Announcements
- New differential inverse kinematics systems have been introduced:
DifferentialInverseKinematicsSystemandDifferentialInverseKinematicsController(with pydrake bindings). This is a more flexible, framework-friendly implementation of differential inverse kinematics. - We’ve removed examples/manipulation_station (both C++ and bindings). See https://manipulation.csail.mit.edu/robot.html for the newer, preferred implementation.
Breaking changes since v1.42.0
- None
Refer to our Drake Stability Guidelines for our policy on API changes.
Changes since v1.42.0
Dynamical Systems
- None
Mathematical Program
New features
- Overload MathematicalProgram::AddLinearEqualityConstraint for vector of formulas (#23157)
Fixes
- Improve the efficiency of RemoveVertex from O(num edges in graph) to O(num edges connected to removed vertex) (#23165)
Multibody Dynamics and Geometry
New features
- Move Aabb and Obb out of internal namespace (#23120)
- RevoluteSpring’s properties of nominal angle and stiffness are now Parameters (#23146)
- Add DifferentialInverseKinematicsSystem and DifferentialInverseKinematicsController (#23175, #23178)
- Compute bounding boxes for rigid and deformable geometries (#23133)
Fixes
- Correct bug in mirrored glTF files in RenderEngineVtk (#23108)
- MultibodyPlant’s implicit PD constraint supports gains in the near-rigid regime (#23115)
Planning
New features
- Add implementation of the IRIS-NP2 algorithm (#23001, #23101, #23102, #23118, #23116, #23148)
- Add further use of parallelization within IrisZo (#23097, #23127)
- Add option to draw samples in parallel in IrisZo and IrisNp2 (#23111)
Fixes
- None
Tutorials and examples
- Remove manipulation_station C++ and bindings (#23182)
Miscellaneous features and fixes
- None
pydrake bindings
New features
- Add binding for
drake::MathematicalProgram::AddCost(Binding<Cost>)(#23152) - Add binding for
drake::geometry::RefineVolumeMeshanddrake::geometry::RefineVolumeMeshIntoVtkFileContents(#23083) - Add bindings for
drake::planning::IrisNp2(#23096) - Add additional bindings for
drake::planning::GlobalInverseKinematics(#23122)
Fixes
- Fix a RobotDiagramBuilder memory leak (#23171)
Build system
- Switch Noble’s preferred Clang to clang-19 (#23124)
- Fix the CMake build to suppress unwanted C++ warnings (#23117)
- Default to C++23 on Noble and macOS (#23147, #23177)
Build dependencies
- Upgrade abseil_cpp_internal to latest commit (#23058, #23140)
- Upgrade bazel to latest release 8.3.1 (#23164)
- Upgrade bazel_features to version 1.30.0 (#23166)
- Upgrade bazel platforms to version 0.0.11 (#23166)
- Upgrade bazel rules_cc to version 0.1.1 (#23166)
- Upgrade rules_java to version 8.12.0 (#23166)
- Upgrade bazel_skylib to latest release 1.8.0 (#23156)
- Upgrade buildifier to latest release v8.2.1 (#23142)
- Upgrade clarabel_cpp_internal to latest release 0.11.1 (#23141)
- Upgrade crate_universe to latest (#23141)
- Upgrade curl_internal to latest release curl-8_14_1 (#23142)
- Upgrade dm_control_internal to latest release 1.0.31 (#23142)
- Upgrade drake_models to latest commit (#23058, #23142)
- Upgrade gymnasium_py to latest release v1.2.0 (#23142)
- Upgrade gz_math_internal to latest release 8.2.0 (#23143)
- Upgrade python venv (mac) to latest (#23139)
- Upgrade googlebenchmark to latest release v1.9.4 (#23058)
- Upgrade libpng_internal to latest release v1.6.49 (#23142)
- Upgrade mosek to 11.0.24 (#23151)
- Upgrade mujoco_menagerie_internal to latest commit (#23058, #23142)
- Upgrade mypy_internal to latest release v1.16.1 (#23142)
- Upgrade picosha2_internal to latest commit (#23058)
- Upgrade pycodestyle to latest release 2.14.0 (#23142)
- Upgrade spral_internal to latest release v2025.05.20 (#23058)
- Upgrade suitesparse_internal to latest release v7.10.3 (#23058)
- Upgrade tinygltf_internal to latest release v2.9.6 (#23058)
- Upgrade typing_extensions_internal to latest release 4.14.0 (#23142)
- Upgrade uritemplate_py_internal to latest release 4.2.0 (#23142)
- Upgrade zlib to version 1.3.1.bcr.5 (#23166)
Newly-deprecated APIs
drake::multibody::RevoluteSpring::nominal_angle(#23146)pydrake.multibody.RevoluteSpring.nominal_angle(#23146)drake::multibody::RevoluteSpring::stiffness(#23146)pydrake.multibody.RevoluteSpring.stiffness(#23146)
Removal of deprecated items
- None
Notes
This release provides pre-compiled binaries named
drake-1.43.0-{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.