Drake v1.54.0

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Announcements

  • Tutorials are no longer hosted on Deepnote (#24557).
    • Instead, the tutorials are now hosted on [Drake’s webpage][/tutorials/index.html].
  • Drake now supports the amd64 architecture, the older / less optimized variant of x86-64, on Ubuntu 26.04 (“Resolute”).
  • This release is not accompanied by a Docker image, which has been deprecated. See Installation via Docker and End of Support for more information.

Breaking changes since v1.53.0

  • The return type of drake::systems::System::MapPeriodicEventsByTiming changed to use the built-in comparison instead of a separate comparator class ([#24559][_#24559]).
    • This won’t be breaking if users are capturing maps using PeriodicEventData-valued keys using auto.

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

Changes since v1.53.0

Dynamical Systems

New features

  • None

Fixes

  • None

Mathematical Program

New features

  • None

Fixes

  • None

Multibody Dynamics and Geometry

New features

  • Add fast Jᵀ·F operator and use it for computing gravity torques (#24571)
  • Add Meshcat support for assigning diffuse color textures on primitives (#24564)

Fixes

  • None

Planning

New features

  • None

Fixes

  • None

Tutorials and examples

  • None

Miscellaneous features and fixes

  • None

pydrake bindings

New features

  • None

Fixes

  • Fix native code memory leak (#24533)

Build system

  • Propagate CMAKE_C_FLAGS and CMAKE_CXX_FLAGS to bazel (#24526)

Build dependencies

  • Update macOS supported Xcode to 26.5 on Tahoe (#24597)
  • Update python venv to latest (#24620)
  • Update dependency abseil_cpp_internal to 20260526.0 (#24622)
  • Update dependency bazel to v9.1.1 (#24615)
  • Update dependency bazel_features to v1.47.1 (#24592)
  • Update dependency bazelisk_internal to 1.29.0 (#24618)
  • Update crate_universe to latest (#24621)
  • Update dependency dm_control_internal to 1.0.41 (#24618)
  • Update dependency doxygen_internal to 1.17.0 (#24523)
  • Update dependency gklib_internal to latest commit (#24618)
  • Update dependency gymnasium_py_internal to 1.3.0 (#24618)
  • Update dependency implib_so_internal to latest commit (#24618)
  • Update dependency meshcat to latest commit (#24564)
  • Update dependency msgpack_internal to cpp-8.0.0 (#24624)
  • Update dependency mujoco_menagerie_internal to latest commit (#24618)
  • Update dependency nanoflann_internal to 1.10.0 (#24618)
  • Update dependency nlopt_internal to 2.11.0 (#24618)
  • Update dependency rules_cc to v0.2.19 (#24589)
  • Update dependency rules_python to v2.0.2 (#24590)
  • Update dependency uwebsockets_internal to 20.78.0 (#24625)
  • Update dependency vtk_internal to latest commit (#24554)

Newly-deprecated APIs

  • drake::systems::PeriodicEventDataComparator (#24559)

Removal of deprecated items

  • drake::multibody::MultibodyPlant::SetFreeBodyPoseInWorldFrame (#24547)
  • drake::multibody::MultibodyPlant::SetFreeBodyPoseInAnchoredFrame (#24547)
  • drake::multibody::MultibodyPlant::GetUniqueFreeBaseBodyOrThrow (#24547)
  • drake::multibody::MultibodyPlant::SetDefaultFreeBodyPose (#24547)
  • drake::multibody::MultibodyPlant::GetDefaultFreeBodyPose (#24547)
  • drake::multibody::MultibodyPlant::HasUniqueFreeBaseBody (#24547)
  • drake::multibody::RigidBody::is_floating (#24547)
  • drake::systems::Simulator::set_publish_every_time_step (#24547)
  • drake::systems::Simulator::set_publish_at_initialization (#24547)
  • drake::systems::Simulator::get_publish_every_time_step (#24547)
  • drake::systems::SimulatorConfig::publish_every_time_step (#24547)
  • drake::systems::SimulatorConfig::publish_every_time_step (#24547)
  • drake::systems::System::get_forced_publish_events (#24547)
  • simulator_publish_every_time_step command-line parameter in simulator_gflags.h (#24547)
  • Remove deprecated Docker images (#24553)

Notes

This release provides pre-compiled binaries. See Installation 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.