Upgrade all dependencies (#64)

With the newer Drake, we can now configure render engines in yaml.

.bazeliskrc

@@ -1,3 +1,3 @@
 # SPDX-License-Identifier: BSD-2-Clause
 
-USE_BAZEL_VERSION=6.2.1
+USE_BAZEL_VERSION=6.3.2

bazel

@@ -19,7 +19,7 @@ import sys
 import urllib.request as request
 
 # The pinned version and checksum of bazelisk.
-_VERSION = "1.17.0"
+_VERSION = "1.18.0"
 _SHA256 = "94655ff9cb5286677ee56cd5ac2e82cb91be4385ceb790b0a83369bc79a796b9"
 _URL = f"https://raw.githubusercontent.com/bazelbuild/bazelisk/v{_VERSION}/bazelisk.py"  # noqa
 

examples/ball_bin.py

@@ -24,12 +24,6 @@
 from bazel_tools.tools.python.runfiles import runfiles
 from pydrake.common import configure_logging
 from pydrake.common.yaml import yaml_load_typed
-from pydrake.geometry import (
-    MakeRenderEngineGltfClient,
-    MakeRenderEngineVtk,
-    RenderEngineGltfClientParams,
-    RenderEngineVtkParams,
-)
 from pydrake.multibody.parsing import (
     ModelDirective,
     ModelDirectives,
@@ -107,14 +101,6 @@ def _run(args):
     )
     plant.Finalize()
 
-    # Add remote rendering capability to scene graph.
-    blender_engine = MakeRenderEngineGltfClient(
-        RenderEngineGltfClientParams(base_url="http://127.0.0.1:8000")
-    )
-    scene_graph.AddRenderer("blender", blender_engine)
-    vtk_engine = MakeRenderEngineVtk(RenderEngineVtkParams())
-    scene_graph.AddRenderer("vtk", vtk_engine)
-
     # Add the camera(s).
     video_writers = []
     for _, camera in scenario.cameras.items():

examples/ball_bin.yaml

@@ -49,6 +49,8 @@ cameras:
   blender_camera:
     name: blender_camera
     renderer_name: blender
+    renderer_class: !RenderEngineGltfClientParams
+      base_url: http://127.0.0.1:8000
     width: 1024
     height: 1024
     fps: 8.0
@@ -58,6 +60,7 @@ cameras:
   vtk_camera:
     name: vtk_camera
     renderer_name: vtk
+    renderer_class: !RenderEngineVtkParams {}
     show_rgb: True  # Use a live on-screen preview.
     width: 1024
     height: 1024

test/requirements.txt

@@ -28,9 +28,9 @@ black==23.7.0 \
     --hash=sha256:f9062af71c59c004cd519e2fb8f5d25d39e46d3af011b41ab43b9c74e27e236f \
     --hash=sha256:fb074d8b213749fa1d077d630db0d5f8cc3b2ae63587ad4116e8a436e9bbe995
     # via -r test/requirements.in
-certifi==2023.5.7 \
-    --hash=sha256:0f0d56dc5a6ad56fd4ba36484d6cc34451e1c6548c61daad8c320169f91eddc7 \
-    --hash=sha256:c6c2e98f5c7869efca1f8916fed228dd91539f9f1b444c314c06eef02980c716
+certifi==2023.7.22 \
+    --hash=sha256:539cc1d13202e33ca466e88b2807e29f4c13049d6d87031a3c110744495cb082 \
+    --hash=sha256:92d6037539857d8206b8f6ae472e8b77db8058fec5937a1ef3f54304089edbb9
     # via requests
 charset-normalizer==3.2.0 \
     --hash=sha256:04e57ab9fbf9607b77f7d057974694b4f6b142da9ed4a199859d9d4d5c63fe96 \
@@ -109,9 +109,9 @@ charset-normalizer==3.2.0 \
     --hash=sha256:f779d3ad205f108d14e99bb3859aa7dd8e9c68874617c72354d7ecaec2a054ac \
     --hash=sha256:f87f746ee241d30d6ed93969de31e5ffd09a2961a051e60ae6bddde9ec3583aa
     # via requests
-click==8.1.4 \
-    --hash=sha256:2739815aaa5d2c986a88f1e9230c55e17f0caad3d958a5e13ad0797c166db9e3 \
-    --hash=sha256:b97d0c74955da062a7d4ef92fadb583806a585b2ea81958a81bd72726cbb8e37
+click==8.1.7 \
+    --hash=sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28 \
+    --hash=sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de
     # via black
 idna==3.4 \
     --hash=sha256:814f528e8dead7d329833b91c5faa87d60bf71824cd12a7530b5526063d02cb4 \
@@ -125,40 +125,40 @@ mypy-extensions==1.0.0 \
     --hash=sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d \
     --hash=sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782
     # via black
-numpy==1.25.1 \
-    --hash=sha256:012097b5b0d00a11070e8f2e261128c44157a8689f7dedcf35576e525893f4fe \
-    --hash=sha256:0d3fe3dd0506a28493d82dc3cf254be8cd0d26f4008a417385cbf1ae95b54004 \
-    --hash=sha256:0def91f8af6ec4bb94c370e38c575855bf1d0be8a8fbfba42ef9c073faf2cf19 \
-    --hash=sha256:1a180429394f81c7933634ae49b37b472d343cccb5bb0c4a575ac8bbc433722f \
-    --hash=sha256:1d5d3c68e443c90b38fdf8ef40e60e2538a27548b39b12b73132456847f4b631 \
-    --hash=sha256:20e1266411120a4f16fad8efa8e0454d21d00b8c7cee5b5ccad7565d95eb42dd \
-    --hash=sha256:247d3ffdd7775bdf191f848be8d49100495114c82c2bd134e8d5d075fb386a1c \
-    --hash=sha256:35a9527c977b924042170a0887de727cd84ff179e478481404c5dc66b4170009 \
-    --hash=sha256:38eb6548bb91c421261b4805dc44def9ca1a6eef6444ce35ad1669c0f1a3fc5d \
-    --hash=sha256:3d7abcdd85aea3e6cdddb59af2350c7ab1ed764397f8eec97a038ad244d2d105 \
-    --hash=sha256:41a56b70e8139884eccb2f733c2f7378af06c82304959e174f8e7370af112e09 \
-    --hash=sha256:4a90725800caeaa160732d6b31f3f843ebd45d6b5f3eec9e8cc287e30f2805bf \
-    --hash=sha256:6b82655dd8efeea69dbf85d00fca40013d7f503212bc5259056244961268b66e \
-    --hash=sha256:6c6c9261d21e617c6dc5eacba35cb68ec36bb72adcff0dee63f8fbc899362588 \
-    --hash=sha256:77d339465dff3eb33c701430bcb9c325b60354698340229e1dff97745e6b3efa \
-    --hash=sha256:791f409064d0a69dd20579345d852c59822c6aa087f23b07b1b4e28ff5880fcb \
-    --hash=sha256:9a3a9f3a61480cc086117b426a8bd86869c213fc4072e606f01c4e4b66eb92bf \
-    --hash=sha256:c1516db588987450b85595586605742879e50dcce923e8973f79529651545b57 \
-    --hash=sha256:c40571fe966393b212689aa17e32ed905924120737194b5d5c1b20b9ed0fb171 \
-    --hash=sha256:d412c1697c3853c6fc3cb9751b4915859c7afe6a277c2bf00acf287d56c4e625 \
-    --hash=sha256:d5154b1a25ec796b1aee12ac1b22f414f94752c5f94832f14d8d6c9ac40bcca6 \
-    --hash=sha256:d736b75c3f2cb96843a5c7f8d8ccc414768d34b0a75f466c05f3a739b406f10b \
-    --hash=sha256:e8f6049c4878cb16960fbbfb22105e49d13d752d4d8371b55110941fb3b17800 \
-    --hash=sha256:f76aebc3358ade9eacf9bc2bb8ae589863a4f911611694103af05346637df1b7 \
-    --hash=sha256:fd67b306320dcadea700a8f79b9e671e607f8696e98ec255915c0c6d6b818503
+numpy==1.25.2 \
+    --hash=sha256:0d60fbae8e0019865fc4784745814cff1c421df5afee233db6d88ab4f14655a2 \
+    --hash=sha256:1a1329e26f46230bf77b02cc19e900db9b52f398d6722ca853349a782d4cff55 \
+    --hash=sha256:1b9735c27cea5d995496f46a8b1cd7b408b3f34b6d50459d9ac8fe3a20cc17bf \
+    --hash=sha256:2792d23d62ec51e50ce4d4b7d73de8f67a2fd3ea710dcbc8563a51a03fb07b01 \
+    --hash=sha256:3e0746410e73384e70d286f93abf2520035250aad8c5714240b0492a7302fdca \
+    --hash=sha256:4c3abc71e8b6edba80a01a52e66d83c5d14433cbcd26a40c329ec7ed09f37901 \
+    --hash=sha256:5883c06bb92f2e6c8181df7b39971a5fb436288db58b5a1c3967702d4278691d \
+    --hash=sha256:5c97325a0ba6f9d041feb9390924614b60b99209a71a69c876f71052521d42a4 \
+    --hash=sha256:60e7f0f7f6d0eee8364b9a6304c2845b9c491ac706048c7e8cf47b83123b8dbf \
+    --hash=sha256:76b4115d42a7dfc5d485d358728cdd8719be33cc5ec6ec08632a5d6fca2ed380 \
+    --hash=sha256:7dc869c0c75988e1c693d0e2d5b26034644399dd929bc049db55395b1379e044 \
+    --hash=sha256:834b386f2b8210dca38c71a6e0f4fd6922f7d3fcff935dbe3a570945acb1b545 \
+    --hash=sha256:8b77775f4b7df768967a7c8b3567e309f617dd5e99aeb886fa14dc1a0791141f \
+    --hash=sha256:90319e4f002795ccfc9050110bbbaa16c944b1c37c0baeea43c5fb881693ae1f \
+    --hash=sha256:b79e513d7aac42ae918db3ad1341a015488530d0bb2a6abcbdd10a3a829ccfd3 \
+    --hash=sha256:bb33d5a1cf360304754913a350edda36d5b8c5331a8237268c48f91253c3a364 \
+    --hash=sha256:bec1e7213c7cb00d67093247f8c4db156fd03075f49876957dca4711306d39c9 \
+    --hash=sha256:c5462d19336db4560041517dbb7759c21d181a67cb01b36ca109b2ae37d32418 \
+    --hash=sha256:c5652ea24d33585ea39eb6a6a15dac87a1206a692719ff45d53c5282e66d4a8f \
+    --hash=sha256:d7806500e4f5bdd04095e849265e55de20d8cc4b661b038957354327f6d9b295 \
+    --hash=sha256:db3ccc4e37a6873045580d413fe79b68e47a681af8db2e046f1dacfa11f86eb3 \
+    --hash=sha256:dfe4a913e29b418d096e696ddd422d8a5d13ffba4ea91f9f60440a3b759b0187 \
+    --hash=sha256:eb942bfb6f84df5ce05dbf4b46673ffed0d3da59f13635ea9b926af3deb76926 \
+    --hash=sha256:f08f2e037bba04e707eebf4bc934f1972a315c883a9e0ebfa8a7756eabf9e357 \
+    --hash=sha256:fd608e19c8d7c55021dffd43bfe5492fab8cc105cc8986f813f8c3c048b38760
     # via -r test/requirements.in
 packaging==23.1 \
     --hash=sha256:994793af429502c4ea2ebf6bf664629d07c1a9fe974af92966e4b8d2df7edc61 \
     --hash=sha256:a392980d2b6cffa644431898be54b0045151319d1e7ec34f0cfed48767dd334f
     # via black
-pathspec==0.11.1 \
-    --hash=sha256:2798de800fa92780e33acca925945e9a19a133b715067cf165b8866c15a31687 \
-    --hash=sha256:d8af70af76652554bd134c22b3e8a1cc46ed7d91edcdd721ef1a0c51a84a5293
+pathspec==0.11.2 \
+    --hash=sha256:1d6ed233af05e679efb96b1851550ea95bbb64b7c490b0f5aa52996c11e92a20 \
+    --hash=sha256:e0d8d0ac2f12da61956eb2306b69f9469b42f4deb0f3cb6ed47b9cce9996ced3
     # via black
 pillow==10.0.0 \
     --hash=sha256:00e65f5e822decd501e374b0650146063fbb30a7264b4d2744bdd7b913e0cab5 \
@@ -218,13 +218,13 @@ pillow==10.0.0 \
     --hash=sha256:f88a0b92277de8e3ca715a0d79d68dc82807457dae3ab8699c758f07c20b3c51 \
     --hash=sha256:faaf07ea35355b01a35cb442dd950d8f1bb5b040a7787791a535de13db15ed90
     # via -r test/requirements.in
-platformdirs==3.8.1 \
-    --hash=sha256:cec7b889196b9144d088e4c57d9ceef7374f6c39694ad1577a0aab50d27ea28c \
-    --hash=sha256:f87ca4fcff7d2b0f81c6a748a77973d7af0f4d526f98f308477c3c436c74d528
+platformdirs==3.10.0 \
+    --hash=sha256:b45696dab2d7cc691a3226759c0d3b00c47c8b6e293d96f6436f733303f77f6d \
+    --hash=sha256:d7c24979f292f916dc9cbf8648319032f551ea8c49a4c9bf2fb556a02070ec1d
     # via black
-pycodestyle==2.10.0 \
-    --hash=sha256:347187bdb476329d98f695c213d7295a846d1152ff4fe9bacb8a9590b8ee7053 \
-    --hash=sha256:8a4eaf0d0495c7395bdab3589ac2db602797d76207242c17d470186815706610
+pycodestyle==2.11.0 \
+    --hash=sha256:259bcc17857d8a8b3b4a2327324b79e5f020a13c16074670f9c8c8f872ea76d0 \
+    --hash=sha256:5d1013ba8dc7895b548be5afb05740ca82454fd899971563d2ef625d090326f8
     # via -r test/requirements.in
 requests==2.31.0 \
     --hash=sha256:58cd2187c01e70e6e26505bca751777aa9f2ee0b7f4300988b709f44e013003f \
@@ -234,7 +234,7 @@ tomli==2.0.1 \
     --hash=sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc \
     --hash=sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f
     # via black
-urllib3==2.0.3 \
-    --hash=sha256:48e7fafa40319d358848e1bc6809b208340fafe2096f1725d05d67443d0483d1 \
-    --hash=sha256:bee28b5e56addb8226c96f7f13ac28cb4c301dd5ea8a6ca179c0b9835e032825
+urllib3==2.0.4 \
+    --hash=sha256:8d22f86aae8ef5e410d4f539fde9ce6b2113a001bb4d189e0aed70642d602b11 \
+    --hash=sha256:de7df1803967d2c2a98e4b11bb7d6bd9210474c46e8a0401514e3a42a75ebde4
     # via requests

tools/workspace_versions.bzl

@@ -1,15 +1,15 @@
 WORKSPACE_VERSIONS = {
     "buildifier": {
-        "version": "6.1.2",
+        "version": "6.3.3",
         "binaries": {
-            "buildifier-darwin-amd64": "e2f4a67691c5f55634fbfb3850eb97dd91be0edd059d947b6c83d120682e0216",
-            "buildifier-darwin-arm64": "7549b5f535219ac957aa2a6069d46fbfc9ea3f74abd85fd3d460af4b1a2099a6",
-            "buildifier-linux-amd64": "51bc947dabb7b14ec6fb1224464fbcf7a7cb138f1a10a3b328f00835f72852ce",
-            "buildifier-linux-arm64": "0ba6e8e3208b5a029164e542ddb5509e618f87b639ffe8cc2f54770022853080",
+            "buildifier-darwin-amd64": "3c36a3217bd793815a907a8e5bf81c291e2d35d73c6073914640a5f42e65f73f",
+            "buildifier-darwin-arm64": "9bb366432d515814766afcf6f9010294c13876686fbbe585d5d6b4ff0ca3e982",
+            "buildifier-linux-amd64": "42f798ec532c58e34401985043e660cb19d5ae994e108d19298c7d229547ffca",
+            "buildifier-linux-arm64": "6a03a1cf525045cb686fc67cd5d64cface5092ebefca3c4c93fb6e97c64e07db",
         },
     },
     "rules_python": {
-        "version": "0.19.0",
-        "sha256": "ffc7b877c95413c82bfd5482c017edcf759a6250d8b24e82f41f3c8b8d9e287e",
+        "version": "0.25.0",
+        "sha256": "5868e73107a8e85d8f323806e60cad7283f34b32163ea6ff1020cf27abef6036",
     },
 }