Announcements

• This release follows quickly on the heels of v1.16.0 in order to remain compatible with macOS Homebrew’s recent C++ upgrade to fmt 10.
  • On macOS (except for pip), Drake now uses and requires fmt 10.
  • To use fmt 9, stick with Drake version v1.16.0 or prior.
• Drake now has CI coverage of macOS 13 (“Ventura”), so that OS version is an officially supported target for source builds.
  • Drake’s precompiled binary releases are still targeted for macOS 12 (“Monterey”). These binaries continue to run correctly on Ventura.

Breaking changes since v1.16.0

• None

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

Changes since v1.16.0

Dynamical Systems

New features

• Add depth image conversion helper functions ConvertDepth32FTo16U and ConvertDepth16UTo32F (#19436)

Fixes

• Check IsStabilizable and IsDetectable in ContinuousAlgebraicRiccatiEquation (#19300)
• Simplify the creation of empty images (#19443)

Mathematical Program

New features

• None

Fixes

• Overload Trajectory::vector_values to accept Eigen::VectorXd (#19422)

Multibody Dynamics and Geometry

New features

• Include joint locking in forward dynamics computations (#19420)

Fixes

• RenderEngineGl supports multi-threaded operation (under certain conditions) (#19323)

Planning

New features

• Add velocity bounds to edges between subgraphs (#19357)

Fixes

• None

Tutorials and examples

• Add missing table of contents entry for “Taking derivatives of MultibodyPlant with respect to mass” (#19439)

Miscellaneous features and fixes

• Provide fmt_floating_point helper for consistent floating point output (#19454)

pydrake bindings

New features

• Add binding for LinearComplementarityConstraint M and q (#19445)
• Add binding for UnrevisedLemkeSolver (#19453)
• Add binding for MobyLCPSolver (#19460)
• Add codec configuration to VideoWriter (#19447)

Fixes

• Fix default arguments for GetStateNames() and related to match C++ (#19455)
• Switch the default VideoWriter codec to the more portable mp4v instead of avc1 (#19447)

Build system

• Offically support macOS Ventura (#19458)

Build dependencies

• Fix build and test errors vs fmt 10 (#19451, #19454, #19459)
• Remove unused NLopt install on the host OS (#19427, #19428)

Newly-deprecated APIs

• None

Removal of deprecated items

• None

Notes

This release provides pre-compiled binaries named drake-20230523-{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.