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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.