for iiwa, 1\u00d7K for WSG)\n",
+    "    # Build Drake trajectories (7×N for iiwa, 1×K for WSG)\n",
     "    q_samples = np.stack(Q, axis=1)\n",
     "    traj_q = PiecewisePolynomial.FirstOrderHold(times, q_samples)\n",
     "\n",
@@ -1589,16 +1586,16 @@
     "        return path\n",
     "\n",
     "    for t = 1 to passes:\n",
-    "        choose indices i < j with j \u2265 i + min_separation // if not possible, break\n",
-    "        q_a \u2190 path[i]\n",
-    "        q_b \u2190 path[j]\n",
+    "        choose indices i < j with j ≥ i + min_separation // if not possible, break\n",
+    "        q_a ← path[i]\n",
+    "        q_b ← path[j]\n",
     "\n",
-    "        edge \u2190 direct_path_wo_collision(q_a, q_b)   // try a direct, collision-free connection\n",
+    "        edge ← direct_path_wo_collision(q_a, q_b)   // try a direct, collision-free connection\n",
     "\n",
     "        if edge successfully reaches q_b:\n",
-    "            path \u2190 ReplaceSubpath(path, i, j, edge)   // splice shortcut in\n",
+    "            path ← ReplaceSubpath(path, i, j, edge)   // splice shortcut in\n",
     "\n",
-    "    path \u2190 Clean(path)   // e.g., drop immediate duplicates, minor tidying\n",
+    "    path ← Clean(path)   // e.g., drop immediate duplicates, minor tidying\n",
     "    return path\n"
    ]
   },
diff --git a/book/trajectories/exercises/BUILD.bazel b/book/trajectories/exercises/BUILD.bazel
deleted file mode 100644
index c91bc548..00000000
--- a/book/trajectories/exercises/BUILD.bazel
+++ /dev/null
@@ -1,45 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2021 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-
-rt_ipynb_test(
-    name = "door_opening",
-    srcs = ["door_opening.ipynb"],
-    tags = ["requires-network"], # For gurobi
-    deps = [
-        "//manipulation",
-        "//manipulation:meshcat_utils",
-        "//manipulation:station",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/trajectories:test_door_opening",
-    ],
-)
-
-rt_ipynb_test(
-    name = "rrt_planning",
-    srcs = ["rrt_planning.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation:meshcat_utils",
-        "//manipulation:station",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/trajectories:test_rrt_planning",
-        "//manipulation/exercises/trajectories/rrt_planner",
-    ],
-)
-
-rt_ipynb_test(
-    name = "taskspace_iris",
-    srcs = ["taskspace_iris.ipynb"],
-    deps = [
-        "//manipulation",
-        "//manipulation/exercises:grader",
-        "//manipulation/exercises/trajectories:test_taskspace_iris",
-        requirement("scipy"),
-    ],
-)
diff --git a/book/trajectories/exercises/kinematic_trajopt_around_shelf_iiwa.ipynb b/book/trajectories/exercises/kinematic_trajopt_around_shelf_iiwa.ipynb
index e9fd2b72..99090f1e 100644
--- a/book/trajectories/exercises/kinematic_trajopt_around_shelf_iiwa.ipynb
+++ b/book/trajectories/exercises/kinematic_trajopt_around_shelf_iiwa.ipynb
@@ -294,6 +294,8 @@
    "outputs": [],
    "source": [
     "# This function will publish your trajectory on meshcat so you can see it\n",
+    "\n",
+    "\n",
     "def push_traj_to_meshcat(\n",
     "    traj: BsplineTrajectory,\n",
     "    plant: MultibodyPlant,\n",
diff --git a/book/trajectories/exercises/test_notebooks_trajectories_exercises.py b/book/trajectories/exercises/test_notebooks_trajectories_exercises.py
new file mode 100644
index 00000000..f795c098
--- /dev/null
+++ b/book/trajectories/exercises/test_notebooks_trajectories_exercises.py
@@ -0,0 +1,5 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("door_opening.ipynb")
+ipynb_test("rrt_planning.ipynb")
+ipynb_test("taskspace_iris.ipynb")
diff --git a/book/trajectories/iris_builder.ipynb b/book/trajectories/iris_builder.ipynb
index 359d8b79..44445c13 100644
--- a/book/trajectories/iris_builder.ipynb
+++ b/book/trajectories/iris_builder.ipynb
@@ -46,7 +46,7 @@
     ")\n",
     "from pydrake.geometry.optimization import (\n",
     "    HPolyhedron,\n",
-    "    IrisInConfigurationSpace,\n",
+    "    IrisNp,\n",
     "    IrisOptions,\n",
     "    LoadIrisRegionsYamlFile,\n",
     "    SaveIrisRegionsYamlFile,\n",
@@ -188,7 +188,8 @@
     "        iris_options.configuration_obstacles = None\n",
     "    display(f\"Computing region for seed: {name}\")\n",
     "    start_time = time.time()\n",
-    "    hpoly = IrisInConfigurationSpace(plant, plant_context, iris_options)\n",
+    "    # TODO(russt): Update this to use IrisNp2.\n",
+    "    hpoly = IrisNp(plant, plant_context, iris_options)\n",
     "    display(\n",
     "        f\"Finished seed {name}; Computation time: {(time.time() - start_time):.2f} seconds\"\n",
     "    )\n",
diff --git a/book/trajectories/test_notebooks_trajectories.py b/book/trajectories/test_notebooks_trajectories.py
new file mode 100644
index 00000000..cf5467bc
--- /dev/null
+++ b/book/trajectories/test_notebooks_trajectories.py
@@ -0,0 +1,10 @@
+from htmlbook.ipynb_test import ipynb_test
+
+ipynb_test("interactive_ik.ipynb")
+ipynb_test("cspace.ipynb")
+ipynb_test("gcs_derivatives.ipynb")
+ipynb_test("gcs_simple_2d_cspace.ipynb")
+ipynb_test("iris_builder.ipynb")
+ipynb_test("kinematic_trajectory_optimization.ipynb")
+ipynb_test("optimization_landscape.ipynb")
+ipynb_test("rrt.ipynb")
diff --git a/conftest.py b/conftest.py
new file mode 100644
index 00000000..25275c64
--- /dev/null
+++ b/conftest.py
@@ -0,0 +1,28 @@
+from __future__ import annotations
+
+import os
+import sys
+from pathlib import Path
+
+REPO_ROOT = Path(__file__).resolve().parent
+
+
+def pytest_configure() -> None:
+    os.environ.setdefault("MPLBACKEND", "Agg")
+    os.environ.setdefault("MPLCONFIGDIR", "/tmp/matplotlib")
+    os.environ.setdefault("XDG_CACHE_HOME", "/tmp")
+    Path("/tmp/matplotlib").mkdir(parents=True, exist_ok=True)
+    if str(REPO_ROOT) not in sys.path:
+        sys.path.insert(0, str(REPO_ROOT))
+    if str(REPO_ROOT / "book") not in sys.path:
+        sys.path.insert(0, str(REPO_ROOT / "book"))
+
+
+def pytest_ignore_collect(collection_path, config):  # type: ignore[no-untyped-def]
+    solutions_dir = REPO_ROOT / "solutions"
+    if solutions_dir.exists():
+        return None
+    try:
+        return Path(collection_path).resolve().is_relative_to(solutions_dir)
+    except Exception:
+        return None
diff --git a/environ.bzl b/environ.bzl
deleted file mode 100644
index a72b4489..00000000
--- a/environ.bzl
+++ /dev/null
@@ -1,70 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright (c) 2018, Toyota Research Institute.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# * Redistributions of source code must retain the above copyright notice, this
-#   list of conditions and the following disclaimer.
-#
-# * Redistributions in binary form must reproduce the above copyright notice,
-#   this list of conditions and the following disclaimer in the documentation
-#   and/or other materials provided with the distribution.
-#
-# * Neither the name of the copyright holder nor the names of its contributors
-#   may be used to endorse or promote products derived from this software
-#   without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-# Write out a repository that contains:
-# - An empty BUILD file, to define a package.
-# - An environ.bzl file with variable assignments for each ENV_NAMES item.
-def _impl(repository_ctx):
-    vars = repository_ctx.attr._vars
-    bzl_content = []
-    for key in vars:
-        value = repository_ctx.os.environ.get(key, "")
-        bzl_content.append("{}='{}'\n".format(key, value))
-    repository_ctx.file(
-        "BUILD.bazel",
-        content = "\n",
-        executable = False,
-    )
-    repository_ctx.file(
-        "environ.bzl",
-        content = "".join(bzl_content),
-        executable = False,
-    )
-
-def environ_repository(name = None, vars = []):
-    """Provide specific environment variables for use in a WORKSPACE file.
-    The `vars` are the environment variables to provide.
-
-    Example:
-        environ_repository(name = "foo", vars = ["BAR", "BAZ"])
-        load("@foo//:environ.bzl", "BAR", "BAZ")
-        print(BAR)
-    """
-    rule = repository_rule(
-        implementation = _impl,
-        attrs = {
-            "_vars": attr.string_list(default = vars),
-        },
-        local = True,
-        environ = vars,
-    )
-    rule(name = name)
diff --git a/manipulation/BUILD.bazel b/manipulation/BUILD.bazel
deleted file mode 100644
index e493ee8c..00000000
--- a/manipulation/BUILD.bazel
+++ /dev/null
@@ -1,284 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load(
-    "//book/htmlbook/tools/python:defs.bzl",
-    "rt_py_library",
-    "rt_py_test",
-    "rt_py_binary",
-)
-
-rt_py_library(
-    name="manipulation",
-    srcs=[
-        "__init__.py",
-        "utils.py",
-    ],
-    data=[
-        "@drake_models",
-    ],
-    imports=[".."],
-    visibility=["//visibility:public"],
-    deps=[
-        requirement("drake"),
-        requirement("ipython"),
-        requirement("mpld3"),
-        requirement("pyvirtualdisplay"),
-    ],
-)
-
-rt_py_library(
-    name="meshcat_utils",
-    srcs=["meshcat_utils.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-)
-
-rt_py_library(
-    name="make_drake_compatible_model",
-    srcs=["make_drake_compatible_model.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-    deps=[
-        requirement("drake"),
-        requirement("lxml"),
-    ],
-    optional_deps=[
-        requirement("pycollada"),
-        requirement("trimesh"),
-    ],
-)
-
-rt_py_library(
-    name="mustard_depth_camera_example",
-    srcs=["mustard_depth_camera_example.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-    deps=[
-        "scenarios",
-    ],
-)
-
-rt_py_library(
-    name="scenarios",
-    data=["//manipulation/models"],
-    deps=[
-        "//manipulation",
-        "//manipulation:systems",
-    ],
-    srcs=["scenarios.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-)
-
-rt_py_library(
-    name="remotes",
-    srcs=["remotes.py"],
-    imports=[".."],
-    deps=[
-        "make_drake_compatible_model",
-        requirement("drake"),
-    ],
-    visibility=["//visibility:public"],
-)
-
-rt_py_binary(
-    name="prefetch_remotes",
-    tags=["requires-network", "no-sandbox"],
-    srcs=["prefetch_remotes.py"],
-    deps=["remotes"],
-)
-
-rt_py_library(
-    name="directives_tree",
-    deps=[
-        "//manipulation",
-    ],
-    srcs=["directives_tree.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-)
-
-rt_py_library(
-    name="station",
-    deps=[
-        "//manipulation",
-        "scenarios",
-        "systems",
-        "directives_tree",
-    ],
-    srcs=["station.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-)
-
-rt_py_library(
-    name="systems",
-    srcs=["systems.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-)
-
-rt_py_library(
-    name="pick",
-    srcs=["pick.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-)
-
-# TODO(russt): Rename this to pose.py
-rt_py_library(
-    name="icp",
-    srcs=["icp.py"],
-    imports=[".."],
-    deps=[
-        requirement("scipy"),  # TODO(russt): remove this dep?
-    ],
-    visibility=["//visibility:public"],
-)
-
-rt_py_library(
-    name="clutter",
-    srcs=["clutter.py"],
-    imports=[".."],
-    visibility=["//visibility:public"],
-)
-
-rt_py_library(
-    name="letter_generation",
-    srcs=[
-        "letter_generation.py",
-        "create_sdf_from_mesh.py",
-    ],
-    imports=[".."],
-    deps=[
-        "manipulation",
-        requirement("lxml"),
-    ],
-    optional_deps=[
-        requirement("trimesh"),
-        requirement("shapely"),
-        requirement("coacd"),
-        requirement("vhacdx"),
-        requirement("mapbox_earcut"),
-        requirement("manifold3d"),
-    ],
-    visibility=["//visibility:public"],
-)
-
-rt_py_test(
-    name="test_create_sdf_from_mesh",
-    srcs=[
-        "test/test_create_sdf_from_mesh.py",
-        "//manipulation:create_sdf_from_mesh.py",
-    ],
-    imports=[".."],
-    deps=[
-        "manipulation",
-        requirement("lxml"),
-    ],
-    optional_deps=[
-        requirement("trimesh"),
-        requirement("vhacdx"),
-    ],
-)
-
-rt_py_test(
-    name="test_gym",
-    data=["//manipulation:models"],
-    srcs=["test/test_gym.py"],
-    imports=[".."],
-    deps=[
-        "//manipulation/envs:box_flipup",
-        "manipulation",
-        "scenarios",
-    ],
-    optional_deps=[
-        requirement("stable_baselines3"),
-    ],
-)
-
-rt_py_test(
-    name="test_make_drake_compatible_model",
-    srcs=["test/test_make_drake_compatible_model.py"],
-    imports=[".."],
-    tags=["requires-network", "no-sandbox"],
-    timeout="moderate",  # TODO(russt): consider moving the menagerie work to the prefetch_remotes
-    data=[
-        "//manipulation/test/models:models",
-    ],
-    deps=[
-        "manipulation",
-        "//manipulation:make_drake_compatible_model",
-        "//manipulation:remotes",
-    ],
-)
-
-rt_py_test(
-    name="test_meshcat_utils",
-    srcs=["test/test_meshcat_utils.py"],
-    tags=["requires-network"],  # For gurobi
-    imports=[".."],
-    deps=[
-        "manipulation",
-        "//manipulation:meshcat_utils",
-    ],
-)
-
-rt_py_test(
-    name="test_model_directives",
-    srcs=["test/test_model_directives.py"],
-    data=["//manipulation:models"],
-    imports=[".."],
-    deps=["manipulation"],
-)
-
-rt_py_test(
-    name="test_directives_tree",
-    srcs=["test/test_directives_tree.py"],
-    data=["//manipulation:station"],
-    imports=[".."],
-    deps=["manipulation"],
-)
-
-rt_py_test(
-    name="test_inverse_dynamics_driver",
-    srcs=["test/test_inverse_dynamics_driver.py"],
-    data=["//manipulation:station"],
-    imports=[".."],
-    deps=["manipulation"],
-)
-
-rt_py_test(
-    name="test_hardware_station_interface",
-    srcs=["test/test_hardware_station_interface.py"],
-    data=["//manipulation:station"],
-    imports=[".."],
-    deps=["manipulation"],
-)
-
-rt_py_test(
-    name="test_utils",
-    srcs=["test/test_utils.py"],
-    imports=[".."],
-    deps=[
-        "manipulation",
-        "mustard_depth_camera_example",
-    ],
-)
-
-rt_py_test(
-    name="test_letter_generation",
-    srcs=[
-        "test/test_letter_generation.py",
-    ],
-    imports=[".."],
-    deps=[
-        "manipulation",
-        "letter_generation",
-    ],
-)
diff --git a/manipulation/envs/BUILD.bazel b/manipulation/envs/BUILD.bazel
deleted file mode 100644
index 7586d414..00000000
--- a/manipulation/envs/BUILD.bazel
+++ /dev/null
@@ -1,38 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library", "rt_py_test")
-
-rt_py_library(
-    name = "box_flipup",
-    srcs = ["box_flipup.py"],
-    data = [
-      "//manipulation/models",
-    ],
-    imports = [".."],
-    visibility = ["//visibility:public"],
-    deps = [
-      "//manipulation",
-      "//manipulation:scenarios",
-      requirement("gymnasium"),
-    ]
-)
-
-rt_py_library(
-    name = "planar_gripper_pushing_a_box",
-    srcs = ["planar_gripper_pushing_a_box.py"],
-    data = [
-      "//manipulation/models",
-    ],
-    imports = [".."],
-    visibility = ["//visibility:public"],
-    deps = [
-      "//manipulation",
-      "//manipulation:scenarios",
-      requirement("gymnasium"),
-    ]
-)
diff --git a/manipulation/exercises/BUILD.bazel b/manipulation/exercises/BUILD.bazel
deleted file mode 100644
index 0853c56f..00000000
--- a/manipulation/exercises/BUILD.bazel
+++ /dev/null
@@ -1,20 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:requirements.bzl", "requirement")
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "grader",
-    srcs = ["grader.py"],
-    deps = [
-      requirement("gradescope_utils"),
-      requirement("timeout_decorator"),
-      requirement("nbconvert"),
-      requirement("nbformat"),
-    ],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/clutter/BUILD.bazel b/manipulation/exercises/clutter/BUILD.bazel
deleted file mode 100644
index 533ac45e..00000000
--- a/manipulation/exercises/clutter/BUILD.bazel
+++ /dev/null
@@ -1,32 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_analytic_grasp",
-    srcs = ["test_analytic_grasp.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_grasp_candidate",
-    srcs = ["test_grasp_candidate.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_normal",
-    data = ["normal_solution.npy"],
-    srcs = ["test_normal.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_grasp_letters",
-    srcs = ["test_grasp_letters.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/deep_perception/BUILD.bazel b/manipulation/exercises/deep_perception/BUILD.bazel
deleted file mode 100644
index 99459c33..00000000
--- a/manipulation/exercises/deep_perception/BUILD.bazel
+++ /dev/null
@@ -1,13 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_contrastive",
-    srcs = ["test_contrastive.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/force/BUILD.bazel b/manipulation/exercises/force/BUILD.bazel
deleted file mode 100644
index 53f18d62..00000000
--- a/manipulation/exercises/force/BUILD.bazel
+++ /dev/null
@@ -1,13 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_hybrid",
-    srcs = ["test_hybrid.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/intro/BUILD.bazel b/manipulation/exercises/intro/BUILD.bazel
deleted file mode 100644
index 3c9eed4d..00000000
--- a/manipulation/exercises/intro/BUILD.bazel
+++ /dev/null
@@ -1,25 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2025-2026 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_intro_fundamentals",
-    srcs = ["test_intro_fundamentals.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_physics_simulation_and_robots",
-    srcs = ["test_physics_simulation_and_robots.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_hardwarestation_and_scenarios",
-    srcs = ["test_hardwarestation_and_scenarios.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/mobile/BUILD.bazel b/manipulation/exercises/mobile/BUILD.bazel
deleted file mode 100644
index 2261f7ec..00000000
--- a/manipulation/exercises/mobile/BUILD.bazel
+++ /dev/null
@@ -1,13 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_mobile_base_ik",
-    srcs = ["test_mobile_base_ik.py"],
-    visibility = ["//visibility:public"],
-)
\ No newline at end of file
diff --git a/manipulation/exercises/pick/BUILD.bazel b/manipulation/exercises/pick/BUILD.bazel
deleted file mode 100644
index af5dcd7d..00000000
--- a/manipulation/exercises/pick/BUILD.bazel
+++ /dev/null
@@ -1,50 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_differential_ik",
-    srcs = ["test_differential_ik.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_simple_qp",
-    srcs = ["test_simple_qp.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_planar_manipulator",
-    srcs = ["test_planar_manipulator.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "plot_planar_manipulator",
-    srcs = ["plot_planar_manipulator.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_robot_painter",
-    srcs = ["test_robot_painter.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_rigid_transforms",
-    srcs = ["test_rigid_transforms.py"],
-    visibility = ["//visibility:public"],
-)
-
-
-rt_py_library(
-    name="test_pickplace_initials",
-    srcs=["test_pickplace_initials.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/pose/BUILD.bazel b/manipulation/exercises/pose/BUILD.bazel
deleted file mode 100644
index cadde1f5..00000000
--- a/manipulation/exercises/pose/BUILD.bazel
+++ /dev/null
@@ -1,32 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_pose_estimation",
-    srcs = ["test_pose_estimation.py"],
-    visibility = ["//visibility:public"],
-    deps = ["//manipulation"],
-)
-
-rt_py_library(
-    name = "test_icp",
-    srcs = ["test_icp.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_ransac",
-    srcs = ["test_ransac.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_pickplace_initials_with_geometry",
-    srcs = ["test_pickplace_initials_with_geometry.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/rl/BUILD.bazel b/manipulation/exercises/rl/BUILD.bazel
deleted file mode 100644
index 0af01442..00000000
--- a/manipulation/exercises/rl/BUILD.bazel
+++ /dev/null
@@ -1,19 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_stochastic_optimization",
-    srcs = ["test_stochastic_optimization.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_vpg",
-    srcs = ["test_vpg.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/robot/BUILD.bazel b/manipulation/exercises/robot/BUILD.bazel
deleted file mode 100644
index fadfa18a..00000000
--- a/manipulation/exercises/robot/BUILD.bazel
+++ /dev/null
@@ -1,37 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_reflected_inertia",
-    srcs = ["test_reflected_inertia.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_hardware_station_io",
-    srcs = ["test_hardware_station_io.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_direct_joint_control",
-    srcs = ["test_direct_joint_control.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_survey",
-    srcs = ["test_survey.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_pid",
-    srcs = ["test_pid.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/segmentation/BUILD.bazel b/manipulation/exercises/segmentation/BUILD.bazel
deleted file mode 100644
index 7c90d183..00000000
--- a/manipulation/exercises/segmentation/BUILD.bazel
+++ /dev/null
@@ -1,20 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_mask",
-    srcs = ["test_mask.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_segmentation_and_grasp",
-    data = ["//book/data:segmentation_and_grasp_soln.npz"],
-    srcs = ["test_segmentation_and_grasp.py"],
-    visibility = ["//visibility:public"],
-)
\ No newline at end of file
diff --git a/manipulation/exercises/trajectories/BUILD.bazel b/manipulation/exercises/trajectories/BUILD.bazel
deleted file mode 100644
index fc12528b..00000000
--- a/manipulation/exercises/trajectories/BUILD.bazel
+++ /dev/null
@@ -1,31 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "test_door_opening",
-    srcs = ["test_door_opening.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_rrt_planning",
-    srcs = ["test_rrt_planning.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_taskspace_iris",
-    srcs = ["test_taskspace_iris.py"],
-    visibility = ["//visibility:public"],
-)
-
-rt_py_library(
-    name = "test_plan_place_initials",
-    srcs = ["test_plan_place_initials.py"],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/exercises/trajectories/rrt_planner/BUILD.bazel b/manipulation/exercises/trajectories/rrt_planner/BUILD.bazel
deleted file mode 100644
index 9352f91e..00000000
--- a/manipulation/exercises/trajectories/rrt_planner/BUILD.bazel
+++ /dev/null
@@ -1,20 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-load("//book/htmlbook/tools/python:defs.bzl", "rt_py_library")
-
-rt_py_library(
-    name = "rrt_planner",
-    srcs = [
-        "__init__.py",
-        "geometry.py",
-        "iiwa_rrt_problem.py",
-        "robot.py",
-        "rrt_planning.py",
-    ],
-    imports = [".."],
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/models/BUILD.bazel b/manipulation/models/BUILD.bazel
deleted file mode 100644
index 8f293893..00000000
--- a/manipulation/models/BUILD.bazel
+++ /dev/null
@@ -1,25 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-filegroup(
-    name = "models",
-    srcs = glob([
-        "**/*.sdf",
-        "**/*.urdf",
-        "**/*.yaml",
-        "**/*.xml",
-        "**/*.obj",
-    ]),
-    visibility = ["//visibility:public"],
-)
-
-exports_files(
-    glob([
-        "**/*.sdf",
-        "**/*.urdf",
-    ]),
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/models/bunny/BUILD.bazel b/manipulation/models/bunny/BUILD.bazel
deleted file mode 100644
index ab2956fe..00000000
--- a/manipulation/models/bunny/BUILD.bazel
+++ /dev/null
@@ -1,13 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-exports_files(
-    [
-      "bunny.npy",
-      "bun_zipper_res2.ply",
-    ],
-    visibility = ["//:__subpackages__"],
-)
diff --git a/manipulation/station.py b/manipulation/station.py
index 7f3e4fbe..e29189ae 100644
--- a/manipulation/station.py
+++ b/manipulation/station.py
@@ -1326,6 +1326,7 @@ def _ApplyCameraLcmIdInterface(
 ) -> None:
     lcm = lcm_buses.Find("Driver for " + camera_config.name, camera_config.lcm_bus)
 
+    print(camera_config.name, camera_id)
     camera_data_receiver = builder.AddSystem(LcmImageArrayToImages())
     camera_data_receiver.set_name(camera_config.name + ".data_receiver")
     camera_data_subscriber = builder.AddSystem(
@@ -1408,20 +1409,21 @@ def _MakeHardwareStationInterface(
     lcm_buses = ApplyLcmBusConfig(lcm_buses=scenario.lcm_buses, builder=builder)
 
     # Add drivers.
-    _ApplyDriverConfigsInterface(
-        driver_configs=scenario.model_drivers,
-        lcm_buses=lcm_buses,
-        builder=builder,
-    )
-
-    if meshcat is not None:
-        _WireDriverStatusReceiversToToPose(
-            model_instance_names=scenario.model_drivers.keys(),
+    if scenario.model_drivers:
+        _ApplyDriverConfigsInterface(
+            driver_configs=scenario.model_drivers,
+            lcm_buses=lcm_buses,
             builder=builder,
-            plant=plant,
-            to_pose=to_pose,
         )
 
+        if meshcat is not None:
+            _WireDriverStatusReceiversToToPose(
+                model_instance_names=scenario.model_drivers.keys(),
+                builder=builder,
+                plant=plant,
+                to_pose=to_pose,
+            )
+
     # Add camera ids
     for camera_name, camera_id in scenario.camera_ids.items():
         _ApplyCameraLcmIdInterface(
diff --git a/manipulation/test/models/BUILD.bazel b/manipulation/test/models/BUILD.bazel
deleted file mode 100644
index 16287f7b..00000000
--- a/manipulation/test/models/BUILD.bazel
+++ /dev/null
@@ -1,20 +0,0 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
-# Copyright 2020-2024 Massachusetts Institute of Technology.
-# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
-
-filegroup(
-    name = "models",
-    srcs = glob([
-        "**/*.sdf",
-        "**/*.urdf",
-        "**/*.yaml",
-        "**/*.xml",
-        "**/*.obj",
-        "**/*.dae",
-        "**/*.stl",
-        "assets/*",
-    ]),
-    visibility = ["//visibility:public"],
-)
diff --git a/manipulation/test/test_hardware_station_interface.py b/manipulation/test/test_hardware_station_interface.py
index f4114093..34497600 100644
--- a/manipulation/test/test_hardware_station_interface.py
+++ b/manipulation/test/test_hardware_station_interface.py
@@ -1,3 +1,4 @@
+import sys
 import unittest
 
 from pydrake.all import StartMeshcat
@@ -5,6 +6,10 @@
 from manipulation.station import LoadScenario, MakeHardwareStation, Scenario
 
 
+@unittest.skipIf(
+    sys.platform == "darwin",
+    "Disabled on macOS pending Drake issue: https://github.com/RobotLocomotion/drake/issues/24118",
+)
 class HardwareStationInterfaceTest(unittest.TestCase):
     def get_scenario(self) -> Scenario:
         scenario_data = """
diff --git a/manipulation/test/test_station_camera_ids.py b/manipulation/test/test_station_camera_ids.py
index b4d41606..e7945432 100644
--- a/manipulation/test/test_station_camera_ids.py
+++ b/manipulation/test/test_station_camera_ids.py
@@ -46,9 +46,17 @@ def test_load_scenario_with_camera_ids(self):
         self.assertTrue(station.HasSubsystemNamed("camera0.data_subscriber"))
         self.assertTrue(station.HasSubsystemNamed("camera0.data_receiver"))
 
-        in_system, out_system = next(iter(station.connection_map().items()))
-        self.assertIsInstance(in_system[0], LcmImageArrayToImages)
-        self.assertIsInstance(out_system[0], LcmSubscriberSystem)
+        connection_map = station.connection_map()
+        has_camera_connection = any(
+            isinstance(in_sys[0], LcmImageArrayToImages)
+            and isinstance(out_sys[0], LcmSubscriberSystem)
+            for in_sys, out_sys in connection_map.items()
+        )
+        self.assertTrue(
+            has_camera_connection,
+            "Expected at least one connection from LcmImageArrayToImages to "
+            "LcmSubscriberSystem in connection_map",
+        )
 
 
 if __name__ == "__main__":
diff --git a/manipulation/utils.py b/manipulation/utils.py
index 394d4fcb..2b5c68a8 100644
--- a/manipulation/utils.py
+++ b/manipulation/utils.py
@@ -67,7 +67,7 @@ def FindDataResource(filename: str):
         if running_as_test:
             raise FileNotFoundError(
                 f"{path} was not found locally; it is required for testing."
-            )  # because the urlretrieve defeats bazel's hermetic testing.
+            )  # Keep tests deterministic and independent of network access.
         print(f"{path} was not found locally; downloading it now...")
         urlretrieve(f"https://manipulation.csail.mit.edu/data/{filename}", path)
     return path
diff --git a/poetry.lock b/poetry.lock
index 27261f00..1f237e2b 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 2.1.4 and should not be changed by hand.
+# This file is automatically @generated by Poetry 2.3.2 and should not be changed by hand.
 
 [[package]]
 name = "alabaster"
@@ -115,7 +115,7 @@ files = [
     {file = "beautifulsoup4-4.13.5-py3-none-any.whl", hash = "sha256:642085eaa22233aceadff9c69651bc51e8bf3f874fb6d7104ece2beb24b47c4a"},
     {file = "beautifulsoup4-4.13.5.tar.gz", hash = "sha256:5e70131382930e7c3de33450a2f54a63d5e4b19386eab43a5b34d594268f3695"},
 ]
-markers = {main = "sys_platform == \"darwin\" or sys_platform == \"linux\""}
+markers = {main = "extra == \"grader\" and (sys_platform == \"darwin\" or sys_platform == \"linux\")"}
 
 [package.dependencies]
 soupsieve = ">1.2"
@@ -761,22 +761,24 @@ files = [
 
 [[package]]
 name = "drake"
-version = "1.43.0"
+version = "1.50.0"
 description = "Model-based design and verification for robotics"
 optional = false
 python-versions = ">=3.10"
 groups = ["main", "docs"]
 files = [
-    {file = "drake-1.43.0-cp310-cp310-manylinux_2_34_x86_64.whl", hash = "sha256:6311032ee16308694f08e16973d9af04ea3d10b38404fb4fb2214c60672913b0"},
-    {file = "drake-1.43.0-cp311-cp311-manylinux_2_34_x86_64.whl", hash = "sha256:a4c8436f759e86739c4a27439e821f1951e06f38a4e2590101bcb2786e19ffe9"},
-    {file = "drake-1.43.0-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:491318cdad1bba249d7e30e98b1da22c98b83ea5b173dd44da05e4d75db1dd13"},
-    {file = "drake-1.43.0-cp312-cp312-manylinux_2_34_x86_64.whl", hash = "sha256:8990aed4c94e68c59e1432d57aab34ca36d555c76259fb3e29f5503a402cdc2f"},
-    {file = "drake-1.43.0-cp313-cp313-macosx_14_0_arm64.whl", hash = "sha256:2d2fdc09ff754bfb3997df4ead13c860476d091093c74c860d556acf34d41bda"},
-    {file = "drake-1.43.0-cp313-cp313-manylinux_2_34_x86_64.whl", hash = "sha256:f51bfbf0145802ade8fb8fb03a3a0b69dd6d46654e93c44b1f9c036e339d2772"},
+    {file = "drake-1.50.0-cp310-cp310-manylinux_2_34_x86_64.whl", hash = "sha256:7933e33a93336c5b1a5c4570b31aa75fcd81059c6481e4e8b4230d6b502347ce"},
+    {file = "drake-1.50.0-cp311-cp311-manylinux_2_34_x86_64.whl", hash = "sha256:cf1b3a0023e10ff2a466d0b8a363ce19ca3f2b4d56566df231cb54530769f1f6"},
+    {file = "drake-1.50.0-cp312-cp312-manylinux_2_34_x86_64.whl", hash = "sha256:913be925530b7167f51a3223b9c4f99a17b9cd02b5a04fc2bda095ea57eaf22c"},
+    {file = "drake-1.50.0-cp313-cp313-macosx_15_0_arm64.whl", hash = "sha256:88a8bb9f60833f082931ca467c545cd75074b28225958bda5e1e5db0a7d7d2dd"},
+    {file = "drake-1.50.0-cp313-cp313-manylinux_2_34_x86_64.whl", hash = "sha256:ab7c3a5a2f53708dee2102f988c694b8626f4e52f66a36b1f4c322a3b0ed096d"},
+    {file = "drake-1.50.0-cp314-cp314-macosx_15_0_arm64.whl", hash = "sha256:eebed80dc9c2ea147475d2b70ba62422da8fe87d1745b910ed7a4beb2d2f5ce8"},
+    {file = "drake-1.50.0-cp314-cp314-manylinux_2_34_x86_64.whl", hash = "sha256:3f6db3abb15801a1c0830d80c2efb9df55541dd76e167f159e29d5fa2a559a6b"},
 ]
 
 [package.dependencies]
 matplotlib = "*"
+Mosek = {version = "11.1.2", markers = "python_version < \"3.15\" and platform_machine != \"aarch64\""}
 numpy = "*"
 pydot = "*"
 PyYAML = "*"
@@ -1165,6 +1167,18 @@ files = [
     {file = "imagesize-1.4.1.tar.gz", hash = "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a"},
 ]
 
+[[package]]
+name = "iniconfig"
+version = "2.3.0"
+description = "brain-dead simple config-ini parsing"
+optional = false
+python-versions = ">=3.10"
+groups = ["dev"]
+files = [
+    {file = "iniconfig-2.3.0-py3-none-any.whl", hash = "sha256:f631c04d2c48c52b84d0d0549c99ff3859c98df65b3101406327ecc7d53fbf12"},
+    {file = "iniconfig-2.3.0.tar.gz", hash = "sha256:c76315c77db068650d49c5b56314774a7804df16fee4402c1f19d6d15d8c4730"},
+]
+
 [[package]]
 name = "ipython"
 version = "8.37.0"
@@ -1293,7 +1307,7 @@ files = [
 
 [package.dependencies]
 attrs = ">=22.2.0"
-jsonschema-specifications = ">=2023.03.6"
+jsonschema-specifications = ">=2023.3.6"
 referencing = ">=0.28.4"
 rpds-py = ">=0.7.1"
 
@@ -1994,6 +2008,24 @@ files = [
 [package.dependencies]
 typing-extensions = {version = "*", markers = "python_version < \"3.11\""}
 
+[[package]]
+name = "mosek"
+version = "11.1.2"
+description = "Python API for Mosek"
+optional = false
+python-versions = "<3.15,>=3.9"
+groups = ["main", "docs"]
+markers = "python_version < \"3.15\" and platform_machine != \"aarch64\""
+files = [
+    {file = "mosek-11.1.2-cp39-abi3-macosx_11_0_arm64.whl", hash = "sha256:c56a776188951b9028b47f9e814eb21ac0c8b44b564baf8c584277c9f61a4277"},
+    {file = "mosek-11.1.2-cp39-abi3-manylinux2014_x86_64.whl", hash = "sha256:5c3566d2a603d94a1773bcd27097c8390dba1d9a1543534f3527deb56f1d0a55"},
+    {file = "mosek-11.1.2-cp39-abi3-manylinux_2_27_aarch64.whl", hash = "sha256:67c13d56a9b7adf2670e4ed6fb62aa92560ae2ff1050f6e756d0d3f82c42c19f"},
+    {file = "mosek-11.1.2-cp39-abi3-win_amd64.whl", hash = "sha256:ad81cfd53af508db89241c7869ddce7ceaae13ef057f7b98007d57dccbb63c92"},
+]
+
+[package.dependencies]
+numpy = "*"
+
 [[package]]
 name = "mpld3"
 version = "0.5.11"
@@ -2863,6 +2895,22 @@ docs = ["furo (>=2024.8.6)", "proselint (>=0.14)", "sphinx (>=8.1.3)", "sphinx-a
 test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=8.3.4)", "pytest-cov (>=6)", "pytest-mock (>=3.14)"]
 type = ["mypy (>=1.14.1)"]
 
+[[package]]
+name = "pluggy"
+version = "1.6.0"
+description = "plugin and hook calling mechanisms for python"
+optional = false
+python-versions = ">=3.9"
+groups = ["dev"]
+files = [
+    {file = "pluggy-1.6.0-py3-none-any.whl", hash = "sha256:e920276dd6813095e9377c0bc5566d94c932c33b27a3e3945d8389c374dd4746"},
+    {file = "pluggy-1.6.0.tar.gz", hash = "sha256:7dcc130b76258d33b90f61b658791dede3486c3e6bfb003ee5c9bfb396dd22f3"},
+]
+
+[package.extras]
+dev = ["pre-commit", "tox"]
+testing = ["coverage", "pytest", "pytest-benchmark"]
+
 [[package]]
 name = "pre-commit"
 version = "3.8.0"
@@ -3036,6 +3084,45 @@ files = [
 [package.extras]
 diagrams = ["jinja2", "railroad-diagrams"]
 
+[[package]]
+name = "pytest"
+version = "9.0.2"
+description = "pytest: simple powerful testing with Python"
+optional = false
+python-versions = ">=3.10"
+groups = ["dev"]
+files = [
+    {file = "pytest-9.0.2-py3-none-any.whl", hash = "sha256:711ffd45bf766d5264d487b917733b453d917afd2b0ad65223959f59089f875b"},
+    {file = "pytest-9.0.2.tar.gz", hash = "sha256:75186651a92bd89611d1d9fc20f0b4345fd827c41ccd5c299a868a05d70edf11"},
+]
+
+[package.dependencies]
+colorama = {version = ">=0.4", markers = "sys_platform == \"win32\""}
+exceptiongroup = {version = ">=1", markers = "python_version < \"3.11\""}
+iniconfig = ">=1.0.1"
+packaging = ">=22"
+pluggy = ">=1.5,<2"
+pygments = ">=2.7.2"
+tomli = {version = ">=1", markers = "python_version < \"3.11\""}
+
+[package.extras]
+dev = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "requests", "setuptools", "xmlschema"]
+
+[[package]]
+name = "pytest-timeout"
+version = "2.4.0"
+description = "pytest plugin to abort hanging tests"
+optional = false
+python-versions = ">=3.7"
+groups = ["dev"]
+files = [
+    {file = "pytest_timeout-2.4.0-py3-none-any.whl", hash = "sha256:c42667e5cdadb151aeb5b26d114aff6bdf5a907f176a007a30b940d3d865b5c2"},
+    {file = "pytest_timeout-2.4.0.tar.gz", hash = "sha256:7e68e90b01f9eff71332b25001f85c75495fc4e3a836701876183c4bcfd0540a"},
+]
+
+[package.dependencies]
+pytest = ">=7.0.0"
+
 [[package]]
 name = "python-dateutil"
 version = "2.9.0.post0"
@@ -3802,7 +3889,7 @@ files = [
     {file = "soupsieve-2.8-py3-none-any.whl", hash = "sha256:0cc76456a30e20f5d7f2e14a98a4ae2ee4e5abdc7c5ea0aafe795f344bc7984c"},
     {file = "soupsieve-2.8.tar.gz", hash = "sha256:e2dd4a40a628cb5f28f6d4b0db8800b8f581b65bb380b97de22ba5ca8d72572f"},
 ]
-markers = {main = "sys_platform == \"darwin\" or sys_platform == \"linux\""}
+markers = {main = "extra == \"grader\" and (sys_platform == \"darwin\" or sys_platform == \"linux\")"}
 
 [[package]]
 name = "sphinx"
@@ -4387,6 +4474,7 @@ files = [
     {file = "trimesh-4.7.4-py3-none-any.whl", hash = "sha256:47af90235f7006316c37584b43d5f6c109a5069b252d7ab2bf8e6ed7c9fd953b"},
     {file = "trimesh-4.7.4.tar.gz", hash = "sha256:8d242dfabd9bc4e99a4f0c75bf8c0a41fbb252924e3484b53a8b0096accb49e1"},
 ]
+markers = {main = "extra == \"all\" or extra == \"mesh\" or extra == \"letter\""}
 
 [package.dependencies]
 charset-normalizer = {version = "*", optional = true, markers = "extra == \"easy\""}
@@ -4452,7 +4540,7 @@ files = [
     {file = "typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548"},
     {file = "typing_extensions-4.15.0.tar.gz", hash = "sha256:0cea48d173cc12fa28ecabc3b837ea3cf6f38c6d1136f85cbaaf598984861466"},
 ]
-markers = {main = "(sys_platform == \"darwin\" or sys_platform == \"linux\" or python_version <= \"3.12\" or extra == \"rl\" or extra == \"all\" or extra == \"torch\") and (sys_platform == \"darwin\" or sys_platform == \"linux\" or python_version < \"3.12\" or extra == \"grader\" or extra == \"all\" or extra == \"rl\" or extra == \"torch\")", docs = "python_version < \"3.12\""}
+markers = {main = "(extra == \"grader\" or extra == \"rl\" or extra == \"all\" or extra == \"torch\" or python_version < \"3.12\") and (sys_platform == \"darwin\" or sys_platform == \"linux\" or python_version <= \"3.12\" or extra == \"rl\" or extra == \"all\" or extra == \"torch\")", docs = "python_version < \"3.12\""}
 
 [[package]]
 name = "tzdata"
@@ -4543,6 +4631,7 @@ files = [
     {file = "vhacdx-0.0.8.post2-cp39-cp39-win_amd64.whl", hash = "sha256:93041cf52887f144ad3d297a43631fcf4359dc7589c52d9a1be408d668e420e4"},
     {file = "vhacdx-0.0.8.post2.tar.gz", hash = "sha256:aa27c5ef19ed4aba428fa9408dccc37f2b7a6bbfaddc48b06a8cea9faaf93156"},
 ]
+markers = {main = "extra == \"all\" or extra == \"mesh\""}
 
 [package.dependencies]
 numpy = "*"
@@ -4778,4 +4867,4 @@ torch = ["torch", "torchvision"]
 [metadata]
 lock-version = "2.1"
 python-versions = ">=3.10,<4.0"
-content-hash = "613bf787884590d7cf1f95914504abc8e027d715d56f9322c5dd8861741de751"
+content-hash = "8270e1ed0c2a175a4ab0c7ce565a6ab877794fe33645ada3fc6b8714b029c1ff"
diff --git a/pyproject.toml b/pyproject.toml
index fe5e2fb4..403945e5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -50,13 +50,12 @@ priority = "explicit"
 python = ">=3.10,<4.0"  # Support Python 3.10 (Jammy CI), Python 3.12 (Noble CI), and 3.13 (macOS)
 cloudpickle = { version="2.2.1", optional=true} # needs to be pinned for stored files to remain compatible.
 #drake = { version = ">=0.0.20250131 <0.1", source = "drake-nightly" }
-drake = ">=1.41.0"
+drake = ">=1.45.0"
 gradescope-utils = { version=">=0.4.0", optional=true}
 gymnasium = { version=">0.26", optional=true }
 ipython = ">=7.8.0" # TODO: make this optional?
 ipywidgets = { version=">=8", optional=true } 
 lxml = {version = ">=4.9.2", extras = ["html_clean"] }
-# Note: matplotlib gets additional handling in PoetryExport.py for bazel. 
 matplotlib = ">=3.7.0" # old versions don't build in XCode
 mpld3  = { version=">=0.5.6", optional=false } # TODO: make this optional
 nbconvert = [
@@ -132,7 +131,7 @@ optional = true
 # needed to import for a file that sphinx autodoc is trying to index. None of
 # these should be marked as optional.
 #drake = { version = ">=0.0.20250118 <0.1", source = "drake-nightly" }
-drake = ">=1.41.0"
+drake = ">=1.45.0"
 ipython = ">=7.8.0"
 lxml = {version = ">=4.9.2", extras = ["html_clean"] }
 mpld3  = { version=">=0.5.6", optional=false }
@@ -150,13 +149,11 @@ black = { version = ">=23.*", extras = ["jupyter"] }
 mysql-connector-python = { version=">=8.0.23" }
 packaging = ">=24.2"
 pip-requirements-parser = ">=32.0"
+pytest = ">=8.0"
+pytest-timeout = ">=2.3.1"
 pre-commit = "^3.4.0"
 requests = { version=">=2.25.1" }
 
-[tool.poetry.requires-plugins]
-poetry-plugin-export = ">=1.8"
-poetry-pre-commit-plugin = ">=0.2"
-
 [tool.black]
 include = '\.ipynb?$|\.pyi?$'
 exclude = '''
@@ -191,5 +188,20 @@ remove-all-unused-imports = true
 remove-duplicate-keys = true
 remove-unused-variables = true
 
+[tool.pytest.ini_options]
+minversion = "8.0"
+addopts = "-ra"
+testpaths = [
+  "book",
+  "manipulation/test",
+  "solutions",
+]
+python_files = [
+  "test_*.py",
+]
+markers = [
+  "notebook: notebook execution tests",
+]
+
 [tool.pyright]
-include = ["manipulation"]
\ No newline at end of file
+include = ["manipulation"]
diff --git a/requirements-bazel-linux.txt b/requirements-bazel-linux.txt
deleted file mode 100644
index cdd40623..00000000
--- a/requirements-bazel-linux.txt
+++ /dev/null
@@ -1,132 +0,0 @@
---find-links https://download.pytorch.org/whl/torch_stable.html
-anyio==4.10.0 ; python_version >= "3.10" and python_version < "4.0"
-asttokens==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
-attrs==25.3.0 ; python_version >= "3.10" and python_version < "4.0"
-bayesian-optimization==1.4.0 ; python_version >= "3.10" and python_version < "4.0"
-beautifulsoup4==4.13.5 ; python_version >= "3.10" and python_version < "4.0"
-black==25.1.0 ; python_version >= "3.10" and python_version < "4.0"
-bleach==6.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-certifi==2025.8.3 ; python_version >= "3.10" and python_version < "4.0"
-cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
-charset-normalizer==3.4.3 ; python_version >= "3.10" and python_version < "4.0"
-click==8.2.1 ; python_version >= "3.10" and python_version < "4.0"
-cloudpickle==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
-cma==4.3.0 ; python_version >= "3.10" and python_version < "4.0"
-coacd==1.0.7 ; python_version >= "3.10" and python_version < "4.0"
-colorlog==6.9.0 ; python_version >= "3.10" and python_version < "4.0"
-comm==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
-config-path==1.0.5 ; python_version >= "3.10" and python_version < "4.0"
-contourpy==1.3.2 ; python_version >= "3.10" and python_version < "4.0"
-cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
-cython==3.1.3 ; python_version >= "3.10" and python_version < "4.0"
-decorator==5.2.1 ; python_version >= "3.10" and python_version < "4.0"
-defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-directsearch==1.0 ; python_version >= "3.10" and python_version < "4.0"
-distlib==0.4.0 ; python_version >= "3.10" and python_version < "4.0"
-drake==1.43.0 ; python_version >= "3.10" and python_version < "4.0"
-executing==2.2.0 ; python_version >= "3.10" and python_version < "4.0"
-farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
-fastjsonschema==2.21.2 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.19.1 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.59.2 ; python_version >= "3.10" and python_version < "4.0"
-fsspec==2025.7.0 ; python_version >= "3.10" and python_version < "4.0"
-gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
-gymnasium==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
-h11==0.16.0 ; python_version >= "3.10" and python_version < "4.0"
-httpcore==1.0.9 ; python_version >= "3.10" and python_version < "4.0"
-httpx==0.28.1 ; python_version >= "3.10" and python_version < "4.0"
-identify==2.6.13 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
-ipython==8.37.0 ; python_version >= "3.10" and python_version < "4.0"
-ipywidgets==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
-jedi==0.19.2 ; python_version >= "3.10" and python_version < "4.0"
-jinja2==3.1.6 ; python_version >= "3.10" and python_version < "4.0"
-joblib==1.5.2 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema-specifications==2025.4.1 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema==4.25.1 ; python_version >= "3.10" and python_version < "4.0"
-jupyter-client==8.6.3 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-core==5.8.1 ; python_version >= "3.10" and python_version < "4.0"
-jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyterlab-widgets==3.0.15 ; python_version >= "3.10" and python_version < "4.0"
-kiwisolver==1.4.9 ; python_version >= "3.10" and python_version < "4.0"
-lxml-html-clean==0.4.2 ; python_version >= "3.10" and python_version < "4.0"
-lxml==6.0.1 ; python_version >= "3.10" and python_version < "4.0"
-manifold3d==3.2.1 ; python_version >= "3.10" and python_version < "4.0"
-mapbox-earcut==1.0.3 ; python_version >= "3.10" and python_version < "4.0"
-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==3.10.6 ; python_version >= "3.10" and python_version < "4.0"
-mistune==3.1.4 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-mpld3==0.5.11 ; python_version >= "3.10" and python_version < "4.0"
-mpmath==1.3.0 ; python_version >= "3.10" and python_version < "4.0"
-mypy-extensions==1.1.0 ; python_version >= "3.10" and python_version < "4.0"
-mysql-connector-python==9.4.0 ; python_version >= "3.10" and python_version < "4.0"
-nbclient==0.10.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-nbconvert==7.14.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-nbformat==5.10.4 ; python_version >= "3.10" and python_version < "4.0"
-networkx==3.4.2 ; python_version >= "3.10" and python_version < "4.0"
-nevergrad==1.0.12 ; python_version >= "3.10" and python_version < "4.0"
-nodeenv==1.9.1 ; python_version >= "3.10" and python_version < "4.0"
-numpy==2.2.6 ; python_version >= "3.10" and python_version < "4.0"
-packaging==25.0 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.3.2 ; python_version >= "3.10" and python_version < "4.0"
-pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-parso==0.8.5 ; 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" and (sys_platform == "darwin" or sys_platform == "linux" or sys_platform != "darwin" and sys_platform != "linux" and sys_platform != "win32" and sys_platform != "emscripten")
-pillow==11.3.0 ; python_version >= "3.10" and python_version < "4.0"
-pip-requirements-parser==32.0.1 ; python_version >= "3.10" and python_version < "4.0"
-platformdirs==4.4.0 ; 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==3.0.52 ; python_version >= "3.10" and python_version < "4.0"
-psutil==7.0.0 ; python_version >= "3.10" and python_version < "4.0"
-ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux" or sys_platform != "darwin" and sys_platform != "linux" and sys_platform != "win32" and sys_platform != "emscripten")
-pure-eval==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
-pycollada==0.9.2 ; python_version >= "3.10" and python_version < "4.0"
-pydot==4.0.1 ; python_version >= "3.10" and python_version < "4.0"
-pygments==2.19.2 ; python_version >= "3.10" and python_version < "4.0"
-pyparsing==3.2.3 ; python_version >= "3.10" and python_version < "4.0"
-python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
-python-fcl==0.7.0.8 ; python_version >= "3.10" and python_version < "4.0"
-pytz==2025.2 ; python_version >= "3.10" and python_version < "4.0"
-pyvirtualdisplay==3.0 ; python_version >= "3.10" and python_version < "4.0"
-pyyaml==6.0.2 ; python_version >= "3.10" and python_version < "4.0"
-pyzmq==27.0.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-referencing==0.36.2 ; python_version >= "3.10" and python_version < "4.0"
-requests==2.32.5 ; python_version >= "3.10" and python_version < "4.0"
-rpds-py==0.27.1 ; python_version >= "3.10" and python_version < "4.0"
-rtree==1.4.1 ; python_version >= "3.10" and python_version < "4.0"
-scene-synthesizer==1.15.0 ; python_version >= "3.10" and python_version < "4.0"
-scikit-learn==1.7.1 ; python_version >= "3.10" and python_version < "4.0"
-scipy==1.15.3 ; python_version >= "3.10" and python_version < "4.0"
-setuptools-scm==9.2.0 ; python_version >= "3.10" and python_version < "4.0"
-setuptools==70.3.0 ; python_version >= "3.10" and python_version < "4.0"
-shapely==2.1.1 ; python_version >= "3.10" and python_version < "4.0"
-six==1.17.0 ; python_version >= "3.10" and python_version < "4.0"
-sniffio==1.3.1 ; python_version >= "3.10" and python_version < "4.0"
-soupsieve==2.8 ; python_version >= "3.10" and python_version < "4.0"
-stable-baselines3==2.7.0 ; 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==7.0 ; python_version >= "3.10" and python_version < "4.0"
-sympy==1.14.0 ; python_version >= "3.10" and python_version < "4.0"
-threadpoolctl==3.6.0 ; 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" or sys_platform == "linux")
-tokenize-rt==6.2.0 ; python_version >= "3.10" and python_version < "4.0"
-torch==2.7.1 ; python_version >= "3.10" and python_version < "4.0"
-torchvision==0.22.1 ; python_version >= "3.10" and python_version < "4.0"
-tornado==6.5.2 ; 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"
-triangle==20250106 ; python_version >= "3.10" and python_version < "4.0"
-trimesh==4.7.4 ; python_version >= "3.10" and python_version < "4.0"
-typing-extensions==4.15.0 ; python_version >= "3.10" and python_version < "4.0"
-tzdata==2025.2 ; python_version >= "3.10" and python_version < "4.0"
-urllib3==2.5.0 ; python_version >= "3.10" and python_version < "4.0"
-vhacdx==0.0.8.post2 ; python_version >= "3.10" and python_version < "4.0"
-virtualenv==20.34.0 ; python_version >= "3.10" and python_version < "4.0"
-wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
-webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-widgetsnbextension==4.0.14 ; python_version >= "3.10" and python_version < "4.0"
-xxhash==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
-yourdfpy==0.0.58 ; python_version >= "3.10" and python_version < "4.0"
diff --git a/requirements-bazel-mac.txt b/requirements-bazel-mac.txt
deleted file mode 100644
index cdd40623..00000000
--- a/requirements-bazel-mac.txt
+++ /dev/null
@@ -1,132 +0,0 @@
---find-links https://download.pytorch.org/whl/torch_stable.html
-anyio==4.10.0 ; python_version >= "3.10" and python_version < "4.0"
-asttokens==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
-attrs==25.3.0 ; python_version >= "3.10" and python_version < "4.0"
-bayesian-optimization==1.4.0 ; python_version >= "3.10" and python_version < "4.0"
-beautifulsoup4==4.13.5 ; python_version >= "3.10" and python_version < "4.0"
-black==25.1.0 ; python_version >= "3.10" and python_version < "4.0"
-bleach==6.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-certifi==2025.8.3 ; python_version >= "3.10" and python_version < "4.0"
-cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
-charset-normalizer==3.4.3 ; python_version >= "3.10" and python_version < "4.0"
-click==8.2.1 ; python_version >= "3.10" and python_version < "4.0"
-cloudpickle==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
-cma==4.3.0 ; python_version >= "3.10" and python_version < "4.0"
-coacd==1.0.7 ; python_version >= "3.10" and python_version < "4.0"
-colorlog==6.9.0 ; python_version >= "3.10" and python_version < "4.0"
-comm==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
-config-path==1.0.5 ; python_version >= "3.10" and python_version < "4.0"
-contourpy==1.3.2 ; python_version >= "3.10" and python_version < "4.0"
-cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
-cython==3.1.3 ; python_version >= "3.10" and python_version < "4.0"
-decorator==5.2.1 ; python_version >= "3.10" and python_version < "4.0"
-defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-directsearch==1.0 ; python_version >= "3.10" and python_version < "4.0"
-distlib==0.4.0 ; python_version >= "3.10" and python_version < "4.0"
-drake==1.43.0 ; python_version >= "3.10" and python_version < "4.0"
-executing==2.2.0 ; python_version >= "3.10" and python_version < "4.0"
-farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
-fastjsonschema==2.21.2 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.19.1 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.59.2 ; python_version >= "3.10" and python_version < "4.0"
-fsspec==2025.7.0 ; python_version >= "3.10" and python_version < "4.0"
-gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
-gymnasium==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
-h11==0.16.0 ; python_version >= "3.10" and python_version < "4.0"
-httpcore==1.0.9 ; python_version >= "3.10" and python_version < "4.0"
-httpx==0.28.1 ; python_version >= "3.10" and python_version < "4.0"
-identify==2.6.13 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
-ipython==8.37.0 ; python_version >= "3.10" and python_version < "4.0"
-ipywidgets==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
-jedi==0.19.2 ; python_version >= "3.10" and python_version < "4.0"
-jinja2==3.1.6 ; python_version >= "3.10" and python_version < "4.0"
-joblib==1.5.2 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema-specifications==2025.4.1 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema==4.25.1 ; python_version >= "3.10" and python_version < "4.0"
-jupyter-client==8.6.3 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-core==5.8.1 ; python_version >= "3.10" and python_version < "4.0"
-jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyterlab-widgets==3.0.15 ; python_version >= "3.10" and python_version < "4.0"
-kiwisolver==1.4.9 ; python_version >= "3.10" and python_version < "4.0"
-lxml-html-clean==0.4.2 ; python_version >= "3.10" and python_version < "4.0"
-lxml==6.0.1 ; python_version >= "3.10" and python_version < "4.0"
-manifold3d==3.2.1 ; python_version >= "3.10" and python_version < "4.0"
-mapbox-earcut==1.0.3 ; python_version >= "3.10" and python_version < "4.0"
-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==3.10.6 ; python_version >= "3.10" and python_version < "4.0"
-mistune==3.1.4 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-mpld3==0.5.11 ; python_version >= "3.10" and python_version < "4.0"
-mpmath==1.3.0 ; python_version >= "3.10" and python_version < "4.0"
-mypy-extensions==1.1.0 ; python_version >= "3.10" and python_version < "4.0"
-mysql-connector-python==9.4.0 ; python_version >= "3.10" and python_version < "4.0"
-nbclient==0.10.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-nbconvert==7.14.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-nbformat==5.10.4 ; python_version >= "3.10" and python_version < "4.0"
-networkx==3.4.2 ; python_version >= "3.10" and python_version < "4.0"
-nevergrad==1.0.12 ; python_version >= "3.10" and python_version < "4.0"
-nodeenv==1.9.1 ; python_version >= "3.10" and python_version < "4.0"
-numpy==2.2.6 ; python_version >= "3.10" and python_version < "4.0"
-packaging==25.0 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.3.2 ; python_version >= "3.10" and python_version < "4.0"
-pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-parso==0.8.5 ; 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" and (sys_platform == "darwin" or sys_platform == "linux" or sys_platform != "darwin" and sys_platform != "linux" and sys_platform != "win32" and sys_platform != "emscripten")
-pillow==11.3.0 ; python_version >= "3.10" and python_version < "4.0"
-pip-requirements-parser==32.0.1 ; python_version >= "3.10" and python_version < "4.0"
-platformdirs==4.4.0 ; 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==3.0.52 ; python_version >= "3.10" and python_version < "4.0"
-psutil==7.0.0 ; python_version >= "3.10" and python_version < "4.0"
-ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux" or sys_platform != "darwin" and sys_platform != "linux" and sys_platform != "win32" and sys_platform != "emscripten")
-pure-eval==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
-pycollada==0.9.2 ; python_version >= "3.10" and python_version < "4.0"
-pydot==4.0.1 ; python_version >= "3.10" and python_version < "4.0"
-pygments==2.19.2 ; python_version >= "3.10" and python_version < "4.0"
-pyparsing==3.2.3 ; python_version >= "3.10" and python_version < "4.0"
-python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
-python-fcl==0.7.0.8 ; python_version >= "3.10" and python_version < "4.0"
-pytz==2025.2 ; python_version >= "3.10" and python_version < "4.0"
-pyvirtualdisplay==3.0 ; python_version >= "3.10" and python_version < "4.0"
-pyyaml==6.0.2 ; python_version >= "3.10" and python_version < "4.0"
-pyzmq==27.0.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-referencing==0.36.2 ; python_version >= "3.10" and python_version < "4.0"
-requests==2.32.5 ; python_version >= "3.10" and python_version < "4.0"
-rpds-py==0.27.1 ; python_version >= "3.10" and python_version < "4.0"
-rtree==1.4.1 ; python_version >= "3.10" and python_version < "4.0"
-scene-synthesizer==1.15.0 ; python_version >= "3.10" and python_version < "4.0"
-scikit-learn==1.7.1 ; python_version >= "3.10" and python_version < "4.0"
-scipy==1.15.3 ; python_version >= "3.10" and python_version < "4.0"
-setuptools-scm==9.2.0 ; python_version >= "3.10" and python_version < "4.0"
-setuptools==70.3.0 ; python_version >= "3.10" and python_version < "4.0"
-shapely==2.1.1 ; python_version >= "3.10" and python_version < "4.0"
-six==1.17.0 ; python_version >= "3.10" and python_version < "4.0"
-sniffio==1.3.1 ; python_version >= "3.10" and python_version < "4.0"
-soupsieve==2.8 ; python_version >= "3.10" and python_version < "4.0"
-stable-baselines3==2.7.0 ; 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==7.0 ; python_version >= "3.10" and python_version < "4.0"
-sympy==1.14.0 ; python_version >= "3.10" and python_version < "4.0"
-threadpoolctl==3.6.0 ; 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" or sys_platform == "linux")
-tokenize-rt==6.2.0 ; python_version >= "3.10" and python_version < "4.0"
-torch==2.7.1 ; python_version >= "3.10" and python_version < "4.0"
-torchvision==0.22.1 ; python_version >= "3.10" and python_version < "4.0"
-tornado==6.5.2 ; 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"
-triangle==20250106 ; python_version >= "3.10" and python_version < "4.0"
-trimesh==4.7.4 ; python_version >= "3.10" and python_version < "4.0"
-typing-extensions==4.15.0 ; python_version >= "3.10" and python_version < "4.0"
-tzdata==2025.2 ; python_version >= "3.10" and python_version < "4.0"
-urllib3==2.5.0 ; python_version >= "3.10" and python_version < "4.0"
-vhacdx==0.0.8.post2 ; python_version >= "3.10" and python_version < "4.0"
-virtualenv==20.34.0 ; python_version >= "3.10" and python_version < "4.0"
-wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
-webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-widgetsnbextension==4.0.14 ; python_version >= "3.10" and python_version < "4.0"
-xxhash==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
-yourdfpy==0.0.58 ; python_version >= "3.10" and python_version < "4.0"
diff --git a/requirements-bazel.txt b/requirements-bazel.txt
deleted file mode 100644
index d28f354d..00000000
--- a/requirements-bazel.txt
+++ /dev/null
@@ -1,153 +0,0 @@
---find-links https://download.pytorch.org/whl/torch_stable.html
-anyio==4.10.0 ; python_version >= "3.10" and python_version < "4.0"
-asttokens==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
-attrs==25.3.0 ; python_version >= "3.10" and python_version < "4.0"
-bayesian-optimization==1.4.0 ; python_version >= "3.10" and python_version < "4.0"
-beautifulsoup4==4.13.5 ; python_version >= "3.10" and python_version < "4.0"
-black==25.1.0 ; python_version >= "3.10" and python_version < "4.0"
-bleach==6.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-certifi==2025.8.3 ; python_version >= "3.10" and python_version < "4.0"
-cffi==1.17.1 ; python_version >= "3.10" and python_version < "4.0" and implementation_name == "pypy" and (sys_platform == "darwin" or sys_platform == "linux")
-cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
-charset-normalizer==3.4.3 ; python_version >= "3.10" and python_version < "4.0"
-click==8.2.1 ; python_version >= "3.10" and python_version < "4.0"
-cloudpickle==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
-cma==4.3.0 ; python_version >= "3.10" and python_version < "4.0"
-coacd==1.0.7 ; python_version >= "3.10" and python_version < "4.0"
-colorama==0.4.6 ; python_version >= "3.10" and python_version < "4.0" and (platform_system == "Windows" or sys_platform == "win32")
-colorlog==6.9.0 ; python_version >= "3.10" and python_version < "4.0"
-comm==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
-config-path==1.0.5 ; python_version >= "3.10" and python_version < "4.0"
-contourpy==1.3.2 ; python_version >= "3.10" and python_version < "4.0"
-cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
-cython==3.1.3 ; python_version >= "3.10" and python_version < "4.0"
-decorator==5.2.1 ; python_version >= "3.10" and python_version < "4.0"
-defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-directsearch==1.0 ; python_version >= "3.10" and python_version < "4.0"
-distlib==0.4.0 ; python_version >= "3.10" and python_version < "4.0"
-drake==1.43.0 ; python_version >= "3.10" and python_version < "4.0"
-embreex==2.17.7.post6 ; python_version >= "3.10" and python_version < "4.0" and platform_machine == "x86_64"
-exceptiongroup==1.3.0 ; python_version == "3.10"
-executing==2.2.0 ; python_version >= "3.10" and python_version < "4.0"
-farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
-fastjsonschema==2.21.2 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.19.1 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.59.2 ; python_version >= "3.10" and python_version < "4.0"
-fsspec==2025.7.0 ; python_version >= "3.10" and python_version < "4.0"
-gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
-gymnasium==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
-h11==0.16.0 ; python_version >= "3.10" and python_version < "4.0"
-httpcore==1.0.9 ; python_version >= "3.10" and python_version < "4.0"
-httpx==0.28.1 ; python_version >= "3.10" and python_version < "4.0"
-identify==2.6.13 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
-ipython==8.37.0 ; python_version >= "3.10" and python_version < "4.0"
-ipywidgets==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
-jedi==0.19.2 ; python_version >= "3.10" and python_version < "4.0"
-jinja2==3.1.6 ; python_version >= "3.10" and python_version < "4.0"
-joblib==1.5.2 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema-specifications==2025.4.1 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema==4.25.1 ; python_version >= "3.10" and python_version < "4.0"
-jupyter-client==8.6.3 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-core==5.8.1 ; python_version >= "3.10" and python_version < "4.0"
-jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyterlab-widgets==3.0.15 ; python_version >= "3.10" and python_version < "4.0"
-kiwisolver==1.4.9 ; python_version >= "3.10" and python_version < "4.0"
-lxml-html-clean==0.4.2 ; python_version >= "3.10" and python_version < "4.0"
-lxml==6.0.1 ; python_version >= "3.10" and python_version < "4.0"
-manifold3d==3.2.1 ; python_version >= "3.10" and python_version < "4.0"
-mapbox-earcut==1.0.3 ; python_version >= "3.10" and python_version < "4.0"
-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==3.10.6 ; python_version >= "3.10" and python_version < "4.0"
-mistune==3.1.4 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-mpld3==0.5.11 ; python_version >= "3.10" and python_version < "4.0"
-mpmath==1.3.0 ; python_version >= "3.10" and python_version < "4.0"
-mypy-extensions==1.1.0 ; python_version >= "3.10" and python_version < "4.0"
-mysql-connector-python==9.4.0 ; python_version >= "3.10" and python_version < "4.0"
-nbclient==0.10.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-nbconvert==7.14.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-nbformat==5.10.4 ; python_version >= "3.10" and python_version < "4.0"
-networkx==3.4.2 ; python_version >= "3.10" and python_version < "4.0"
-nevergrad==1.0.12 ; python_version >= "3.10" and python_version < "4.0"
-nodeenv==1.9.1 ; python_version >= "3.10" and python_version < "4.0"
-numpy==2.2.6 ; python_version >= "3.10" and python_version < "4.0"
-nvidia-cublas-cu12==12.6.4.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cuda-cupti-cu12==12.6.80 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cuda-nvrtc-cu12==12.6.77 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cuda-runtime-cu12==12.6.77 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cudnn-cu12==9.5.1.17 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cufft-cu12==11.3.0.4 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cufile-cu12==1.11.1.6 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-curand-cu12==10.3.7.77 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cusolver-cu12==11.7.1.2 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cusparse-cu12==12.5.4.2 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cusparselt-cu12==0.6.3 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-nccl-cu12==2.26.2 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-nvjitlink-cu12==12.6.85 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-nvtx-cu12==12.6.77 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-packaging==25.0 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.3.2 ; python_version >= "3.10" and python_version < "4.0"
-pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-parso==0.8.5 ; 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" and (sys_platform == "darwin" or sys_platform == "linux" or sys_platform != "darwin" and sys_platform != "linux" and sys_platform != "win32" and sys_platform != "emscripten")
-pillow==11.3.0 ; python_version >= "3.10" and python_version < "4.0"
-pip-requirements-parser==32.0.1 ; python_version >= "3.10" and python_version < "4.0"
-platformdirs==4.4.0 ; 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==3.0.52 ; python_version >= "3.10" and python_version < "4.0"
-psutil==7.0.0 ; python_version >= "3.10" and python_version < "4.0"
-ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux" or sys_platform != "darwin" and sys_platform != "linux" and sys_platform != "win32" and sys_platform != "emscripten")
-pure-eval==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
-pycollada==0.9.2 ; python_version >= "3.10" and python_version < "4.0"
-pycparser==2.22 ; python_version >= "3.10" and python_version < "4.0" and implementation_name == "pypy" and (sys_platform == "darwin" or sys_platform == "linux")
-pydot==4.0.1 ; python_version >= "3.10" and python_version < "4.0"
-pygments==2.19.2 ; python_version >= "3.10" and python_version < "4.0"
-pyparsing==3.2.3 ; python_version >= "3.10" and python_version < "4.0"
-python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
-python-fcl==0.7.0.8 ; python_version >= "3.10" and python_version < "4.0"
-pytz==2025.2 ; python_version >= "3.10" and python_version < "4.0"
-pyvirtualdisplay==3.0 ; python_version >= "3.10" and python_version < "4.0"
-pyyaml==6.0.2 ; python_version >= "3.10" and python_version < "4.0"
-pyzmq==27.0.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-referencing==0.36.2 ; python_version >= "3.10" and python_version < "4.0"
-requests==2.32.5 ; python_version >= "3.10" and python_version < "4.0"
-rpds-py==0.27.1 ; python_version >= "3.10" and python_version < "4.0"
-rtree==1.4.1 ; python_version >= "3.10" and python_version < "4.0"
-scene-synthesizer==1.15.0 ; python_version >= "3.10" and python_version < "4.0"
-scikit-learn==1.7.1 ; python_version >= "3.10" and python_version < "4.0"
-scipy==1.15.3 ; python_version >= "3.10" and python_version < "4.0"
-setuptools-scm==9.2.0 ; python_version >= "3.10" and python_version < "4.0"
-setuptools==70.3.0 ; python_version >= "3.10" and python_version < "4.0"
-shapely==2.1.1 ; python_version >= "3.10" and python_version < "4.0"
-six==1.17.0 ; python_version >= "3.10" and python_version < "4.0"
-sniffio==1.3.1 ; python_version >= "3.10" and python_version < "4.0"
-soupsieve==2.8 ; python_version >= "3.10" and python_version < "4.0"
-stable-baselines3==2.7.0 ; 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==7.0 ; python_version >= "3.10" and python_version < "4.0"
-sympy==1.14.0 ; python_version >= "3.10" and python_version < "4.0"
-threadpoolctl==3.6.0 ; 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" or sys_platform == "linux")
-tokenize-rt==6.2.0 ; python_version >= "3.10" and python_version < "4.0"
-tomli==2.2.1 ; python_version == "3.10"
-torch==2.7.1 ; python_version >= "3.10" and python_version < "4.0"
-torchvision==0.22.1 ; python_version >= "3.10" and python_version < "4.0"
-tornado==6.5.2 ; 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"
-triangle==20250106 ; python_version >= "3.10" and python_version < "4.0"
-trimesh==4.7.4 ; python_version >= "3.10" and python_version < "4.0"
-triton==3.3.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-typing-extensions==4.15.0 ; python_version >= "3.10" and python_version < "4.0"
-tzdata==2025.2 ; python_version >= "3.10" and python_version < "4.0"
-urllib3==2.5.0 ; python_version >= "3.10" and python_version < "4.0"
-vhacdx==0.0.8.post2 ; python_version >= "3.10" and python_version < "4.0"
-virtualenv==20.34.0 ; python_version >= "3.10" and python_version < "4.0"
-wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
-webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-widgetsnbextension==4.0.14 ; python_version >= "3.10" and python_version < "4.0"
-xxhash==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
-yourdfpy==0.0.58 ; python_version >= "3.10" and python_version < "4.0"
diff --git a/requirements.txt b/requirements.txt
deleted file mode 100644
index d28f354d..00000000
--- a/requirements.txt
+++ /dev/null
@@ -1,153 +0,0 @@
---find-links https://download.pytorch.org/whl/torch_stable.html
-anyio==4.10.0 ; python_version >= "3.10" and python_version < "4.0"
-asttokens==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
-attrs==25.3.0 ; python_version >= "3.10" and python_version < "4.0"
-bayesian-optimization==1.4.0 ; python_version >= "3.10" and python_version < "4.0"
-beautifulsoup4==4.13.5 ; python_version >= "3.10" and python_version < "4.0"
-black==25.1.0 ; python_version >= "3.10" and python_version < "4.0"
-bleach==6.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-certifi==2025.8.3 ; python_version >= "3.10" and python_version < "4.0"
-cffi==1.17.1 ; python_version >= "3.10" and python_version < "4.0" and implementation_name == "pypy" and (sys_platform == "darwin" or sys_platform == "linux")
-cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
-charset-normalizer==3.4.3 ; python_version >= "3.10" and python_version < "4.0"
-click==8.2.1 ; python_version >= "3.10" and python_version < "4.0"
-cloudpickle==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
-cma==4.3.0 ; python_version >= "3.10" and python_version < "4.0"
-coacd==1.0.7 ; python_version >= "3.10" and python_version < "4.0"
-colorama==0.4.6 ; python_version >= "3.10" and python_version < "4.0" and (platform_system == "Windows" or sys_platform == "win32")
-colorlog==6.9.0 ; python_version >= "3.10" and python_version < "4.0"
-comm==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
-config-path==1.0.5 ; python_version >= "3.10" and python_version < "4.0"
-contourpy==1.3.2 ; python_version >= "3.10" and python_version < "4.0"
-cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
-cython==3.1.3 ; python_version >= "3.10" and python_version < "4.0"
-decorator==5.2.1 ; python_version >= "3.10" and python_version < "4.0"
-defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-directsearch==1.0 ; python_version >= "3.10" and python_version < "4.0"
-distlib==0.4.0 ; python_version >= "3.10" and python_version < "4.0"
-drake==1.43.0 ; python_version >= "3.10" and python_version < "4.0"
-embreex==2.17.7.post6 ; python_version >= "3.10" and python_version < "4.0" and platform_machine == "x86_64"
-exceptiongroup==1.3.0 ; python_version == "3.10"
-executing==2.2.0 ; python_version >= "3.10" and python_version < "4.0"
-farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
-fastjsonschema==2.21.2 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.19.1 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.59.2 ; python_version >= "3.10" and python_version < "4.0"
-fsspec==2025.7.0 ; python_version >= "3.10" and python_version < "4.0"
-gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
-gymnasium==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
-h11==0.16.0 ; python_version >= "3.10" and python_version < "4.0"
-httpcore==1.0.9 ; python_version >= "3.10" and python_version < "4.0"
-httpx==0.28.1 ; python_version >= "3.10" and python_version < "4.0"
-identify==2.6.13 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
-ipython==8.37.0 ; python_version >= "3.10" and python_version < "4.0"
-ipywidgets==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
-jedi==0.19.2 ; python_version >= "3.10" and python_version < "4.0"
-jinja2==3.1.6 ; python_version >= "3.10" and python_version < "4.0"
-joblib==1.5.2 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema-specifications==2025.4.1 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema==4.25.1 ; python_version >= "3.10" and python_version < "4.0"
-jupyter-client==8.6.3 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-core==5.8.1 ; python_version >= "3.10" and python_version < "4.0"
-jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyterlab-widgets==3.0.15 ; python_version >= "3.10" and python_version < "4.0"
-kiwisolver==1.4.9 ; python_version >= "3.10" and python_version < "4.0"
-lxml-html-clean==0.4.2 ; python_version >= "3.10" and python_version < "4.0"
-lxml==6.0.1 ; python_version >= "3.10" and python_version < "4.0"
-manifold3d==3.2.1 ; python_version >= "3.10" and python_version < "4.0"
-mapbox-earcut==1.0.3 ; python_version >= "3.10" and python_version < "4.0"
-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==3.10.6 ; python_version >= "3.10" and python_version < "4.0"
-mistune==3.1.4 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-mpld3==0.5.11 ; python_version >= "3.10" and python_version < "4.0"
-mpmath==1.3.0 ; python_version >= "3.10" and python_version < "4.0"
-mypy-extensions==1.1.0 ; python_version >= "3.10" and python_version < "4.0"
-mysql-connector-python==9.4.0 ; python_version >= "3.10" and python_version < "4.0"
-nbclient==0.10.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-nbconvert==7.14.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-nbformat==5.10.4 ; python_version >= "3.10" and python_version < "4.0"
-networkx==3.4.2 ; python_version >= "3.10" and python_version < "4.0"
-nevergrad==1.0.12 ; python_version >= "3.10" and python_version < "4.0"
-nodeenv==1.9.1 ; python_version >= "3.10" and python_version < "4.0"
-numpy==2.2.6 ; python_version >= "3.10" and python_version < "4.0"
-nvidia-cublas-cu12==12.6.4.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cuda-cupti-cu12==12.6.80 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cuda-nvrtc-cu12==12.6.77 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cuda-runtime-cu12==12.6.77 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cudnn-cu12==9.5.1.17 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cufft-cu12==11.3.0.4 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cufile-cu12==1.11.1.6 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-curand-cu12==10.3.7.77 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cusolver-cu12==11.7.1.2 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cusparse-cu12==12.5.4.2 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-cusparselt-cu12==0.6.3 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-nccl-cu12==2.26.2 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-nvjitlink-cu12==12.6.85 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-nvidia-nvtx-cu12==12.6.77 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-packaging==25.0 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.3.2 ; python_version >= "3.10" and python_version < "4.0"
-pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-parso==0.8.5 ; 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" and (sys_platform == "darwin" or sys_platform == "linux" or sys_platform != "darwin" and sys_platform != "linux" and sys_platform != "win32" and sys_platform != "emscripten")
-pillow==11.3.0 ; python_version >= "3.10" and python_version < "4.0"
-pip-requirements-parser==32.0.1 ; python_version >= "3.10" and python_version < "4.0"
-platformdirs==4.4.0 ; 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==3.0.52 ; python_version >= "3.10" and python_version < "4.0"
-psutil==7.0.0 ; python_version >= "3.10" and python_version < "4.0"
-ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux" or sys_platform != "darwin" and sys_platform != "linux" and sys_platform != "win32" and sys_platform != "emscripten")
-pure-eval==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
-pycollada==0.9.2 ; python_version >= "3.10" and python_version < "4.0"
-pycparser==2.22 ; python_version >= "3.10" and python_version < "4.0" and implementation_name == "pypy" and (sys_platform == "darwin" or sys_platform == "linux")
-pydot==4.0.1 ; python_version >= "3.10" and python_version < "4.0"
-pygments==2.19.2 ; python_version >= "3.10" and python_version < "4.0"
-pyparsing==3.2.3 ; python_version >= "3.10" and python_version < "4.0"
-python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
-python-fcl==0.7.0.8 ; python_version >= "3.10" and python_version < "4.0"
-pytz==2025.2 ; python_version >= "3.10" and python_version < "4.0"
-pyvirtualdisplay==3.0 ; python_version >= "3.10" and python_version < "4.0"
-pyyaml==6.0.2 ; python_version >= "3.10" and python_version < "4.0"
-pyzmq==27.0.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-referencing==0.36.2 ; python_version >= "3.10" and python_version < "4.0"
-requests==2.32.5 ; python_version >= "3.10" and python_version < "4.0"
-rpds-py==0.27.1 ; python_version >= "3.10" and python_version < "4.0"
-rtree==1.4.1 ; python_version >= "3.10" and python_version < "4.0"
-scene-synthesizer==1.15.0 ; python_version >= "3.10" and python_version < "4.0"
-scikit-learn==1.7.1 ; python_version >= "3.10" and python_version < "4.0"
-scipy==1.15.3 ; python_version >= "3.10" and python_version < "4.0"
-setuptools-scm==9.2.0 ; python_version >= "3.10" and python_version < "4.0"
-setuptools==70.3.0 ; python_version >= "3.10" and python_version < "4.0"
-shapely==2.1.1 ; python_version >= "3.10" and python_version < "4.0"
-six==1.17.0 ; python_version >= "3.10" and python_version < "4.0"
-sniffio==1.3.1 ; python_version >= "3.10" and python_version < "4.0"
-soupsieve==2.8 ; python_version >= "3.10" and python_version < "4.0"
-stable-baselines3==2.7.0 ; 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==7.0 ; python_version >= "3.10" and python_version < "4.0"
-sympy==1.14.0 ; python_version >= "3.10" and python_version < "4.0"
-threadpoolctl==3.6.0 ; 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" or sys_platform == "linux")
-tokenize-rt==6.2.0 ; python_version >= "3.10" and python_version < "4.0"
-tomli==2.2.1 ; python_version == "3.10"
-torch==2.7.1 ; python_version >= "3.10" and python_version < "4.0"
-torchvision==0.22.1 ; python_version >= "3.10" and python_version < "4.0"
-tornado==6.5.2 ; 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"
-triangle==20250106 ; python_version >= "3.10" and python_version < "4.0"
-trimesh==4.7.4 ; python_version >= "3.10" and python_version < "4.0"
-triton==3.3.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Linux" and platform_machine == "x86_64"
-typing-extensions==4.15.0 ; python_version >= "3.10" and python_version < "4.0"
-tzdata==2025.2 ; python_version >= "3.10" and python_version < "4.0"
-urllib3==2.5.0 ; python_version >= "3.10" and python_version < "4.0"
-vhacdx==0.0.8.post2 ; python_version >= "3.10" and python_version < "4.0"
-virtualenv==20.34.0 ; python_version >= "3.10" and python_version < "4.0"
-wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
-webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-widgetsnbextension==4.0.14 ; python_version >= "3.10" and python_version < "4.0"
-xxhash==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
-yourdfpy==0.0.58 ; python_version >= "3.10" and python_version < "4.0"
diff --git a/setup/mac/Brewfile b/setup/mac/Brewfile
index 99bc786d..bbb85180 100644
--- a/setup/mac/Brewfile
+++ b/setup/mac/Brewfile
@@ -1,7 +1,6 @@
 # -*- mode: ruby -*-
 # vi: set ft=ruby :
 
-brew 'bazelisk'
 brew "python@3.13"
 brew "tidy-html5"
-brew "gprof2dot" # Supplies dot for pydot
\ No newline at end of file
+brew "gprof2dot" # Supplies dot for pydot
diff --git a/setup/ubuntu/18.04/install_prereqs.sh b/setup/ubuntu/18.04/install_prereqs.sh
index c42a038d..4648c5f2 100755
--- a/setup/ubuntu/18.04/install_prereqs.sh
+++ b/setup/ubuntu/18.04/install_prereqs.sh
@@ -53,17 +53,10 @@ fi
 apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy \
   --no-install-recommends ca-certificates gnupg
 
-APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 apt-key adv \
-  -q --fetch-keys https://bazel.build/bazel-release.pub.gpg
-
-echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
-  > /etc/apt/sources.list.d/bazel.list
-
 apt-get update -qq || (sleep 15; apt-get update -qq)
 
 apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy \
   --no-install-recommends $(cat <<EOF
-bazel
 jupyter
 jupyter-nbconvert
 jupyter-notebook
diff --git a/setup/ubuntu/20.04/install_prereqs.sh b/setup/ubuntu/20.04/install_prereqs.sh
index 447e41df..6762d318 100755
--- a/setup/ubuntu/20.04/install_prereqs.sh
+++ b/setup/ubuntu/20.04/install_prereqs.sh
@@ -79,47 +79,3 @@ locale-gen en_US.UTF-8
 if [[ -z "${LANG:-}" && -z "${LC_ALL:-}" ]]; then
   echo 'WARNING: LANG and LC_ALL environment variables are NOT set. Please export LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8.' >&2
 fi
-
-dpkg_install_from_wget() {
-  package="$1"
-  version="$2"
-  url="$3"
-  checksum="$4"
-
-  # Skip the install if we're already at the exact version.
-  installed=$(dpkg-query --showformat='${Version}\n' --show "${package}" 2>/dev/null || true)
-  if [[ "${installed}" == "${version}" ]]; then
-    echo "${package} is already at the desired version ${version}"
-    return
-  fi
-
-  # If installing our desired version would be a downgrade, ask the user first.
-  if dpkg --compare-versions "${installed}" gt "${version}"; then
-    echo "This system has ${package} version ${installed} installed."
-    echo "Drake suggests downgrading to version ${version}, our supported version."
-    read -r -p 'Do you want to downgrade? [Y/n] ' reply
-    if [[ ! "${reply}" =~ ^([yY][eE][sS]|[yY])*$ ]]; then
-      echo "Skipping ${package} ${version} installation."
-      return
-    fi
-  fi
-
-  # Download and verify.
-  tmpdeb="/tmp/${package}_${version}-amd64.deb"
-  wget -q -O "${tmpdeb}" "${url}"
-  if echo "${checksum} ${tmpdeb}" | sha256sum -c -; then
-    echo  # Blank line between checkout output and dpkg output.
-  else
-    echo "ERROR: The ${package} deb does NOT have the expected SHA256. Not installing." >&2
-    exit 2
-  fi
-
-  # Install.
-  dpkg -i "${tmpdeb}"
-  rm "${tmpdeb}"
-}
-
-dpkg_install_from_wget \
-  bazel 5.0.0 \
-  https://releases.bazel.build/5.0.0/release/bazel_5.0.0-linux-x86_64.deb \
-  e3361645ccd731abc424bb3a322d8e6f513b7258f5ca11ff04d6067aff5d09b1
diff --git a/setup/ubuntu/22.04/install_prereqs.sh b/setup/ubuntu/22.04/install_prereqs.sh
index 7aed7256..786af402 100755
--- a/setup/ubuntu/22.04/install_prereqs.sh
+++ b/setup/ubuntu/22.04/install_prereqs.sh
@@ -80,60 +80,3 @@ locale-gen en_US.UTF-8
 if [[ -z "${LANG:-}" && -z "${LC_ALL:-}" ]]; then
   echo 'WARNING: LANG and LC_ALL environment variables are NOT set. Please export LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8.' >&2
 fi
-
-# This should match drake/setup/ubuntu/source_distribution/install_bazelisk.sh
-dpkg_install_from_wget() {
-  package="$1"
-  version="$2"
-  url="$3"
-  checksum="$4"
-
-  # Skip the install if we're already at the exact version.
-  installed=$(dpkg-query --showformat='${Version}\n' --show "${package}" 2>/dev/null || true)
-  if [[ "${installed}" == "${version}" ]]; then
-    echo "${package} is already at the desired version ${version}"
-    return
-  fi
-
-  # If installing our desired version would be a downgrade, ask the user first.
-  if dpkg --compare-versions "${installed}" gt "${version}"; then
-    echo "This system has ${package} version ${installed} installed."
-    echo "Drake suggests downgrading to version ${version}, our supported version."
-    read -r -p 'Do you want to downgrade? [Y/n] ' reply
-    if [[ ! "${reply}" =~ ^([yY][eE][sS]|[yY])*$ ]]; then
-      echo "Skipping ${package} ${version} installation."
-      return
-    fi
-  fi
-
-  # Download and verify.
-  tmpdeb="/tmp/${package}_${version}-amd64.deb"
-  wget -O "${tmpdeb}" "${url}"
-  if echo "${checksum} ${tmpdeb}" | sha256sum -c -; then
-    echo  # Blank line between checkout output and dpkg output.
-  else
-    echo "ERROR: The ${package} deb does NOT have the expected SHA256. Not installing." >&2
-    exit 2
-  fi
-
-  # Install.
-  dpkg -i "${tmpdeb}"
-  rm "${tmpdeb}"
-}
-
-# If bazel.deb is already installed, we'll need to remove it first because
-# the Debian package of bazelisk will take over the `/usr/bin/bazel` path.
-apt-get remove bazel || true
-
-# Install bazelisk.
-if [[ $(arch) = "aarch64" ]]; then
-  dpkg_install_from_wget \
-    bazelisk 1.25.0 \
-    https://github.com/bazelbuild/bazelisk/releases/download/v1.25.0/bazelisk-arm64.deb \
-    6370ee55d7bb45b3511b7a1c1c93c565a5f5afcd24555820231c9c48beac95f3
-else
-  dpkg_install_from_wget \
-    bazelisk 1.25.0 \
-    https://github.com/bazelbuild/bazelisk/releases/download/v1.25.0/bazelisk-amd64.deb \
-    f16dc348190990eb2e8950e773bc91dcdc7632517e5b63bdc4dd58f90062920c
-fi
diff --git a/setup/ubuntu/24.04/install_prereqs.sh b/setup/ubuntu/24.04/install_prereqs.sh
index ada14017..82cd11c2 100755
--- a/setup/ubuntu/24.04/install_prereqs.sh
+++ b/setup/ubuntu/24.04/install_prereqs.sh
@@ -102,60 +102,3 @@ locale-gen en_US.UTF-8
 if [[ -z "${LANG:-}" && -z "${LC_ALL:-}" ]]; then
   echo 'WARNING: LANG and LC_ALL environment variables are NOT set. Please export LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8.' >&2
 fi
-
-# This should match drake/setup/ubuntu/source_distribution/install_bazelisk.sh
-dpkg_install_from_wget() {
-  package="$1"
-  version="$2"
-  url="$3"
-  checksum="$4"
-
-  # Skip the install if we're already at the exact version.
-  installed=$(dpkg-query --showformat='${Version}\n' --show "${package}" 2>/dev/null || true)
-  if [[ "${installed}" == "${version}" ]]; then
-    echo "${package} is already at the desired version ${version}"
-    return
-  fi
-
-  # If installing our desired version would be a downgrade, ask the user first.
-  if dpkg --compare-versions "${installed}" gt "${version}"; then
-    echo "This system has ${package} version ${installed} installed."
-    echo "Drake suggests downgrading to version ${version}, our supported version."
-    read -r -p 'Do you want to downgrade? [Y/n] ' reply
-    if [[ ! "${reply}" =~ ^([yY][eE][sS]|[yY])*$ ]]; then
-      echo "Skipping ${package} ${version} installation."
-      return
-    fi
-  fi
-
-  # Download and verify.
-  tmpdeb="/tmp/${package}_${version}-amd64.deb"
-  wget -O "${tmpdeb}" "${url}"
-  if echo "${checksum} ${tmpdeb}" | sha256sum -c -; then
-    echo  # Blank line between checkout output and dpkg output.
-  else
-    echo "ERROR: The ${package} deb does NOT have the expected SHA256. Not installing." >&2
-    exit 2
-  fi
-
-  # Install.
-  dpkg -i "${tmpdeb}"
-  rm "${tmpdeb}"
-}
-
-# If bazel.deb is already installed, we'll need to remove it first because
-# the Debian package of bazelisk will take over the `/usr/bin/bazel` path.
-apt-get remove bazel || true
-
-# Install bazelisk.
-if [[ $(arch) = "aarch64" ]]; then
-  dpkg_install_from_wget \
-    bazelisk 1.25.0 \
-    https://github.com/bazelbuild/bazelisk/releases/download/v1.25.0/bazelisk-arm64.deb \
-    6370ee55d7bb45b3511b7a1c1c93c565a5f5afcd24555820231c9c48beac95f3
-else
-  dpkg_install_from_wget \
-    bazelisk 1.25.0 \
-    https://github.com/bazelbuild/bazelisk/releases/download/v1.25.0/bazelisk-amd64.deb \
-    f16dc348190990eb2e8950e773bc91dcdc7632517e5b63bdc4dd58f90062920c
-fi