[workspace] Upgrade Clarabel.rs to latest release 0.7.0

[workspace] Upgrade crate_universe to latest releases

solvers/clarabel_solver.cc

@@ -152,29 +152,7 @@ class SettingsConverter {
  public:
   DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(SettingsConverter);
 
-  // When `use_nerfed_default_tolerances` is true, we use looser tolerance
-  // defaults to help reduce the possiblity of Clarabel crashing the entire
-  // process due to https://github.com/oxfordcontrol/Clarabel.rs/issues/66.
-  // We should remove this nerf after Clarabel is fixed.
-  SettingsConverter(const SolverOptions& solver_options,
-                    bool use_nerfed_default_tolerances) {
-    // N.B. We must adjust our default values before starting to process the
-    // user's requested `solver_options`.
-    if (use_nerfed_default_tolerances) {
-      drake::log()->debug(
-          "ClarabelSolver is using loosened default tolerances due to the "
-          "presence of SDP and Exponential Cone Constraints. This is done to "
-          "prevent numerical issues from potentially crashing your program "
-          "due to https://github.com/oxfordcontrol/Clarabel.rs/issues/66. "
-          "If you need to solve your program to high precision, consider "
-          "manually setting SolverOptions for 'tol_gap_abs', 'tol_gap_rel', "
-          "and 'tol_feas'. Values set in SolverOptions take prececence over "
-          "the defaults");
-      settings_.tol_gap_abs *= 100.0;
-      settings_.tol_gap_rel *= 100.0;
-      settings_.tol_feas *= 100.0;
-    }
-
+  explicit SettingsConverter(const SolverOptions& solver_options) {
     // Propagate Drake's common options into `settings_`.
     settings_.verbose = solver_options.get_print_to_console();
     // TODO(jwnimmer-tri) Handle get_print_file_name().
@@ -469,15 +447,7 @@ void ClarabelSolver::DoSolve(const MathematicalProgram& prog,
   A.setFromTriplets(A_triplets.begin(), A_triplets.end());
   const Eigen::Map<Eigen::VectorXd> b_vec{b.data(), ssize(b)};
 
-  // When the program mixes PSD cones with either Exponential or Power cones, we
-  // must loosen the default tolerance to help reduce the possiblity of crashing
-  // the entire process. Since we never add power cones (nor generialized power
-  // cones), the only case we need to guard is PSD mixed with Exponential.
-  const bool use_nerfed_default_tolerances =
-      psd_cone_length.size() && prog.exponential_cone_constraints().size();
-
-  const SettingsConverter settings_converter(merged_options,
-                                             use_nerfed_default_tolerances);
+  const SettingsConverter settings_converter(merged_options);
   clarabel::DefaultSettings<double> settings = settings_converter.settings();
 
   clarabel::DefaultSolver<double> solver(P, q_vec, A, b_vec, cones, settings);

tools/workspace/clarabel_cpp_internal/patches/git_submodule.patch

@@ -6,5 +6,5 @@
 
  [dependencies]
 -clarabel = { path = "../Clarabel.rs" }
-+clarabel = "0.6.0"
++clarabel = "0.7.0"
 

tools/workspace/crate_universe/lock/Cargo.toml.lock

@@ -140,9 +140,9 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "clarabel"
-version = "0.6.0"
+version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb77b79847293795eb71eb995ea2222af9c67c6f13c8734bd56b02b8415164b6"
+checksum = "e4c0e3ebbd6441dcc7f879e89e727fe90b4e4fcecf6295f283a0d02077fb8365"
 dependencies = [
  "amd",
  "blas",

tools/workspace/crate_universe/lock/archives.bzl

@@ -41,15 +41,15 @@ ARCHIVES = [
         build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.cfg-if-1.0.0.bazel"),
     ),
     dict(
-        name = "crate__clarabel-0.6.0",
+        name = "crate__clarabel-0.7.1",
         patches = [
             "@drake//tools/workspace/crate_universe:patches/clarabel_blas.patch",
         ],
-        sha256 = "fb77b79847293795eb71eb995ea2222af9c67c6f13c8734bd56b02b8415164b6",
+        sha256 = "e4c0e3ebbd6441dcc7f879e89e727fe90b4e4fcecf6295f283a0d02077fb8365",
         type = "tar.gz",
-        urls = ["https://static.crates.io/crates/clarabel/0.6.0/download"],
-        strip_prefix = "clarabel-0.6.0",
-        build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.clarabel-0.6.0.bazel"),
+        urls = ["https://static.crates.io/crates/clarabel/0.7.1/download"],
+        strip_prefix = "clarabel-0.7.1",
+        build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.clarabel-0.7.1.bazel"),
     ),
     dict(
         name = "crate__darling-0.14.4",

tools/workspace/crate_universe/lock/details/BUILD.bazel

@@ -33,6 +33,6 @@ filegroup(
 # Workspace Member Dependencies
 alias(
     name = "clarabel",
-    actual = "@crate__clarabel-0.6.0//:clarabel",
+    actual = "@crate__clarabel-0.7.1//:clarabel",
     tags = ["manual"],
 )

tools/workspace/crate_universe/lock/details/BUILD.clarabel-0.6.0.bazel → tools/workspace/crate_universe/lock/details/BUILD.clarabel-0.7.1.bazel

@@ -22,7 +22,7 @@ package_info(
     name = "package_info",
     package_name = "clarabel",
     package_url = "https://github.com/oxfordcontrol/Clarabel.rs",
-    package_version = "0.6.0",
+    package_version = "0.7.1",
 )
 
 license(
@@ -106,7 +106,7 @@ rust_library(
         "@rules_rust//rust/platform:x86_64-unknown-none": [],
         "//conditions:default": ["@platforms//:incompatible"],
     }),
-    version = "0.6.0",
+    version = "0.7.1",
     deps = [
         "@crate__amd-0.2.2//:amd",
         "@crate__blas-0.22.0//:blas",

tools/workspace/crate_universe/lock/details/defs.bzl

@@ -295,7 +295,7 @@ def aliases(
 _NORMAL_DEPENDENCIES = {
     "": {
         _COMMON_CONDITION: {
-            "clarabel": Label("@crate__clarabel-0.6.0//:clarabel"),
+            "clarabel": Label("@crate__clarabel-0.7.1//:clarabel"),
         },
     },
 }