Announcements

• None

Breaking changes since v1.41.0

• None

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

Changes since v1.41.0

Dynamical Systems

New features

• Add DiagramBuilder::Disconnect (#23035)
• Add start_time to SimulatorConfig (#23045)

Fixes

• None

Mathematical Program

New features

• OSQP always reports primal and dual values regardless of the solver status (#23028)

Fixes

• MosekSolver should return kGlobalInfeasibleCost when the problem is primal infeasible (#23034)
• SnoptSolver honors user requests to allocate extra memory (#23039)

Multibody Dynamics and Geometry

New features

• Add point-to-specific-geometries distance query (#23048)

Fixes

• Fix symbolic mass matrix computation (#23027)

Planning

New features

• Add JointLimits active DoF selecting constructors (#23047)

Fixes

• DofMask::count is constant-time (#23017)

Tutorials and examples

• None

Miscellaneous features and fixes

• None

pydrake bindings

New features

• Add binding for CollisionFilterScope (#23091)
• Add binding for DofMask operator[] (#23069)

Fixes

• None

Build system

• Push an official source code archive to GitHub releases (#22923)
• Fix errors flagged by Clang 20 (#23049)
• Update Sequoia to Apple LLVM 17 (#23068)
• Fix minimum supported macOS versions in CMake (#23082)

Build dependencies

• Patch bad-epsilon-for-zero-test libccd bug for Drake (#23060)
• Upgrade clarabel_cpp_internal to latest release 0.11.0 (#23074)
• Upgrade crate_universe to latest (#23075)
• Upgrade curl_internal to latest release 8.14.0 (#23071)
• Upgrade mypy_internal to latest release 1.16.0 (#23070)
• Upgrade openusd_internal to latest release 25.05.01 (#23065)
• Upgrade python venv (macOS) to latest (#23059)
• Upgrade sdformat_internal to latest release 15.3.0 (#23076)
• Upgrade vtk_internal to latest commit (#23038, #23064)

Newly-deprecated APIs

• None

Removal of deprecated items

• drake::multibody::Joint::has_implementaion (#23040)
• drake::multibody::SpatialInertia::CriticizeNotPhysicallyValid (#23040)
• drake::systems::estimators::StateStateKalmanFilter overload that takes a std::unique_ptr to the context (#23040)
• drake::systems::Simulator::release_context (#23040)

Notes

This release provides pre-compiled binaries named drake-1.42.0-{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.