fix deprecation

.bazeliskrc

@@ -0,0 +1,7 @@
+# Keep this version number in sync with the Ubuntu deb installed by
+# drake/setup/ubuntu/source_distribution/install_prereqs.sh.
+#
+# These files should also be updated:
+# drake/tools/workspace/drake_visualizer/image/provision.sh
+# drake/tools/wheel/image/provision-base.sh
+USE_BAZEL_VERSION=6.2.0

.bazelrc

@@ -1,10 +1,13 @@
-# Import legacy .bazelrc file.
+# Import default settings (also shared with CMake builds).
 import %workspace%/tools/bazel.rc
 
+# Import some helper configurations (not shared with CMake builds).
+import %workspace%/tools/cc_toolchain/bazel.rc
+import %workspace%/tools/dynamic_analysis/bazel.rc
+import %workspace%/tools/lint/bazel.rc
+
 # Import environment-specific configuration.
-# TODO(eric.cousineau): Make this required once CI is configured to always run
-# `install_prereqs_user_environment`.
-try-import %workspace%/gen/environment.bazelrc
+import %workspace%/gen/environment.bazelrc
 
 # Try to import user-specific configuration local to workspace.
 try-import %workspace%/user.bazelrc

.clang-format

@@ -11,6 +11,13 @@ Language: Cpp
 DerivePointerAlignment: false
 PointerAlignment: Left
 
+# Compress functions onto a single line (when they fit) iff they are defined
+# inline (inside a of class) or are empty.
+AllowShortFunctionsOnASingleLine: Inline
+
+# Compress lambdas onto a single line iff they are empty.
+AllowShortLambdasOnASingleLine: Empty
+
 # Specify the #include statement order.  This implements the order mandated by
 # the Google C++ Style Guide: related header, C headers, C++ headers, library
 # headers, and finally the project headers.
@@ -27,11 +34,13 @@ IncludeCategories:
     Priority: 35
   - Regex:    '^<clang-format-priority-45>$'
     Priority: 45
-  # C system headers.
+  # C system headers.  The header_dependency_test.py contains a copy of this
+  # list; be sure to update that test anytime this list changes.
   - Regex:    '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
     Priority: 20
-  # C++ system headers (as of C++17).
-  - Regex:    '^[<"](algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
+  # C++ system headers (as of C++23).  The header_dependency_test.py contains a
+  # copy of this list; be sure to update that test anytime this list changes.
+  - Regex:    '^[<"](algorithm|any|array|atomic|barrier|bit|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|compare|complex|concepts|condition_variable|coroutine|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|expected|filesystem|flat_map|flat_set|format|forward_list|fstream|functional|future|generator|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|latch|limits|list|locale|map|mdspan|memory|memory_resource|mutex|new|numbers|numeric|optional|ostream|print|queue|random|ranges|ratio|regex|scoped_allocator|semaphore|set|shared_mutex|source_location|span|spanstream|sstream|stack|stacktrace|stdexcept|stdfloat|stop_token|streambuf|string|string_view|strstream|syncstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector|version)[">]$'
     Priority: 30
   # Other libraries' h files (with angles).
   - Regex:    '^<'

.clang-tidy

@@ -1,4 +1,5 @@
 ---
+# This file is not used by CI and the checks included are not part of the Drake style guide
 Checks: >
         clang-analyzer-*,
         clang-diagnostic-*,

.gitattributes

@@ -1,11 +1,12 @@
 # These lines tell reviewable.io how to highlight source code.
-WORKSPACE diff=python
-**/*.bazel diff=python
-**/*.bzl diff=python
+WORKSPACE diff=bazel
 **/*.cps diff=json
+**/site.webmanifest diff=json
 
 # These lines tell git diff viewers to ignore data objects.
 # Wavefront geometry definition
 *.obj -diff
 # VTK polygon data
 *.vtp -diff
+# Scalable vector graphics.
+*.svg -diff

.github/ISSUE_TEMPLATE/BUG.yml

@@ -0,0 +1,60 @@
+name: Bug Report
+description: File a bug report.  (Please do not post questions this way; see below for StackOverflow links.)
+labels: ["type: bug"]
+body:
+  - type: markdown
+    attributes:
+      value:
+        Thanks for taking the time to fill out this bug report!
+        The `#drake` posts on [StackOverflow](https://stackoverflow.com/questions/tagged/drake)
+        also might help you find a solution.
+  - type: textarea
+    id: what-happened
+    attributes:
+      label: What happened?
+      placeholder:
+        Tell us what you see!  Also tell us, what did you expect to happen?
+        Please provide enough information so that we can reproduce your problem for ourselves.
+    validations:
+      required: true
+  - type: input
+    attributes:
+      label: Version
+      description:
+        What version of Drake are you using?
+        If you've built from source, please provide the git commit sha.
+        If you're using our official binaries, please provide the contents of
+        `.../drake/share/doc/drake/VERSION.TXT`.  It's OK to leave this blank.
+  - type: dropdown
+    attributes:
+      label: What operating system are you using?
+      description: It's OK to leave this blank.
+      multiple: true
+      options:
+        - Unknown / Other
+        - Ubuntu 20.04
+        - Ubuntu 22.04
+        - macOS 12 (Monterey)
+        - Other
+  - type: dropdown
+    attributes:
+      label: What installation option are you using?
+      description: It's OK to leave this blank.
+      multiple: true
+      options:
+        - Unknown / Other
+        - pip install drake
+        - apt install drake
+        - binary tar.gz download
+        - dockerhub
+        - compiled from source code using CMake
+        - compiled from source code using Bazel
+  - type: textarea
+    id: logs
+    attributes:
+      label: Relevant log output
+      description:
+        Please copy and paste any relevant log output.
+        This will be automatically formatted into code, so no need for backticks.
+        It's OK to leave this blank.
+      render: shell

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: true
+contact_links:
+  - name: Questions, Requests for Help, Build or Installation Problems, Troubleshooting
+    url: https://stackoverflow.com/questions/ask?tags=drake
+    about: Please ask and answer these kinds of questions using StackOverflow; do not post questions in the Drake issues database.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature Request
+about: Suggest an idea for this project.
+title: ''
+labels: 'type: feature request'
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

BUILD.bazel

@@ -1,5 +1,3 @@
-# -*- python -*-
-
 # This file is named BUILD.bazel instead of the more typical BUILD, so that on
 # OSX it won't conflict with a build artifacts directory named "build".
 
@@ -16,6 +14,7 @@ exports_files([
     ".bazelproject",
     ".clang-format",
     ".drake-find_resource-sentinel",
+    "package.xml",
 ])
 
 # Drake's top-level module; all drake_py_stuff rules add this to deps.
@@ -34,26 +33,65 @@ alias(
     visibility = ["//visibility:public"],
 )
 
+# A manually-curated collection of most model files in Drake, so that we can
+# easily provide access to them for tools like //tools:model_visualizer.
+filegroup(
+    name = "all_models",
+    data = [
+        "//bindings/pydrake/multibody:models",
+        "//examples/acrobot:models",
+        "//examples/atlas:models",
+        "//examples/hardware_sim:demo_data",
+        "//examples/hydroelastic/ball_plate:floor_files",
+        "//examples/hydroelastic/ball_plate:plate_files",
+        "//examples/hydroelastic/python_ball_paddle:ball_paddle_files",
+        "//examples/hydroelastic/python_nonconvex_mesh:models",
+        "//examples/hydroelastic/spatula_slip_control:models",
+        "//examples/kuka_iiwa_arm/models",
+        "//examples/manipulation_station:models",
+        "//examples/multibody/cart_pole:models",
+        "//examples/multibody/four_bar:models",
+        "//examples/pendulum:models",
+        "//examples/planar_gripper:models",
+        "//examples/pr2:models",
+        "//examples/quadrotor:models",
+        "//examples/scene_graph:models",
+        "//examples/simple_gripper:simple_gripper_models",
+        "//manipulation/models/allegro_hand_description:models",
+        "//manipulation/models/franka_description:models",
+        "//manipulation/models/iiwa_description:models",
+        "//manipulation/models/jaco_description:models",
+        "//manipulation/models/realsense2_description:models",
+        "//manipulation/models/tri_homecart:models",
+        "//manipulation/models/ur3e:models",
+        "//manipulation/models/wsg_50_description:models",
+        "//manipulation/models/ycb:models",
+        "//multibody/benchmarks/acrobot:models",
+    ],
+    visibility = ["//:__subpackages__"],
+)
+
 # To create a manifest of all installed files for use by drake_bazel_installed,
 # we declare an install target that contains almost everything -- but it can't
 # contain the bazel logic that is generated based on the manifest, so we'll add
 # that in below in the final :install target.
 install(
     name = "all_install_targets_except_bazel",
+    data = ["package.xml"],
     docs = ["LICENSE.TXT"],
     visibility = ["//tools/install/bazel:__pkg__"],
     deps = [
         "//bindings/pydrake:install",
         "//common:install",
         "//examples:install",
+        "//geometry:install",
         "//lcmtypes:install",
         "//manipulation/models:install_data",
+        "//multibody/parsing:install",
         "//setup:install",
-        "//third_party/com_github_finetjul_bender:install",
-        "//third_party/com_github_jbeder_yaml_cpp:install",
-        "//tools/install/cmake:install",
         "//tools/install/libdrake:install",
         "//tools/workspace:install_external_packages",
+        "//tutorials:install",
     ],
 )
 
@@ -70,14 +108,29 @@ install(
 
 install_test(
     name = "install_test",
-    args = ["$(location :" + _INSTALL_TEST_COMMANDS + ")"],
+    args = ["--install_tests_filename=$(location :{})".format(
+        _INSTALL_TEST_COMMANDS,
+    )],
     data = [
         ":install",
         _INSTALL_TEST_COMMANDS,
     ],
-    # Running acceptance tests under Valgrind tools is extremely slow and of
-    # limited value, so skip them.
-    tags = ["no_valgrind_tools"],
+    tags = [
+        # Running acceptance tests under coverage (kcov) can fail for presently
+        # unknown reasons when it comes to drake_visualizer, so skip them.
+        "no_kcov",
+        # Running acceptance tests under Valgrind tools is extremely slow and
+        # of limited value, so skip them.
+        "no_valgrind_tools",
+    ],
 )
 
-add_lint_tests()
+add_lint_tests(
+    bazel_lint_extra_srcs = glob(
+        [
+            "cmake/external/workspace/**/*.bazel.in",
+            "cmake/external/workspace/**/*.bzl",
+        ],
+        allow_empty = False,
+    ),
+)