v1.23.0.md

title	date	released
Drake v1.23.0	2023-11-17	2023-11-17

Announcements

• Drake now offers experimental support for the Clarabel solver (#20375, #20536, #20475).
  • Our ClarabelSolver wrapper supports quadratic/linear costs and linear/second-order/exponential-cone/positive-semidefinite constraints.
  • This feature is not available in our pre-compiled binary releases. To try it, you must build from source using Bazel with --define=WITH_CLARABEL=ON.
  • ChooseBestSolver doesn't select ClarabelSolver. To try it, you must invoke the solver directly.
• Per our support policy schedule, macOS Monterey on arm64 is no longer supported (#20511).

Breaking changes since v1.22.0

• None

Refer to our Drake Stability Guidelines for our policy on API changes.

Changes since v1.22.0

Dynamical Systems

New features

• Provide image-processing systems in C++ (#20488)
• Update ImageWriter to add forced publish event (#20460)

Fixes

• None

Mathematical Program

New features

• Add ClarabelSolver (#20375, #20536, #20475)
• Add AffineBall as subclass of ConvexSet to represent bounded ellipsoidal convex sets that may not be full-dimensional (#20038)
• Allow linear constraints to be sparse (#20361)
• Allow conversion between Hyperellipsoid and AffineBall (#20040)
• Add ability to tighten and relax positive semi-definite (PSD) constraints as diagonally dominant constraints (DD), scaled diagonally dominant (SDD) constraints, and their dual (#20398)
• Add log(det(X)) >= lower to MathematicalProgram (#20411)
• Add AffineBall::MinimumVolumeCircumscribedEllipsoid (#20399) (#20399)
• Add bounding_region to IrisOptions (#20417)
• Add MonomialBasis for a map from Variables to its degree (#20523)

Fixes

• None

Multibody Dynamics and Geometry

New features

• Add per model instance net actuation output port (#20549)
• Support .vtk meshes in CalcSpatialInertia() (#20539)
• Allow some uses of surface mesh or convex hull for VTK volume mesh files (#20278)
• Add support for using SDFormat merge-includes with custom parsed models (#16727)
• Use environment maps in RenderEngineVtk (#20385)
• Implement net actuation output port for MultibodyPlant (#20421)
• Add parsing of JointActuator PD controller gains (#20497)
• Add parsing of custom drake:mimic tag for SDFormat (#20503, #20551)

Fixes

• Fix MuJoCo parser joint kinematics (#20414)
• Fix actuation input ordering to be ordered by joint actuator index (#20212)
• Support drake:joint involving links in nested models (#20381)
• Make coordinate numbering for Weld mobilizers consistent with other mobilizers (#20428)
• Upgrade meshcat to latest commit (#20442)
• Fix point contact results store incorrect geometry data (#20378)
• RenderEngineVtk throws on errors (#20461)
• Apply upstream VTK changes for a textured capsule (#20492)
• Correct, test, and document FlattenModelDirectives (#20438)
• Make weld constraint use active status (#20530)
• Bugfix model directives ModelInstanceInfo offsets (#20513)

Planning

New features

• Add max clique solver interface and MIP (mixed integer programming)-based max clique solver (#20401)
• Add continuity constraints to GcsTrajectoryOptimization (#20441)
• Switch CollisionChecker and VisibilityGraph to use CRU parallel-for API to support non-OpenMP parallel operations (#20528)

Fixes

• None

Tutorials and examples

• Adjust tutorial launcher to accommodate Jupyter 6 and 7 (#20408)

Miscellaneous features and fixes

• Improve PointCloud::VoxelizedDownSample speed (#20476)
• Retain default YAML values when parsing a variant (#20391)
• Fix autodiff gradient in RotationMatrix::NormalizeOrThrow() (#20406)
• Add rotor inertias to iiwa7 model, fix rotation of inertias for link 2 and link 4 (#20420)
• Ensure MakeArmControllerModel uses same gravity as incoming plant (#20513)

pydrake bindings

New features

• Add basic conversion to/from SymPy (#20117, #20415)
• Bind all image types, ImageFileFormat, and PixelScalar (#20502, #20508)

Fixes

• Fix CompositeTrajectory binding to correctly derive from PiecewiseTrajectory (#20407)
• Only ship *.pyi typestubs for native code, not pure code (#20403)
• Avoid stubgen timeouts when building from source (#20403)
• Consolidate modules to decrease download size by about 5% (#20465)

Build system

• Identify mismatched clang-format-{on,off} comments via linting tools (#20396)
• Remove macOS Monterey arm64 support (#20511)
• Precompiled binaries for stable releases now provide the version number instead of the date (#20532)

Build dependencies

• Build libjpeg_turbo_internal from source (#20343)
• Upgrade abseil_cpp_internal to latest commit (#20469)
• Upgrade bazel to latest release 6.4.0 (#20410)
• Upgrade build_bazel_apple_support to latest release 1.11.1 (#20469)
• Upgrade buildifier to latest release 6.4.0 (#20543)
• Upgrade clp_internal to latest release 1.17.9 (#20469)
• Upgrade coinutils_internal to latest release 2.11.10 (#20469)
• Upgrade common_robotics_utilities to latest commit (#20374, #20387, #20528)
• Upgrade crate_universe to latest releases (#20474)
  • Upgrade crate__num-traits to 0.2.17
  • Upgrade crate__proc-macro2 to 1.0.69
  • Upgrade crate__syn to 2.0.38
  • Upgrade crate__thiserror to 1.0.50
  • Upgrade crate__thiserror-impl to 1.0.50
• Upgrade curl_internal to latest release 8.4.0 (#20472)
• Upgrade dm_control_internal to latest release 1.0.15 (#20469)
• Upgrade ipopt_internal_fromsource to latest release 3.14.13 (#20525)
• Upgrade mypy_internal to latest release 1.6.1 (#20469)
• Upgrade platforms to latest release 0.0.8 (#20469)
• Upgrade pybind11 fork to latest commit, merging with upstream 2.11.1 (#20362, #20524)
• Upgrade pycodestyle to latest release 2.11.1 (#20469)
• Upgrade python_rules to latest release 0.26.0 (#20473)
• Upgrade rules_rust to latest release 0.30.0 (#20471)
• Upgrade suitesparse_internal to latest release 7.3.0 (#20469)
• Upgrade voxelized_geometry_tools to latest commit (#20374, #20387, #20528)

Newly-deprecated APIs

• drake::multibody::MultibodyPlant::GetMutablePositions (#20424)
  • Use GetPositions and SetPositions instead
• drake::multibody::MultibodyPlant::GetMutablePositionsAndVelocities (#20424)
  • Use GetPositionsAndVelocities and SetPositionsAndVelocities instead
• drake::multibody::MultibodyPlant::GetMutableVelocities (#20424)
  • Use GetVelocities and SetVelocities instead
• drake::multibody::Body::floating_velocities_start (#20454)
  • Use floating_velocities_start_in_v instead
• @libjpeg external (#20343)
  • Please vendor your own dependency.

Removal of deprecated items

• @conex (#20463)
• @csdp (#20463)
• @optitrack_driver (#20463)
• @petsc (#20463)
• @picosha2 (#20463)
• @rules_pkg (#20463)
• @tinyobjloader (#20463)
• @usockets (#20463)
• @uwebsockets (#20463)
• drake::geometry::optimization::GraphOfConvexSets::AddEdge (VertexId overload only) (#20463)
• drake::geometry::optimization::GraphOfConvexSets::RemoveEdge (EdgeId overload only) (#20463)
• drake::geometry::optimization::GraphOfConvexSets::RemoveVertex (VertexId overload only) (#20463)
• drake::geometry::optimization::GraphOfConvexSets::SolveShortestPath (VertexId overload only) (#20463)
• drake::multibody::Body::get_num_flexible_positions (#20427)
• drake::multibody::Body::get_num_flexible_velocities (#20427)
• drake::multibody::MinimumDistanceConstraint::minimum_distance (#20463)
• drake::solvers::FindNonconvexQuadraticCost (#20463)
• drake::solvers::MinimumValueConstraint::minimum_value (#20463)
• drake::systems::sensors::OptitrackReceiver (#20463)
• drake::systems::sensors::OptitrackSender (#20463)
• pydrake.manipulation.kuka_iiwa (#20463)
• pydrake.manipulation.schunk_wsg (#20463)
• pydrake.manipulation.util (#20463)

Notes

This release provides pre-compiled binaries named drake-1.23.0-{focal|jammy|mac|mac-arm64}.tar.gz. See Stable Releases for instructions on how to use them.

Drake binary releases incorporate a pre-compiled version of SNOPT as part of the Mathematical Program toolbox. Thanks to Philip E. Gill and Elizabeth Wong for their kind support.