[workspace] Update macOS to python@3.11

CMakeLists.txt

@@ -202,7 +202,7 @@ set(CMAKE_CXX_STANDARD 17)
 # The supported Python major/minor versions should match those listed in both
 # doc/_pages/from_source.md and tools/workspace/python/repository.bzl.
 if(APPLE)
-  set(SUPPORTED_PYTHON_VERSION 3.10)
+  set(SUPPORTED_PYTHON_VERSION 3.11)
 else()
   if(UNIX_DISTRIBUTION_CODENAME STREQUAL focal)
     set(SUPPORTED_PYTHON_VERSION 3.8)

doc/_pages/from_source.md

@@ -17,8 +17,8 @@ integration. Any other configurations are provided on a best-effort basis.
 |------------------------------------|--------------|------------|-------|-------|------------------------------|-------------------------------|
 | Ubuntu 20.04 LTS (Focal Fossa)     | x86_64       | 3.8        | 6.0   | 3.16  | GCC 9 (default) or Clang 12  | OpenJDK 11                    |
 | Ubuntu 22.04 LTS (Jammy Jellyfish) | x86_64       | 3.10       | 6.0   | 3.22  | GCC 11 (default) or Clang 12 | OpenJDK 11                    |
-| macOS Monterey (12)                | x86_64       | 3.10       | 6.0   | 3.24  | Apple LLVM 14 (Xcode 14)     | AdoptOpenJDK 16 (HotSpot JVM) |
-| macOS Monterey (12)                | arm64        | 3.10       | 6.0   | 3.24  | Apple LLVM 14 (Xcode 14)     | AdoptOpenJDK 16 (HotSpot JVM) |
+| macOS Monterey (12)                | x86_64       | 3.11       | 6.0   | 3.24  | Apple LLVM 14 (Xcode 14)     | AdoptOpenJDK 16 (HotSpot JVM) |
+| macOS Monterey (12)                | arm64        | 3.11       | 6.0   | 3.24  | Apple LLVM 14 (Xcode 14)     | AdoptOpenJDK 16 (HotSpot JVM) |
 
 ⁽¹⁾ CPython is the only Python implementation supported.
 

doc/_pages/installation.md

@@ -18,7 +18,7 @@ officially supports:
 |------------------------------------|------------------|------------|
 | Ubuntu 20.04 LTS (Focal Fossa)     | x86_64           | 3.8        |
 | Ubuntu 22.04 LTS (Jammy Jellyfish) | x86_64           | 3.10       |
-| macOS Monterey (12)                | x86_64 or arm64  | 3.10       |
+| macOS Monterey (12)                | x86_64 or arm64  | 3.11       |
 
 ⁽¹⁾ CPython is the only Python implementation supported.
 Drake does not support the Python environment supplied by Anaconda. Before

doc/_pages/pip.md

@@ -72,19 +72,19 @@ macOS are generated nightly and are available to download at:
 * [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp39-cp39-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp39-cp39-manylinux_2_31_x86_64.whl)
 * [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp310-cp310-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp310-cp310-manylinux_2_31_x86_64.whl)
 * [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp311-cp311-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp311-cp311-manylinux_2_31_x86_64.whl)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp310-cp310-macosx_12_0_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp310-cp310-macosx_12_0_x86_64.whl)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp310-cp310-macosx_12_0_arm64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp310-cp310-macosx_12_0_arm64.whl)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp311-cp311-macosx_12_0_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp311-cp311-macosx_12_0_x86_64.whl)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp311-cp311-macosx_12_0_arm64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-cp311-cp311-macosx_12_0_arm64.whl)
 
 Older packages for specific dates are available by replacing ``latest`` with an
-8-digit date, e.g., ``20221217`` for December 17th, 2022.  The version number to
+8-digit date, e.g., ``20230215`` for February 15th, 2023.  The version number to
 replace ``latest`` with follows the pattern ``0.0.YYYYMMDD``.
 
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp38-cp38-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp38-cp38-manylinux_2_31_x86_64.whl)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp39-cp39-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp39-cp39-manylinux_2_31_x86_64.whl)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp310-cp310-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp310-cp310-manylinux_2_31_x86_64.whl)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp311-cp311-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp311-cp311-manylinux_2_31_x86_64.whl)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp310-cp310-macosx_12_0_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp310-cp310-macosx_12_0_x86_64.whl)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp310-cp310-macosx_12_0_arm64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20221217-cp310-cp310-macosx_12_0_arm64.whl)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp38-cp38-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp38-cp38-manylinux_2_31_x86_64.whl)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp39-cp39-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp39-cp39-manylinux_2_31_x86_64.whl)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp310-cp310-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp310-cp310-manylinux_2_31_x86_64.whl)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp311-cp311-manylinux_2_31_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp311-cp311-manylinux_2_31_x86_64.whl)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp311-cp311-macosx_12_0_x86_64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp311-cp311-macosx_12_0_x86_64.whl)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp311-cp311-macosx_12_0_arm64.whl](https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230215-cp311-cp311-macosx_12_0_arm64.whl)
 
 Nightly wheels are retained for 56 days from their date of creation.
 

setup/mac/binary_distribution/Brewfile

@@ -21,7 +21,7 @@ brew 'numpy'
 brew 'msgpack-cxx'
 brew 'openblas'
 brew 'pkg-config'
-brew 'python@3.10'
+brew 'python@3.11'
 brew 'spdlog'
 brew 'tinyxml'
 brew 'robotlocomotion/director/vtk@9.1.0'

setup/mac/binary_distribution/install_prereqs.sh

@@ -62,9 +62,9 @@ fi
 
 brew bundle --file="${BASH_SOURCE%/*}/Brewfile" --no-lock
 
-if ! command -v pip3.10 &>/dev/null; then
-  echo 'ERROR: pip3.10 is NOT installed. The post-install step for the python@3.10 formula may have failed.' >&2
+if ! command -v pip3.11 &>/dev/null; then
+  echo 'ERROR: pip3.11 is NOT installed. The post-install step for the python@3.11 formula may have failed.' >&2
   exit 2
 fi
 
-pip3.10 install -r "${BASH_SOURCE%/*}/requirements.txt"
+pip3.11 install -r "${BASH_SOURCE%/*}/requirements.txt"

setup/mac/source_distribution/install_prereqs.sh

@@ -45,13 +45,13 @@ fi
 
 brew bundle --file="${BASH_SOURCE%/*}/Brewfile" --no-lock
 
-if ! command -v pip3.10 &>/dev/null; then
-  echo 'ERROR: pip3.10 is NOT installed. The post-install step for the python@3.10 formula may have failed.' >&2
+if ! command -v pip3.11 &>/dev/null; then
+  echo 'ERROR: pip3.11 is NOT installed. The post-install step for the python@3.11 formula may have failed.' >&2
   exit 2
 fi
 
-pip3.10 install -r "${BASH_SOURCE%/*}/requirements.txt"
+pip3.11 install -r "${BASH_SOURCE%/*}/requirements.txt"
 
 if [[ "${with_test_only}" -eq 1 ]]; then
-  pip3.10 install -r "${BASH_SOURCE%/*}/requirements-test-only.txt"
+  pip3.11 install -r "${BASH_SOURCE%/*}/requirements-test-only.txt"
 fi

tools/install/install_test_helper.py

@@ -71,14 +71,14 @@ def create_temporary_dir(name='tmp'):
 def get_python_executable():
     """Use appropriate Python executable
 
-    Call python3.10 on macOS to force using the Python executable from the
-    python@3.10 formula. Calling a different Python executable would result in
+    Call python3.11 on macOS to force using the Python executable from the
+    python@3.11 formula. Calling a different Python executable would result in
     a crash since pydrake was not built against the Python library
     corresponding to that executable. On other systems, it will just fall back
     to the current Python executable.
     """
     if sys.platform == "darwin":
-        return "python3.10"
+        return "python3.11"
     else:
         return sys.executable
 

tools/py_toolchain/interpreter_paths.bzl

@@ -13,9 +13,9 @@ LINUX_DBG_INTERPRETER_PATH = "/usr/bin/python3-dbg"
 # Default value of interpreter_path used by the py_runtime in the default
 # Python toolchain registered on the @platforms//os:osx platform when
 # running i386 (i.e., x86_64) builds.
-MACOS_I386_INTERPRETER_PATH = "/usr/local/bin/python3.10"
+MACOS_I386_INTERPRETER_PATH = "/usr/local/bin/python3.11"
 
 # Default value of interpreter_path used by the py_runtime in the default
 # Python toolchain registered on the @platforms//os:osx platform when
 # running arm64 builds.
-MACOS_ARM64_INTERPRETER_PATH = "/opt/homebrew/bin/python3.10"
+MACOS_ARM64_INTERPRETER_PATH = "/opt/homebrew/bin/python3.11"

tools/release_engineering/download_release_candidate.py

@@ -135,8 +135,8 @@ def _download_binaries(*, timestamp, staging, version):
             f"drake-{version[1:]}-cp39-cp39-manylinux_2_31_x86_64.whl",
             f"drake-{version[1:]}-cp310-cp310-manylinux_2_31_x86_64.whl",
             f"drake-{version[1:]}-cp311-cp311-manylinux_2_31_x86_64.whl",
-            f"drake-{version[1:]}-cp310-cp310-macosx_12_0_x86_64.whl",
-            f"drake-{version[1:]}-cp310-cp310-macosx_12_0_arm64.whl",
+            f"drake-{version[1:]}-cp311-cp311-macosx_12_0_x86_64.whl",
+            f"drake-{version[1:]}-cp311-cp311-macosx_12_0_arm64.whl",
             # Deb filenames.
             f"drake-dev_{version[1:]}-1_amd64-focal.deb",
             f"drake-dev_{version[1:]}-1_amd64-jammy.deb",

tools/wheel/image/setup.py

@@ -75,7 +75,7 @@ def _actually_find_packages():
         'Topic :: Scientific/Engineering',
         'Topic :: Software Development :: Libraries :: Python Modules'],
       license='Various',
-      platforms=['linux_x86_64', 'macosx_x86_64'],
+      platforms=['linux_x86_64', 'macosx_x86_64', 'macosx_arm64'],
       packages=_actually_find_packages(),
       # Add in any packaged data.
       include_package_data=True,

tools/wheel/macos/build-wheel.sh

@@ -112,7 +112,7 @@ bazel run "${bazel_args[@]}" //:install -- /opt/drake
 rm -rf  "/opt/drake-wheel-build/python"
 
 # NOTE: Xcode ships python3, make sure to use the one from brew.
-$(brew --prefix python@3.10)/bin/python3.10 \
+$(brew --prefix python@3.11)/bin/python3.11 \
     -m venv "/opt/drake-wheel-build/python"
 
 . "/opt/drake-wheel-build/python/bin/activate"

tools/wheel/macos/provision-test-python.sh

@@ -11,5 +11,5 @@ rm -rf /opt/drake-wheel-test
 
 # Prepare test environment.
 # NOTE: Xcode ships python3, make sure to use the one from brew.
-$(brew --prefix python@3.10)/bin/python3.10 \
+$(brew --prefix python@3.11)/bin/python3.11 \
     -m venv /opt/drake-wheel-test/python

tools/workspace/python/repository.bzl

@@ -48,13 +48,18 @@ load("@drake//tools/workspace:os.bzl", "determine_os")
 # CMakeLists.txt and doc/_pages/from_source.md, except for the "manylinux"
 # matrix which should match tools/wheel/build-wheels list of targets=().
 _VERSION_SUPPORT_MATRIX = {
+    # NOTE: when changing native OS python versions, make sure to update
+    # CMakeLists.txt python versions.
     "ubuntu:20.04": ["3.8"],
     "ubuntu:22.04": ["3.10"],
-    "macos": ["3.10"],
+    "macos": ["3.11"],
     # NOTE: when updating supported wheel python versions:
-    # - Update URLs on doc/_pages/pip.md (`cpXY-cpXY` components), and
+    # - Update both lists of URLs on doc/_pages/pip.md (`cpXY-cpXY` components)
+    #   under "Nightly Releases".
+    # - Wheel URLs in tools/release_engineering/download_release_candidate.py
+    #   (`cpXY-cpXY` components).
     # - Tables on from_source.md and installation.md (python version number).
-    "macos_wheel": ["3.10"],
+    "macos_wheel": ["3.11"],
     "manylinux": ["3.8", "3.9", "3.10", "3.11"],
 }