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v1.35.0.md

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title date released
Drake v1.35.0
2099-12-31
YYYY-MM-DD

Announcements

  • TBD

Breaking changes since v1.34.0

  • TBD

Refer to our Drake Stability Guidelines for our policy on API changes.

Changes since v1.34.0

Dynamical Systems

New features

  • TBD

Fixes

  • Fix RgbdSensor image size parameterization crash (#22065)

Mathematical Program

  • [fix] TBD Move the warning on small-size PSD matrix to each solver backend (#22136)
  • [feature] TBD Update single entry of coefficients in LinearCost and QuadraticCost (#22152)
  • [feature] TBD Parallelize the Pairwise Set Intersection Checking for GCS (with or without Continuous Revolute Joints) (#22142) # Note that the parallelism here is used in two ways -- the computation of AABBs of the constituent sets is handled with a parallel for loop, and then the pairwise intersections themselves are checked with SolveInParallel.

New features

  • Solve mathematical programs in parallel (#21957)
  • Add CommonSolverOption::to_string (#22079)
  • Introduce ImplicitGraphOfConvexSets (#22074)
  • Leverage parallelization where possible when checking boundedness of a ConvexSet (#22084)
  • Set gradient sparsity pattern in LorentzConeConstraint and RotatedLorentzConeConstraint (#22125)

Fixes

  • Throw when IpoptSolver options are invalid (#22062)
  • Use GraphOfConvexSetsOptions::preprocessing_solver_options even if a specific preprocessing_solver is not specified (#22077)
  • Fix Gurobi console logging to obey our defaults again (#22108)
  • Fix bugs where empty HPolyhedron's were reported to be unbounded (#22117)
  • Fix the boundedness check of MinkowskiSum (#22084)
  • Fix GraphOfConvexSets when passing in a trivially-infeasible upper bound (#22090)

Multibody Dynamics and Geometry

  • [feature] TBD [multibody,geometry] Update parsing infrastructure (#22102) # 1. MultibodyPlant::RegisterVisualGeometry() can now take a GeometryInstance. - Clean up documentation. - Extend tests to include what is actually done. 2. SDF parser makes use of new API. - Stop returning optional<unique_ptr<>> (simply return the unique ptr). - Instead of constructing, deconstructing, and reconstructing geometry instances, we just pass the instance.

  • [feature] TBD [geometry] Add precomputed values to VolumeMesh and MeshFieldLinear (#22097)

  • [feature] TBD Allow floating bodies to use RpyFloating joints (#21973) # Also supports using Weld joints instead of floating joints for unattached bodies. New features

  • TBD

Fixes

  • Bug fixes for SapHolonomicCosnstraint and SapDriver::AddWeldConstraints() (#22057)
  • Fix //geometry/proximity:refine_mesh for cwd-relative paths (#22106)
  • Improve exception message for bad geometry (zero volume mesh) in .obj file (#21929)

Planning

  • [feature] TBD Add Expression Costs and Formula Constraints to Subgraphs in GcsTrajectoryOptimization (#22091) # Adds placeholder variables to subgraphs, that can be used to construct costs and constraints to each vertex or edge. Note that this includes the fix Fix a Bug in GCS When Passing in a Trivially-Infeasible Upper Bound #22090, since the conjunctive formula used in a test case creates an instance of this bug. Co-Authored-By: Russ Tedrake russt@mit.edu

New features

  • TBD

Fixes

  • TBD

Tutorials and examples

  • TBD

Miscellaneous features and fixes

  • [feature] TBD [schema] Add Rotation::Sample (#22113) # This bring it on par with Transform::Sample.
  • [feature] TBD Trim PiecewisePolynomials (#22099)
  • Implement drake::trajectories::FunctionHandleTrajectory (#21093)
  • Add requires clause to drake::math::RigidTransform and drake::math::RotationMatrix cast (#22094)

pydrake bindings

  • [fix] TBD [py perception] Add bindings for PointCloud copy (#22148)
  • [fix] TBD Adds missing sparse UpdateCoefficient binding to LinearEqualityConstraint (#22151)
  • Bind pydrake.trajectories.FunctionHandleTrajectory (#21093)
  • Add info_handler callback to pydrake.gym.DrakeGymEnv (#21900)

New features

  • TBD

Fixes

  • TBD

Build system

  • Upgrade bazelisk to latest release v1.22.1 (#22119)
  • Upgrade Bazel to latest release 7.4.0 (#22066)
  • Use EGL by default on Ubuntu (#22081)

Build dependencies

  • [fix] TBD [workspace] Upgrade nanoflann_internal to latest release v1.6.2 (#22130)
  • [fix] TBD [workspace] Upgrade gymnasium_py to latest release v1.0.0 (#22121) # Co-Authored-By: Rick Poyner rick.poyner@tri.global
  • [fix] TBD [workspace] Upgrade rules_python to 0.36.0 (#22129) # * pin to never upgrade again Co-Authored-By: Jeremy Nimmer jeremy.nimmer@tri.global
  • Force-disable CoinUtils debugging hooks (#22063)
  • Upgrade abseil_cpp_internal to latest commit (#22118)
  • Upgrade crate_universe to latest releases (#22119)
  • Upgrade dm_control_internal to latest release 1.0.24 (#22119)
  • Upgrade drake_models to latest commit (#22103)
  • Upgrade msgpack_internal to latest release cpp-7.0.0 (#22119)
  • Upgrade mujoco_menagerie_internal to latest commit (#22119)
  • Upgrade mypy_internal to latest release v1.13.0 (#22119)
  • Upgrade openusd_internal to latest release 24.11 (#22082)
  • Upgrade rules_rust to latest release 0.53.0 (#22119)
  • Upgrade statsjs to latest commit (#22119)
  • Upgrade suitesparse_internal to latest release v7.8.3 (#22119)
  • Upgrade tinyobjloader_internal to latest commit (#22119)
  • Upgrade vtk_internal to latest commit (#22119)

Newly-deprecated APIs

  • CommonSolverOption::operator<< (#22079)

Removal of deprecated items

  • drake::geometry::MeshcatVisualizer::ResetRealtimeRateCalculator() (#22086)
  • drake::multibody::CalcSpatialInertia() with the default density value (#22086)
  • drake::multibody::HydroelasticContactInfo::HydroelasticContactInfo() with quadrature_point_data argument (#22086)
  • drake::multibody::HydroelasticContactInfo::quadrature_point_data() (#22086)
  • drake::systems::VectorSystem::VectorSystem() without direct_feedthrough argument (#22086)
  • //multibody/plant:deformable_contact_info (#22086)
  • //multibody/plant:hydroelastic_contact_info (#22086)
  • //multibody/plant:hydroelastic_quadrature_point_data (#22086)
  • //multibody/plant:hydroelastic_traction (#22086)
  • //multibody/plant:point_pair_contact_info (#22086)
  • pydrake.geometry.MeshcatVisualizer.ResetRealtimeRateCalculator() (#22086)
  • pydrake.systems.framework.VectorSystem() without direct_feedthrough argument (#22086)

Notes

This release provides pre-compiled binaries named drake-1.35.0-{jammy|noble|mac-arm64}.tar.gz. See Stable Releases for instructions on how to use them.

Drake binary releases incorporate a pre-compiled version of SNOPT as part of the Mathematical Program toolbox. Thanks to Philip E. Gill and Elizabeth Wong for their kind support.