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Announcements

SceneGraph now supports in-memory meshfiles.
- The Mesh and Convex shapes can now specify meshfile data in-memory, instead of only ever loading meshes from disk.
- This is especially useful when meshes need to be created dynamically; now a temp directory is no longer needed to story the mesh data.
- An in-memory mesh shape can make use of heterogeneous supporting files (e.g., an in-memory obj uses an in-memory .mtl but uses an on-disk texture).
- All geometry consumers in Drake (e.g., visualizers, render engines, collision queries, plant contact dynamics) support the in-memory data.
  - Downstream code that directly access a shape’s mesh data (by calling the filename() function) should be adjusted to handle both file paths and in-memory buffers.
RenderEngineVtk now offers the option to use EGL on Ubuntu (#22025)
- EGL is an alternative to GLX for obtaining an OpenGL context, and allows for rendering in the cloud without running a separate Xorg server.
- This feature should be viewed as in “beta testing” in this release; please send us any bug reports. In the future, we hope to make EGL the default.
Drake no longer supports macOS Ventura (i.e., macOS 13), as documented on our OS Support page and the Supported Configurations table (#22004).
- Therefore macOS x86_64 wheels have reached end of life as well (because GitHub Actions does not offer x64_64 runners for macOS >= 14).
  - This will be the last release for macOS x86_64 wheels.
- We are working to add official support for macOS Sequoia (15) soon.
Building from source on macOS now uses a venv for Python dependencies (#22036).

Breaking changes since v1.33.0

None

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

Changes since v1.33.0

Dynamical Systems

New features

Add parameters to RgbdSensor (#21937)
Add ZeroOrderHold::SetVectorState (#22005)

Fixes

None

Mathematical Program

New features

Add getter for thread safety of MathematicalProgram and EvaluatorBase (#21903)
Implement AffineBall::DoAddPointInNonnegativeScalingConstraints (#21898)
Implement fail-fast heuristic in VPolytope::DoPointInSet (#21988)
Add Hyperellipsoid::Scale() (#21985)
Handle unbounded domains in Iris and IrisInConfigurationSpace if the user specifies a valid bounding region (#21942)
Add derivative boundary conditions in Toppra::SolvePathParameterization (#21975)

Fixes

None

Multibody Dynamics and Geometry

New features

SceneGraph support for in-memory meshfiles
- Introduce InMemoryMesh and MeshSource (#21890)
- Implement obj->mesh in terms of MeshSource (#21914)
- Mesh and Convex now uses MeshSource as storage (#21922)
- Add supporting files to InMemoryMesh (#21923)
- RenderMesh and RenderMaterial parse .obj files from MeshSource (#21944)
- Convex hull computation uses MeshSource (#21945)
- Add utility for working with glTF files (#21949)
- PlanarSceneGraphVisualizer supports in-memory meshes (#21950)
- Illustration supports in-memory meshes (#21952)
- RenderEngineGl supports in-memory meshes (#21953)
- RenderEngineVtk (and GltfClient) support in-memory meshes (#21954)
- Deprecate Mesh::filename() and Convex::filename() (#21881)
RenderEngineVtkParams offers the option to use EGL instead of GLX (#22025)
MuJoCo parser: Support “gear”, “armature”, and “position” (#21967)
MuJoCo parser: Support equality “connect” constraints (#21970)
SDFormat and URDF: Add parsing for hydro margin (#21831)
Add Meshcat option for strict=False when removing buttons or sliders (#22028)

Fixes

Fix uninitialized (or NaN) MultibodyPlant body_spatial_acceleration output prior to first step (#22020)
Fix contact force port crash when deformables are present (#21931)
glTF parser: fix VTK loader crash on empty file (#22011)
Fix RenderEngineVtk cloning (#21962)
Fix abort in JointSliders and MeshcatPoseSliders destructor (#22028)

Planning

New features

Add MinCliqueCoverSolver and MinCliqueCoverSolverViaGreedy for solving the minimum clique cover problem (#21892)
Adjust GcsTrajectoryOptimization::AddEdges and AddRegions to automatically compute edge offsets if they’re not provided (#21946)

Fixes

None

Tutorials and examples

None

Miscellaneous features and fixes

Fix Schunk WSG trajectory bug with initial zero target (#21925)

pydrake bindings

New features

Add support for yaml_dump_typed on Transform (#21934)
Bind pydrake.multibody.plant.IsAnchored (#21933)
Bind pydrake.multibody.plant.NumBodiesWithName (#21933)
Bind pydrake.multibody.tree.Body.CalcCenterOfMassTranslationalVelocityInWorld (#21926)

Fixes

Fix signatures to use Python types (not C++) (#21908, #21911, #21913, #21907, #21916, #21909, #21919, #21917, #21918, #21921, #22002)
Improve a yaml_dump error message (#21935)
Do not convert an int to a bool in Python binding of Meshcat::SetProperty (#22021)

Build system

Building from source on macOS now uses a venv for Python dependencies (#22036)
Remove official support of macOS 13 (Ventura) (#22004)
Fix CMake logic in Drake’s installed pybind11 config (#22012)
Track when the is_wheel_build setting changes (#21938)
Add out-of-line destructors for common, geometry, and solvers classes (#22010, #22018, #22030)

Build dependencies

Upgrade abseil_cpp_internal to latest commit (#21992)
Upgrade bazel to latest release 7.3.2 (#21997)
Upgrade bazelisk to latest release 1.22.0 (#21972)
Upgrade build_bazel_apple_support to latest release 1.17.1 (#21992)
Upgrade crate_universe to latest releases (#21992)
Upgrade curl_internal to latest release 8.10.1 (#21993)
Upgrade gz_math_internal to latest release 8.0.0 (#21995)
Upgrade gz_utils_internal to latest release 3.0.0 (#21995)
Upgrade libpng_internal to latest release 1.6.44 (#21992)
Upgrade libtiff_internal to latest release 4.7.0 (#21994)
Upgrade mujoco_menagerie_internal to latest commit (#21992)
Upgrade rules_rust to latest release 0.52.0 (#21996)
Upgrade rust_toolchain to latest release 1.81.0 (#21996)
Upgrade sdformat_internal to latest release 15.0.0 (#21995)
Upgrade sympy_py_internal to latest release 1.13.3 (#21992)
Upgrade tomli_internal to latest release 2.0.2 (#21992)
Upgrade vtk_internal to latest commit (#21894)

Newly-deprecated APIs

drake::geometry::ReadObjToTriangleSurfaceMesh overload that takes a std::istream (#21914)
drake::systems::sensors::RgbdSensor::color_render_camera (#21937)
drake::systems::sensors::RgbdSensor::depth_camera_info (#21937)
drake::systems::sensors::RgbdSensor::depth_render_camera (#21937)
drake::systems::sensors::RgbdSensor::parent_frame_id (#21937)
drake::systems::sensors::RgbdSensor::X_BC (#21937)
drake::systems::sensors::RgbdSensor::X_BD (#21937)
drake::systems::sensors::RgbdSensor::X_PB (#21937)
drake::geometry::Convex::filename (#21881)
drake::geometry::Mesh::filename (#21881)

Removal of deprecated items

drake::geometry::optimization::GraphOfConvexSets::GetGraphvizString overload that uses std::optional instead of a nullable pointer (#21749, #21974)
drake::multibody::MultibodyPlant::EvalPointPairPenetrations (#21608, #21974)
drake::multibody::MultibodyPlant::get_geometry_poses_output_port (#21609, #21974)
drake::multibody::MultibodyPlant output port named “spatial_accelerations” (#21609, #21974)
drake::multibody::MultibodyPlant output port named “spatial_velocities” (#21609, #21974)
drake::multibody::Parser.collision_filter_groups (#21562, #21974)
drake::multibody::SpatialInertia default constructor (#21198, #21974)
drake::planning::trajectory_optimization::GcsTrajectoryOptimization::AddEdges overload that uses std::optional instead of a nullable pointer (#21749, #21974)
drake::planning::trajectory_optimization::GcsTrajectoryOptimization::AddRegions overload that uses std::optional instead of a nullable pointer (#21749, #21974)

Notes

This release provides pre-compiled binaries named drake-1.34.0-{jammy|noble|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.