Announcements

• None

Breaking changes since v1.40.0

• None

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

Changes since v1.40.0

Dynamical Systems

New features

• Add DiscreteTimeApproximation for converting general continuous-time systems (#22652)
• Support symbolic scalar type integrators in DiscreteTimeApproximation (#22913)
• Add scalar conversion for Saturation (#22934)

Fixes

• None

Mathematical Program

New features

• Add ProjectedGradientDescentSolver (#22947)

Fixes

• IpoptSolver accepts integers for floating-point options (#22927)

Multibody Dynamics and Geometry

New features

• Enable reverse revolute joints (#22883)
• Allow reversed prismatic joints (#22949)

Fixes

• GetBodiesKinematicallyAffectedBy no longer throws on welds (#23004)
• GetScopedFrameByName accepts string_view (#23014)

Planning

New features

• Set sparsity pattern for KinematicTrajectoryOptimization effort bounds (#22912)
• Add JointLimits data type (#23000)
• Introduce IrisCommonOptions for options shared between IRIS-ZO and IRIS-NP2 (#22982)
• Add DofMask data type (#23010)

Fixes

• None

Tutorials and examples

• None

Miscellaneous features and fixes

• Overload ExtractValue and ExtractGradient to allow preallocated output matrix (#22895)
• Add more IiwaDriver config options (#22916)

pydrake bindings

New features

• Add bindings for drake::geometry::QueryObject::GetConfigurationsInWorld (#23011)
• Add bindings for drake::manipulation::schunk_wsg::SchunkWsgTrajectoryGenerator (#22900)
• Add bindings for drake::solvers::ProjectedGradientDescentSolver (#22986)

Fixes

• Accept pathlib.Path for paths in pydrake.multibody.parsing.{Parser.AddModels, LoadModelDirectives} (#22936)
• Fix a memory hazard in pydrake.multibody.inverse_kinematics.InverseKinematics (#22982)
• Fix meldis crash on gltf embedded png (#23013)

Build system

• Support modern versions of user-provided spdlog in CMake (#22915)
• Update CMake versioning policies for Drake source and installation (#22898)
• Use our bazelversion pin in CMake builds also (#22901)

Build dependencies

• Switch to libclang-17 on Noble (#22919)
• Upgrade abseil_cpp_internal to latest commit (#22964)
• Upgrade bazel to latest release 8.2.1 (#22929)
• Upgrade bazelisk to latest release 1.26.0 (#22964)
• Upgrade buildifier to latest release 8.2.0 (#22964)
• Upgrade bzlmod eigen to 3.4.0.bcr.3 (#22918)
• Upgrade common_robotics_utilities to latest commit (#22971)
• Upgrade crate_universe to latest (#22964)
• Upgrade curl_internal to latest release 8.13.0 (#22965)
• Upgrade dm_control_internal to latest release 1.0.30 (#22964)
• Upgrade drake_models to latest commit (#22964)
• Upgrade gtest to latest release 1.17.0 (#22972)
• Upgrade libpng_internal to latest release 1.6.48 (#22964)
• Upgrade meshcat to latest commit (#22932)
• Upgrade mujoco_menagerie_internal to latest commit (#22964)
• Upgrade mypy_extensions_internal to latest release 1.1.0 (#22964)
• Upgrade nlohmann_internal to latest release 3.12.0 (#22964)
• Upgrade python venv (mac) to latest (#22984)
• Upgrade rules_java to 8.11.0 (#22929)
• Upgrade suitesparse_internal to latest release 7.10.2 (#22964)
• Upgrade sympy_py_internal to latest release 1.14.0 (#22964)
• Upgrade typing_extensions_internal to latest release 4.13.2 (#22964)
• Upgrade voxelized_geometry_tools to latest commit (#22933)

Newly-deprecated APIs

• drake::manipulation::kuka_iiwa::BuildIiwaControl() 8 argument overload (#22916)
• drake::manipulation::kuka_iiwa::BuildSimplifiedIiwaControl() 7 argument overload (#22916)

Removal of deprecated items

• drake::planning::graph_algorithms::MaxCliqueSolverBase::Clone (#22938)
• drake::solvers::CommonSolverOption::operator<< (#22938)
• drake::solvers::MathematicalProgram::GetSolverOptionsDouble() (#22938)
• drake::solvers::MathematicalProgram::GetSolverOptionsInt() (#22938)
• drake::solvers::MathematicalProgram::GetSolverOptionsStr() (#22938)
• drake::solvers::MobyLCPSolver::SetLoggingEnabled (#22938)
• drake::systems::analysis::SimulatorFactory (#22938)
• drake::systems::sensors::RgbdSensorAsync::color_camera (#22938)
• drake::systems::sensors::RgbdSensorAsync::depth_camera (#22938)
• drake::systems::sensors::RgbdSensorAsync::parent_id (#22938)
• drake::systems::sensors::RgbdSensorAsync::X_PB (#22938)
• pydrake.solvers.SolverOptions.SetOption with parameters solver_option and option_value (#22938)
• Certain yaml implicit primitive type conversions during parsing (#22940)
• LCM install with CMake install and binary packages (#22939)
• MUMPS as an IPOPT linear solver (#22937)
• Subclassing drake::multibody::MultibodyPlant (#22938)
• Support for macOS for Python 3.11 wheels (#22893)
• The @cc external (#22941)
• The @glx external (#22941)
• The @ipopt external (#22937)
• The @libblas external (#22941)
• The @liblapack external (#22941)
• The @opengl external (#22941)

Notes

This release provides pre-compiled binaries named drake-1.41.0-{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.