Upgrade Drake dependency to v1.51.1 (its latest version)

.bazeliskrc

@@ -1,2 +1,2 @@
 # Keep this version up to date with the version used by drake
-USE_BAZEL_VERSION=8.2.1
+USE_BAZEL_VERSION=8.4.0

MODULE.bazel

@@ -6,12 +6,18 @@ module(
 # If you don't want to support building on macOS, you may remove the next line.
 # Note that it must appear prior to loading "rules_cc", per the documentation:
 #  https://github.com/bazelbuild/apple_support?tab=readme-ov-file#bazel-7-setup
-bazel_dep(name = "apple_support", version = "1.17.1", repo_name = "build_bazel_apple_support")
+bazel_dep(name = "apple_support", version = "2.3.0")
 
 # Add the Bazel rules we need.
-bazel_dep(name = "rules_cc", version = "0.1.1")
-bazel_dep(name = "rules_python", version = "1.0.0")
-bazel_dep(name = "bazel_skylib", version = "1.7.1")
+bazel_dep(name = "rules_java", version = "9.6.1")
+bazel_dep(name = "rules_cc", version = "0.2.17")
+bazel_dep(name = "rules_python", version = "1.9.0")
+bazel_dep(name = "bazel_skylib", version = "1.9.0")
+bazel_dep(name = "rules_foreign_cc", version = "0.15.1")
+bazel_dep(name = "platforms", version = "1.0.0")
+bazel_dep(name = "lcm", version = "1.5.2")
+bazel_dep(name = "gflags", version = "2.2.2.bcr.1")
+bazel_dep(name = "googletest", version = "1.17.0.bcr.2")
 
 drake_dep_repositories = use_extension(
     "@drake//tools/workspace:default.bzl",
@@ -20,11 +26,8 @@ drake_dep_repositories = use_extension(
 
 use_repo(
     drake_dep_repositories,
-    "lcm",
     "eigen",
     "fmt",
-    "gflags",
-    "gtest",
     "pybind11",
     "gurobi",
 )
@@ -45,8 +48,8 @@ override_repo(
 bazel_dep(name = "drake")
 
 # You can also use DRAKE_COMMIT to choose a Drake release; e.g.:
-DRAKE_COMMIT = "v1.42.0"
-DRAKE_CHECKSUM = "d860c15f50397c8a946fcc79e0a58a91ebc56f2189ef9edfcac929aa04157f8b"
+DRAKE_COMMIT = "v1.51.1"
+DRAKE_CHECKSUM = "40cb4d0e3d378ba67c21aca8cc1396399774b333b12d0030f5fbe4ddff1dc786"
 
 # Before changing the COMMIT, temporarily uncomment the next line so that Bazel
 # displays the suggested new value for the CHECKSUM.

core/BUILD.bazel

@@ -109,7 +109,7 @@ cc_test(
         ":c3",
         ":c3_cartpole_problem",
         ":traj_eval",
-        "@gtest//:main",
+        "@googletest//:gtest_main",
     ],
     env_inherit = [
         "GUROBI_HOME",

core/c3.cc

@@ -279,9 +279,9 @@ void C3::Solve(const VectorXd& x0) {
 
   // Set the initial force constraint
   if (h_is_zero_ == 1) {  // No dependence on u, so just simulate passive system
-    drake::solvers::MobyLCPSolver<double> LCPSolver;
+    drake::solvers::MobyLcpSolver LcpSolver;
     VectorXd lambda0;
-    LCPSolver.SolveLcpLemke(lcs_.F()[0], lcs_.E()[0] * x0 + lcs_.c()[0],
+    LcpSolver.SolveLcpLemke(lcs_.F()[0], lcs_.E()[0] * x0 + lcs_.c()[0],
                             &lambda0);
     // Force constraints to be updated before every solve if no dependence on
     // u
@@ -470,7 +470,7 @@ vector<VectorXd> C3::SolveProjection(const vector<MatrixXd>& U,
   if (options_.num_threads > 0) {
     omp_set_dynamic(0);  // Explicitly disable dynamic teams
     omp_set_num_threads(options_.num_threads);  // Set number of threads
-    omp_set_nested(0);
+    omp_set_max_active_levels(1);
     omp_set_schedule(omp_sched_static, 0);
   }
 

core/c3_qp.h

@@ -36,7 +36,9 @@ class C3QP final : public C3 {
     solver_options->SetOption(drake::solvers::OsqpSolver::id(), "max_iter",
                               500);
     solver_options->SetOption(drake::solvers::OsqpSolver::id(), "verbose", 0);
-    solver_options->SetOption(drake::solvers::OsqpSolver::id(), "polish", 1);
+    solver_options->SetOption(drake::solvers::OsqpSolver::id(), "warm_starting",
+                              1);
+    solver_options->SetOption(drake::solvers::OsqpSolver::id(), "polishing", 1);
     solver_options->SetOption(drake::solvers::OsqpSolver::id(),
                               "polish_refine_iter", 1);
     solver_options->SetOption(drake::solvers::OsqpSolver::id(), "rho", 1e-4);
@@ -45,4 +47,4 @@ class C3QP final : public C3 {
   }
 };
 
-}  // namespace c3
+}  // namespace c3

core/configs/solver_options_default.yaml

@@ -3,11 +3,11 @@ log_file_name: ""
 int_options:
   max_iter: 1000
   verbose: 0
-  warm_start: 1
-  polish: 1
+  warm_starting: 1
+  polishing: 1
+  polish_refine_iter: 3
   scaled_termination: 1
   check_termination: 25
-  polish_refine_iter: 3
   scaling: 10
   adaptive_rho: 1
   adaptive_rho_interval: 0
@@ -25,4 +25,4 @@ double_options:
   adaptive_rho_fraction: 0.4
   time_limit: 1.0
 
-string_options: {}
+string_options: {}

core/lcs.cc

@@ -61,13 +61,13 @@ const VectorXd LCS::Simulate(const VectorXd& x_init, const VectorXd& u,
                              const LCSSimulateConfig& config) const {
   VectorXd x_final;
   VectorXd force;
-  drake::solvers::MobyLCPSolver<double> LCPSolver;
+  drake::solvers::MobyLcpSolver LcpSolver;
   if (config.regularized) {
-    LCPSolver.SolveLcpLemkeRegularized(
+    LcpSolver.SolveLcpLemkeRegularized(
         F_[0], E_[0] * x_init + c_[0] + H_[0] * u, &force, config.min_exp,
         config.step_exp, config.max_exp, config.piv_tol, config.zero_tol);
   } else {
-    LCPSolver.SolveLcpLemke(F_[0], E_[0] * x_init + c_[0] + H_[0] * u, &force,
+    LcpSolver.SolveLcpLemke(F_[0], E_[0] * x_init + c_[0] + H_[0] * u, &force,
                             config.piv_tol, config.zero_tol);
   }
   x_final = A_[0] * x_init + B_[0] * u + D_[0] * force + d_[0];

core/test/core_test.cc

@@ -71,13 +71,13 @@
 };
 
 // Test constructor (maintain backward compatibility if constructor changed)
 TEST_F(C3CartpoleTest, InitializationTest) {
   // Assert system initialization is working as expected
   ASSERT_NE(nullptr, pOpt);
 }
 
 // Test if GetLinearConstraints is working as expected
 TEST_F(C3CartpoleTest, LinearConstraintsTest) {
   std::vector<LinearConstraintBinding> user_constraints;
   ASSERT_NO_THROW({ user_constraints = pOpt->GetLinearConstraints(); });
   ASSERT_EQ(user_constraints.size(), 0);
@@ -95,7 +95,7 @@
 };
 
 // Test if user can manipulate linear constraints using MatrixXd
 TEST_P(C3CartpoleTestParameterizedLinearConstraints, LinearConstraintsTest) {
   bool use_row_vector = std::get<0>(GetParam());
   c3::ConstraintVariable constraint_type =
       static_cast<c3::ConstraintVariable>(std::get<1>(GetParam()));
@@ -144,7 +144,7 @@
                       ));
 
 // Test if user can remove linear constraints
 TEST_F(C3CartpoleTest, RemoveLinearConstraintsTest) {
   RowVectorXd Al = RowVectorXd::Constant(n, 1.0);
   double lb = 0.0;
   double ub = 2.0;
@@ -168,7 +168,7 @@
 }
 
 // Test if user can update the target state
 TEST_F(C3CartpoleTest, UpdateTargetTest) {
   // Desired state : random state
   VectorXd xdesiredinit;
   xdesiredinit = Eigen::Vector4d(0.0, 1.0, 2.0, 3.0);
@@ -191,7 +191,7 @@
 }
 
 // Test if user can update the Cost matrices
 TEST_F(C3CartpoleTest, UpdateCostMatrix) {
   vector<MatrixXd> Q(N + 1, MatrixXd::Zero(n, n));
   vector<MatrixXd> R(N, MatrixXd::Zero(k, k));
   vector<MatrixXd> G(N, MatrixXd::Zero(n + m + k, n + m + k));
@@ -233,7 +233,7 @@
 // [Regression Test] Ensure that LCS in correctly scaled (if required) and used
 // in dynamic constraints. This should be true if C3 initialized or LCS is
 // updated.
 TEST_P(C3CartpoleTestParameterizedScalingLCSTest, ScalingLCSTest) {
   options.scale_lcs = std::get<0>(GetParam());
   bool use_update_lcs = std::get<1>(GetParam());
 
@@ -278,7 +278,7 @@
 // Ensure z_sol values not stale due to INFEASIBLE CONSTRAINTS which had occured
 // when initial force constraints were incorrectly updated when H is zero.
 // Note: this test only works if options.end_on_qp_step = true
 TEST_F(C3CartpoleTest, ZSolStaleTest) {
   int timesteps = 5;  // number of timesteps for the simulation
 
   // Create state and input arrays
@@ -306,7 +306,7 @@
 }
 
 // Test if CreatePlaceholderLCS works as expected
 TEST_F(C3CartpoleTest, CreatePlaceholder) {
   // Create a placeholder LCS object
   LCS placeholder = LCS::CreatePlaceholderLCS(n, k, m, N, dt);
   // Ensure the object is created without any issues
@@ -314,7 +314,7 @@
 }
 
 // Test if the solver works with warm start enabled (smoke test)
 TEST_F(C3CartpoleTest, WarmStartSmokeTest) {
   // Enable warm start option
   options.warm_start = true;
   C3MIQP optimizer(*pSystem, cost, xdesired, options);
@@ -325,7 +325,7 @@
 
 class TrajectoryEvaluatorTest : public testing::Test {};
 
 TEST_F(TrajectoryEvaluatorTest, QuadraticCostMatchesManual) {
   std::vector<VectorXd> x(2, VectorXd::Zero(1));
   std::vector<VectorXd> u(1, VectorXd::Zero(1));
   std::vector<VectorXd> lambda(1, VectorXd::Zero(1));
@@ -426,7 +426,7 @@
       x, x_des, Q, u, u_des, R, lambda, lambda_des, S_wrong_size));
 }
 
 TEST_F(TrajectoryEvaluatorTest, SimulatePDControlWithLCSTest) {
   const int n = 4;  // 4 states: 2 positions, 2 velocities
   const int k = 2;  // 2 inputs
   const int m = 1;
@@ -509,7 +509,7 @@
       x_plan, u_plan, Kp_wrong_count, Kd, lcs));
 }
 
 TEST_F(TrajectoryEvaluatorTest, ZeroOrderHoldAndDownsampleRoundTrip) {
   std::vector<VectorXd> coarse(2, VectorXd::Zero(2));
   coarse[0] << 1.0, 2.0;
   coarse[1] << 3.0, 4.0;
@@ -530,7 +530,7 @@
   EXPECT_TRUE(downsampled[1].isApprox(coarse[1]));
 }
 
 TEST_F(TrajectoryEvaluatorTest, MultiZeroOrderHoldAndDownsampleRoundTrip) {
   std::vector<VectorXd> x_coarse(3, VectorXd::Zero(2));
   x_coarse[0] << 1.0, 2.0;
   x_coarse[1] << 3.0, 4.0;
@@ -586,7 +586,7 @@
 }
 
 TEST_F(TrajectoryEvaluatorTest,
        SimulateLCSOverTrajectoryMatchesLinearDynamics) {
   const int n = 2;
   const int k = 2;
   const int m = 1;
@@ -654,7 +654,7 @@
 TYPED_TEST_SUITE(C3CartpoleTypedTest, projection_types);
 
 // Test if user can update the LCS for the C3 problem
 TYPED_TEST(C3CartpoleTypedTest, UpdateLCSTest) {
   c3::C3* pOpt = this->pOpt.get();
   auto dt = this->dt;
   std::vector<drake::solvers::LinearEqualityConstraint*>
@@ -695,7 +695,7 @@
 
 // Test the cartpole example
 // This test will take some time to complete ~30s
 TYPED_TEST(C3CartpoleTypedTest, End2EndCartpoleTest) {
   int timesteps = 1000;  // number of timesteps for the simulation
 
   /// create state and input arrays
@@ -723,7 +723,7 @@
   ASSERT_EQ(x[timesteps - 1].isZero(0.1), true);
 }
 
 TYPED_TEST(C3CartpoleTypedTest, ComputeCost) {
   C3Options options_no_input_change = this->options;
   options_no_input_change.penalize_input_change = false;
   TypeParam optimizer(*this->pSystem, this->cost, this->xdesired,
@@ -777,4 +777,4 @@
 int main(int argc, char** argv) {
   testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
-}
+}

multibody/BUILD.bazel

@@ -54,7 +54,7 @@ cc_test(
     ],
     deps = [
         ":lcs_factory",
-        "@gtest//:main",
+        "@googletest//:gtest_main",
     ],
     size = "small",
 )

systems/BUILD.bazel

@@ -124,7 +124,7 @@ cc_test(
     deps = [
         ":systems",
         "//core:c3_cartpole_problem",
-        "@gtest//:main",
+        "@googletest//:gtest_main",
     ],
     env_inherit = [
         "GUROBI_HOME",
@@ -141,7 +141,7 @@ cc_test(
     deps = [
         ":systems",
         ":framework",
-        "@gtest//:main",
+        "@googletest//:gtest_main",
     ],
     size = "small",
 )
@@ -159,7 +159,7 @@ cc_test(
     deps = [
         "//core:c3",
         ":systems",
-        "@gtest//:main",
+        "@googletest//:gtest_main",
     ],
     size = "small",
 )