Use PDM instead of pip-tools to manage venv

.gitignore

@@ -27,5 +27,8 @@
 # Platform artifacts generated by `install_prereqs`
 /gen/
 
+# Local Python venv artifacts
+/.pdm-python
+
 # User-specified configuration
 /user.bazelrc

pyproject.toml

@@ -0,0 +1,29 @@
+[project]
+name = "drake"
+version = "1.36.0"
+description = "Default template for PDM package"
+authors = [
+    {name = "Drake Development Team", email = "drake-users@mit.edu"},
+]
+requires-python = ">=3.10"
+readme = "README.md"
+license = {text = "BSD-3-Clause"}
+dependencies = [
+    "ipywidgets",
+    "matplotlib",
+    "notebook",
+    "Pillow",
+    "pydot",
+    "PyYAML",
+]
+
+[dependency-groups]
+test = [
+    "flask",
+    "six",
+    "u-msgpack-python",
+    "websockets",
+]
+
+[tool.pdm]
+distribution = false

setup/BUILD.bazel

@@ -11,9 +11,6 @@ exports_files([
     "mac/source_distribution/Brewfile",
     "mac/source_distribution/Brewfile-doc-only",
     "mac/source_distribution/Brewfile-maintainer-only",
-    "mac/source_distribution/requirements.txt",
-    "mac/source_distribution/requirements-maintainer-only.txt",
-    "mac/source_distribution/requirements-test-only.txt",
     "ubuntu/binary_distribution/packages-jammy.txt",
     "ubuntu/source_distribution/packages-jammy.txt",
     "ubuntu/source_distribution/packages-jammy-clang.txt",