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Is it possible to run PYQGIS commands using Jupyter notebook and, if so, is there any documentation to develop QGIS plugins using Jupyter?

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There is an Ipython console(A kernel for Jupyter) for QGIS as a plugin, which you can add from QGIS official plugin repository or download from Github and copy to the plugin folder in QGIS.

https://github.com/elpaso/qgis-ipythonconsole

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