Upgrade to Drake v1.28.0 (#557)

* Upgrade to Drake v1.28.0

* upgrade black in pre-commit and github actions

* lxml now needs an explicit opt-in for lxml-html-clean, and introduces a requirement cycle

---------

Co-authored-by: Russ Tedrake <russt@mit.edu>

.github/workflows/main.yml

@@ -98,7 +98,7 @@ jobs:
       - name: black
         uses: psf/black@stable
         with:
-          version: 24.2.0
+          version: 24.4.0
           jupyter: true
       - name: isort
         uses: isort/isort-action@master

.pre-commit-config.yaml

@@ -1,6 +1,6 @@
 repos:
 - repo: https://github.com/psf/black
-  rev: 24.2.0  # NOTE: If updating, also update the version in .github/workflows/*
+  rev: 24.4.0  # NOTE: If updating, also update the version in .github/workflows/*
   hooks:
     - id: black-jupyter
       types_or: ["python","jupyter"] 

Developers.md

@@ -10,7 +10,7 @@ poetry install --with=dev,docs
 
 To generate it, run
 ```
-poetry export
+poetry lock
 ./book/htmlbook/PoetryExport.sh
 ```
 

WORKSPACE.bazel

@@ -40,6 +40,12 @@ pip_parse(
     requirements_darwin = "//:requirements-bazel-mac.txt",
     requirements_linux = "//:requirements-bazel-linux.txt",
     requirements_lock = "//:requirements-bazel.txt",
+    experimental_requirement_cycles = {
+      "lxml": [
+        "lxml",
+        "lxml-html-clean",
+      ],
+    },
 )
 
 load("@pip_deps//:requirements.bzl", "install_deps")
@@ -59,12 +65,12 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 http_archive(
     name = "drake_models",
     urls = [
-        "https://github.com/RobotLocomotion/models/archive/fe5326c5ffc36fda12c58883d22d29dc86009d65.tar.gz",
-        "https://drake-mirror.csail.mit.edu/github/RobotLocomotion/models/fe5326c5ffc36fda12c58883d22d29dc86009d65.tar.gz",
-        "https://s3.amazonaws.com/drake-mirror/github/RobotLocomotion/models/fe5326c5ffc36fda12c58883d22d29dc86009d65.tar.gz",
+        "https://github.com/RobotLocomotion/models/archive/69c92595a391eb023c27ab6ac8f80d58a3e4612d.tar.gz",
+        "https://drake-mirror.csail.mit.edu/github/RobotLocomotion/models/69c92595a391eb023c27ab6ac8f80d58a3e4612d.tar.gz",
+        "https://s3.amazonaws.com/drake-mirror/github/RobotLocomotion/models/69c92595a391eb023c27ab6ac8f80d58a3e4612d.tar.gz",
     ],
-    sha256 = "2a232f7da8d575fe1fcc6ad396f634d1adc1c9ee856168f011fbeb42a01c76b1",
-    strip_prefix = "models-fe5326c5ffc36fda12c58883d22d29dc86009d65",
+    sha256 = "ba571c8b369a62c3764d250944b27d72071488789b2494604d23342994141fe2",
+    strip_prefix = "models-69c92595a391eb023c27ab6ac8f80d58a3e4612d",
     build_file_content = """
 package(default_visibility = ["//visibility:public"])
 

book/acrobot/quadrotor.ipynb

@@ -127,7 +127,7 @@
     "    plant = builder.AddSystem(MultibodyPlant(0.0))\n",
     "    parser = Parser(plant)\n",
     "    (model_instance,) = parser.AddModelsFromUrl(\n",
-    "        \"package://drake/examples/quadrotor/quadrotor.urdf\"\n",
+    "        \"package://drake_models/skydio_2/quadrotor.urdf\"\n",
     "    )\n",
     "    # By default the multibody has a quaternion floating base.  To match\n",
     "    # QuadrotorPlant, we can manually add a FloatingRollPitchYaw joint. We set\n",
@@ -276,17 +276,17 @@
     "def MakeMultipleQuadrotors():\n",
     "    # The RobotDiagram is a convenient way to work with a MultibodyPlant +\n",
     "    # SceneGraph.\n",
-    "    builder = RobotDiagramBuilder()\n",
+    "    builder = RobotDiagramBuilder(time_step=0.0)\n",
     "    plant = builder.plant()\n",
     "\n",
     "    directives = \"\"\"\n",
     "    directives:\n",
     "    - add_model:\n",
     "        name: quad1\n",
-    "        file: package://drake/examples/quadrotor/quadrotor.urdf\n",
+    "        file: package://drake_models/skydio_2/quadrotor.urdf\n",
     "    - add_model:\n",
     "        name: quad2\n",
-    "        file: package://drake/examples/quadrotor/quadrotor.urdf\n",
+    "        file: package://drake_models/skydio_2/quadrotor.urdf\n",
     "    \"\"\"\n",
     "\n",
     "    builder.parser().SetAutoRenaming(True)\n",

pyproject.toml

@@ -50,8 +50,8 @@ priority = "explicit"
 
 [tool.poetry.dependencies]
 python = "<4.0,>=3.10"
-drake = { version = "==0.0.20240307", source = "drake-nightly" }
-#drake = ">=1.23.0"
+#drake = { version = "==0.0.20240307", source = "drake-nightly" }
+drake = ">=1.28.0"
 gradescope-utils = ">=0.4.0"
 ipywidgets = ">7"
 mpld3 = ">=0.5.1"
@@ -66,8 +66,8 @@ optional = true
 # Must include all dependencies required to build the docs with sphinx + autodoc.
 [tool.poetry.group.docs.dependencies]
 # Should match drake version above.
-drake = { version = "==0.0.20240307", source = "drake-nightly" }
-#drake = ">=1.23.0"
+#drake = { version = "==0.0.20240307", source = "drake-nightly" }
+drake = ">=1.28.0"
 ipython = ">=7.8.0"
 sphinx = ">=7.2.6"
 myst-parser = ">=2.0.0"
@@ -76,7 +76,7 @@ sphinx_rtd_theme = ">=2.0.0"
 [tool.poetry.group.dev.dependencies]
 beautifulsoup4 = ">=4.6.3"
 black = { version = ">=23.*", extras = ["jupyter"] }
-lxml = ">=4.9.2" # seems to be needed on python 3.11
+lxml = {version = ">=4.9.2", extras = ["html_clean"] }
 # Blocked on poetry known issue; see Developers.md
 #matplotlib = [ 
 #  {platform="darwin", version=">=3.7.0"}, # old versions don't build in XCode

requirements-bazel-linux.txt

@@ -1,54 +1,54 @@
---extra-index-url https://drake-packages.csail.mit.edu/whl/nightly
-
 asttokens==2.4.1 ; python_version >= "3.10" and python_version < "4.0"
 attrs==23.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 beautifulsoup4==4.12.3 ; python_version >= "3.10" and python_version < "4.0"
-black[jupyter]==24.2.0 ; python_version >= "3.10" and python_version < "4.0"
+black[jupyter]==24.4.0 ; python_version >= "3.10" and python_version < "4.0"
 bleach==6.1.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-build==1.1.1 ; python_version >= "3.10" and python_version < "4.0"
+build==1.2.1 ; python_version >= "3.10" and python_version < "4.0"
 cachecontrol[filecache]==0.14.0 ; python_version >= "3.10" and python_version < "4.0"
 certifi==2024.2.2 ; python_version >= "3.10" and python_version < "4.0"
 cffi==1.16.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (sys_platform == "darwin" or implementation_name == "pypy" or platform_python_implementation != "PyPy")
 cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 charset-normalizer==3.3.2 ; python_version >= "3.10" and python_version < "4.0"
 cleo==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 click==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
-comm==0.2.1 ; python_version >= "3.10" and python_version < "4.0"
-contourpy==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
+comm==0.2.2 ; python_version >= "3.10" and python_version < "4.0"
+contourpy==1.2.1 ; python_version >= "3.10" and python_version < "4.0"
 crashtest==0.4.1 ; python_version >= "3.10" and python_version < "4.0"
 cryptography==42.0.5 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 decorator==5.1.1 ; python_version >= "3.10" and python_version < "4.0"
 defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 distlib==0.3.8 ; python_version >= "3.10" and python_version < "4.0"
-drake==0.0.20240307 ; python_version >= "3.10" and python_version < "4.0"
+drake==1.28.0 ; python_version >= "3.10" and python_version < "4.0"
 dulwich==0.21.7 ; python_version >= "3.10" and python_version < "4.0"
 entrypoints==0.4 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 exceptiongroup==1.2.0 ; python_version >= "3.10" and python_version < "3.11"
 executing==2.0.1 ; python_version >= "3.10" and python_version < "4.0"
 fastjsonschema==2.19.1 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.13.1 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.49.0 ; python_version >= "3.10" and python_version < "4.0"
+filelock==3.13.4 ; python_version >= "3.10" and python_version < "4.0"
+fonttools==4.51.0 ; python_version >= "3.10" and python_version < "4.0"
 gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 identify==2.5.35 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.6 ; python_version >= "3.10" and python_version < "4.0"
-importlib-metadata==7.0.2 ; python_version >= "3.10" and python_version < "3.12"
+idna==3.7 ; python_version >= "3.10" and python_version < "4.0"
+importlib-metadata==7.1.0 ; python_version >= "3.10" and python_version < "3.12"
 installer==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
-ipython==8.22.2 ; python_version >= "3.10" and python_version < "4.0"
+ipython==8.23.0 ; python_version >= "3.10" and python_version < "4.0"
 ipywidgets==8.1.2 ; python_version >= "3.10" and python_version < "4.0"
-jaraco-classes==3.3.1 ; python_version >= "3.10" and python_version < "4.0"
+jaraco-classes==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 jedi==0.19.1 ; python_version >= "3.10" and python_version < "4.0"
 jeepney==0.8.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 jinja2==3.1.3 ; python_version >= "3.10" and python_version < "4.0"
 jsonschema-specifications==2023.12.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jsonschema==4.21.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-client==8.6.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-core==5.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jupyter-client==8.6.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jupyter-core==5.7.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-widgets==3.0.10 ; python_version >= "3.10" and python_version < "4.0"
 keyring==24.3.1 ; python_version >= "3.10" and python_version < "4.0"
 kiwisolver==1.4.5 ; python_version >= "3.10" and python_version < "4.0"
-lxml==5.1.0 ; python_version >= "3.10" and python_version < "4.0"
+lxml-html-clean==0.1.1 ; python_version >= "3.10" and python_version < "4.0"
+lxml==5.2.1 ; python_version >= "3.10" and python_version < "4.0"
+lxml[html-clean]==5.2.1 ; python_version >= "3.10" and python_version < "4.0"
 markupsafe==2.1.5 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib-inline==0.1.6 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib==3.5.1 ; sys_platform == "linux"
@@ -60,24 +60,24 @@ mypy-extensions==1.0.0 ; python_version >= "3.10" and python_version < "4.0"
 mysql-connector-python==8.3.0 ; python_version >= "3.10" and python_version < "4.0"
 nbclient==0.5.13 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 nbconvert==6.4.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
-nbformat==5.9.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+nbformat==5.10.4 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 nest-asyncio==1.6.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 nodeenv==1.8.0 ; python_version >= "3.10" and python_version < "4.0"
 numpy==1.26.4 ; python_version >= "3.10" and python_version < "4.0"
-packaging==23.2 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
+packaging==24.0 ; python_version >= "3.10" and python_version < "4.0"
+pandas==2.2.2 ; python_version >= "3.10" and python_version < "4.0"
 pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-parso==0.8.3 ; python_version >= "3.10" and python_version < "4.0"
+parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
-pillow==10.2.0 ; python_version >= "3.10" and python_version < "4.0"
+pillow==10.3.0 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.10.0 ; python_version >= "3.10" and python_version < "4.0"
 platformdirs==4.2.0 ; python_version >= "3.10" and python_version < "4.0"
-pre-commit==3.6.2 ; python_version >= "3.10" and python_version < "4.0"
+pre-commit==3.7.0 ; python_version >= "3.10" and python_version < "4.0"
 prompt-toolkit==3.0.43 ; python_version >= "3.10" and python_version < "4.0"
 ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 pure-eval==0.2.2 ; python_version >= "3.10" and python_version < "4.0"
-pycparser==2.21 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (sys_platform == "darwin" or implementation_name == "pypy" or platform_python_implementation != "PyPy")
+pycparser==2.22 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (sys_platform == "darwin" or implementation_name == "pypy" or platform_python_implementation != "PyPy")
 pydot==2.0.0 ; python_version >= "3.10" and python_version < "4.0"
 pygments==2.17.2 ; python_version >= "3.10" and python_version < "4.0"
 pyparsing==3.1.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -86,14 +86,14 @@ python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.
 pytz==2024.1 ; python_version >= "3.10" and python_version < "4.0"
 pyyaml==6.0.1 ; python_version >= "3.10" and python_version < "4.0"
 pyzmq==25.1.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-rapidfuzz==3.6.2 ; python_version >= "3.10" and python_version < "4.0"
-referencing==0.33.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+rapidfuzz==3.8.1 ; python_version >= "3.10" and python_version < "4.0"
+referencing==0.34.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 requests-toolbelt==1.0.0 ; python_version >= "3.10" and python_version < "4.0"
 requests==2.31.0 ; python_version >= "3.10" and python_version < "4.0"
 rpds-py==0.18.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-scipy==1.12.0 ; python_version >= "3.10" and python_version < "4.0"
+scipy==1.13.0 ; python_version >= "3.10" and python_version < "4.0"
 secretstorage==3.3.3 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
-setuptools==69.1.1 ; python_version >= "3.10" and python_version < "4.0"
+setuptools==69.5.0 ; python_version >= "3.10" and python_version < "4.0"
 shellingham==1.5.4 ; python_version >= "3.10" and python_version < "4.0"
 six==1.16.0 ; python_version >= "3.10" and python_version < "4.0"
 soupsieve==2.5 ; python_version >= "3.10" and python_version < "4.0"
@@ -104,13 +104,13 @@ tokenize-rt==5.2.0 ; python_version >= "3.10" and python_version < "4.0"
 tomli==2.0.1 ; python_version >= "3.10" and python_version < "3.11"
 tomlkit==0.12.4 ; python_version >= "3.10" and python_version < "4.0"
 tornado==6.4 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-traitlets==5.14.1 ; python_version >= "3.10" and python_version < "4.0"
-trove-classifiers==2024.3.3 ; python_version >= "3.10" and python_version < "4.0"
-typing-extensions==4.10.0 ; python_version >= "3.10" and python_version < "3.11"
+traitlets==5.14.2 ; python_version >= "3.10" and python_version < "4.0"
+trove-classifiers==2024.4.10 ; python_version >= "3.10" and python_version < "4.0"
+typing-extensions==4.11.0 ; python_version >= "3.10" and python_version < "3.12"
 tzdata==2024.1 ; python_version >= "3.10" and python_version < "4.0"
 urllib3==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
 virtualenv==20.25.1 ; python_version >= "3.10" and python_version < "4.0"
 wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
 webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 widgetsnbextension==4.0.10 ; python_version >= "3.10" and python_version < "4.0"
-zipp==3.17.0 ; python_version >= "3.10" and python_version < "3.12"
+zipp==3.18.1 ; python_version >= "3.10" and python_version < "3.12"