Announcements

• None

Breaking changes since v1.24.0

• None

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

Changes since v1.24.0

Dynamical Systems

New features

• Add lcmt_image_array_to_images output for label images (#20598)

Fixes

• None

Mathematical Program

New features

• None

Fixes

• None

Multibody Dynamics and Geometry

New features

• Support eulerseq (and fix the default) in MJCF parser (#20620)
• Support mesh defaults and assetdir in MJCF parser (#20621)
• Support visual-only and/or collision-only geometry MJCF parser (#20622)
• Implement MultibodyPlant::RemoveConstraint (#20720)

Fixes

• Correct window sizing in RenderEngineGl (#20695)
• Remove false const on get_mutable_joint_actuator (#20750)
• Fix exception safety bug in AddJointActuator (#20751)
• Set non-zero initial guess for quaternion joints in InverseKinematics (#20624)
• Improve error handling of AddFrame (#20773)

Planning

New features

• None

Fixes

• None

Tutorials and examples

• Clean up hydroelastic-contact tutorial (#20665)

Miscellaneous features and fixes

• Avoid Diagram pollution when opted-out of LCM (#20671)
• Fix YAML output spelling of negative infinity (#20719)
• Add yaml_dump_typed to complement yaml_load_typed (#20722)
• Account for attached mass in make_arm_controller_model (#20733)

pydrake bindings

New features

• Add python bindings for geometry::optimization::Hyperrectangle (#20690)
• Add –geom_inertia_role_order flag to fix_inertia tool (#20693)
• Add python binding for InversKinematics.AddMinimumDistanceUpperBoundConstraint (#20736)
• Bind MultibodyPlant::HasFrameNamed (#20753)

Fixes

• Fix Python GIL deadlocks when using parallelize=True (#20759)

Build system

• Add CMake option to enable OpenMP (#20703)

Build dependencies

• Switch to libclang-14 on Jammy (#20732)
• Upgrade abseil_cpp_internal to latest commit (#20742)
• Upgrade curl_internal to latest release curl-8_5_0 (#20742)
• Upgrade dm_control_internal to latest release 1.0.16 (#20742)
• Upgrade drake_models to latest commit (#20674)
• Upgrade mypy_internal to latest release v1.8.0 (#20745)
• Upgrade nanoflann_internal to latest release v1.5.3 (#20742)
• Upgrade rules_rust to latest release 0.36.2 (#20742)
• Upgrade suitesparse_internal to latest release v7.4.0 (#20744)
• Upgrade tinyobjloader_internal to latest commit (#20742)
• Upgrade tinyxml2_internal to latest release 10.0.0 (#20742)
• Upgrade typing_extensions_internal to latest release 4.9.0 (#20742)

Newly-deprecated APIs

• drake/multibody/tree/body.h include path (#20676)
• drake::multibody::BodyFrame (#20676)
• drake::schema::Transform::Sample() (#20756, #20775)

Removal of deprecated items

• @double_conversion (#20715)
• @glew (#20715)
• @liblz4 (#20715)
• @liblzma (#20715)
• @vtk (#20715)
• drake/systems/framework/system_html.h include path (#20714)
• drake::lcm::DrakeLcm::get_lcm_instance (#20716)
• drake::multibody::parsing::AddAllModelsFromFile (#20724)
• drake::multibody::parsing::AddModelFromFile (#20724)
• drake::systems::controllers::InverseDynamics::get_output_port_force (#20714)
• drake::systems::System<T>::GetGraphvizFragment virtual method (#20714)
• drake::systems::System<T>::GetGraphvizInputPortToken (#20714)
• drake::systems::System<T>::GetGraphvizOutputPortToken (#20714)
• drake::systems::System<T>::GetGraphvizOutputPortToken (#20714)
• pydrake.systems.framework.GenerateHtml (#20714)

Notes

This release provides pre-compiled binaries named drake-1.25.0-{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.