diff --git a/doc/_pages/from_binary.md b/doc/_pages/from_binary.md index 7d9668bc8606..21a88a931ad9 100644 --- a/doc/_pages/from_binary.md +++ b/doc/_pages/from_binary.md @@ -31,18 +31,18 @@ Mac are available to download as attachments from Drake's GitHub [releases](https://github.com/RobotLocomotion/drake/releases) page. The most recent release is -[v1.32.0](https://github.com/RobotLocomotion/drake/releases/tag/v1.32.0): +[v1.33.0](https://github.com/RobotLocomotion/drake/releases/tag/v1.33.0): -* [https://github.com/RobotLocomotion/drake/releases/download/v1.32.0/drake-1.32.0-jammy.tar.gz](https://github.com/RobotLocomotion/drake/releases/download/v1.32.0/drake-1.32.0-jammy.tar.gz) -* [https://github.com/RobotLocomotion/drake/releases/download/v1.32.0/drake-1.32.0-noble.tar.gz](https://github.com/RobotLocomotion/drake/releases/download/v1.32.0/drake-1.32.0-noble.tar.gz) -* https://github.com/RobotLocomotion/drake/releases/download/v1.32.0/drake-1.32.0-mac-arm64.tar.gz (for arm64) +* [https://github.com/RobotLocomotion/drake/releases/download/v1.33.0/drake-1.33.0-jammy.tar.gz](https://github.com/RobotLocomotion/drake/releases/download/v1.33.0/drake-1.33.0-jammy.tar.gz) +* [https://github.com/RobotLocomotion/drake/releases/download/v1.33.0/drake-1.33.0-noble.tar.gz](https://github.com/RobotLocomotion/drake/releases/download/v1.33.0/drake-1.33.0-noble.tar.gz) +* https://github.com/RobotLocomotion/drake/releases/download/v1.33.0/drake-1.33.0-mac-arm64.tar.gz (for arm64) Users of macOS must download using a command-line tool such as ``curl`` instead of using a web browser, to avoid hassles from Gatekeeper checks for malicious software. For example: ``` -curl -fsSLO https://github.com/RobotLocomotion/drake/releases/download/v1.32.0/drake-1.32.0-mac-arm64.tar.gz +curl -fsSLO https://github.com/RobotLocomotion/drake/releases/download/v1.33.0/drake-1.33.0-mac-arm64.tar.gz ``` ### Use as a C++ library diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md new file mode 100644 index 000000000000..9cbf6ff49edb --- /dev/null +++ b/doc/_release-notes/v1.33.0.md @@ -0,0 +1,231 @@ +--- +title: Drake v1.33.0 +date: 2024-09-13 +released: 2024-09-13 +--- + +# Announcements + +* Some APIs in the experimental Graph of Convex Sets feature have changed. + * Changed return values for GraphOfConvexSets SolveShortestPath and SolveConvexRestriction functions to resolve inconsistencies ([#21833][_#21833]) + * Changed return value of GraphOfConvexSets::GetSolution*() to return std::nullopt rather than NaN ([#21843][_#21843]) + +# Breaking changes since v1.32.0 + +* None + +Refer to our [Drake Stability Guidelines](/stable.html) for our policy +on API changes. + +# Changes since v1.32.0 + +## Dynamical Systems + + + + +New features + +* None + +Fixes + +* None + +## Mathematical Program + + + + +New features + +* Add CartesianProduct getters for A and b properties ([#21827][_#21827]) +* Extend IrisInConfigurationSpace to support continuous revolute and planar joints ([#21837][_#21837]) +* Implement AffineSubspace::DoAddPointInNonnegativeScalingConstraints ([#21874][_#21874]) +* Add more efficient AffineHull computation for certain subclasses of ConvexSet ([#21828][_#21828]) +* Replace drake::geometry::CalcPairwiseIntersections with drake::geometry::ComputePairwiseIntersections to update its return type ([#21807][_#21807]) +* Support RpyFloatingJoint in IrisInConfigurationSpace and GcsTrajectoryOptimization ([#21861][_#21861]) +* Add common option for max number of threads ([#21857][_#21857]) + +Fixes + +* Resolve inconsistencies in results from shortest path vs convex restriction in Graph of Convex Sets ([#21833][_#21833]) +* Changed return value of GraphOfConvexSets::GetSolution*() to return std::nullopt rather than NaN ([#21843][_#21843]) + +## Multibody Dynamics and Geometry + + + + +New features + +* Add Drake Model Directive support for canonical frames for default poses ([#21765][_#21765]) + +Fixes + +* Update APIs on MultibodyPlant for working with free bodies to more clearly reflect current implementation ([#21808][_#21808]) +* Fix Drake Model Directive default_free_body_pose vs offset frames ([#21765][_#21765]) +* When .mtl files are missing, Meshcat uses property colors instead ([#21889][_#21889]) + +## Planning + + + + +New features + +* Add PathEnergyCost to GcsTrajectoryOptimization ([#21810][_#21810]) + +Fixes + +* Add better error message for zero-duration trajectory segments in GcsTrajectoryOptimization ([#21734][_#21734]) +* Fix LinearDistanceAndInterpolationProvider in the presence of removed joints ([#21867][_#21867]) + +## Tutorials and examples + + + +* None + +## Miscellaneous features and fixes + + + +* Made usage of fmt::join compatible with fmt v11 ([#21856][_#21856]) +* Add static factory function CompositeTrajectory::AlignAndConcatenateStatic() that automatically aligns segment timings ([#21656][_#21656]) +* Adjust non-spdlog stub to correctly handle calls that would otherwise use fmt_runtime ([#21864][_#21864]) +* Introduce MemoryFile ([#21875][_#21875]) ([#21895][_#21895]) + + +## pydrake bindings + + + + +New features + +* Bind drake::geometry::optimization::ConvexHull ([#21849][_#21849]) +* Bind Joint.kTypeName constants ([#21896][_#21896]) + +Fixes + +* GraphOfConvexSets.GetGraphvizString accepts default `active_path` ([#21817][_#21817]) + +## Build system + + + +* None + +## Build dependencies + + + +* Upgrade abseil_cpp_internal to latest commit ([#21887][_#21887]) +* Upgrade bazel to latest release 7.3.1 ([#21878][_#21878]) +* Upgrade bazelisk to latest release 1.21.0 ([#21884][_#21884]) ([#21888][_#21888]) +* Upgrade build_bazel_apple_support to latest release 1.17.0 ([#21887][_#21887]) +* Upgrade buildifier to latest release v7.3.1 ([#21887][_#21887]) +* Upgrade clp_internal to latest release 1.17.10 ([#21887][_#21887]) +* Upgrade coinutils_internal to latest release 2.11.12 ([#21887][_#21887]) +* Upgrade common_robotics_utilities to latest commit ([#21812][_#21812]) +* Upgrade crate_universe to latest ([#21887][_#21887]) +* Upgrade dm_control_internal to latest release 1.0.22 ([#21887][_#21887]) +* Upgrade googlebenchmark to latest release v1.9.0 ([#21887][_#21887]) +* Upgrade gz_math_internal to latest release 7.5.1 ([#21887][_#21887]) +* Upgrade mujoco_menagerie_internal to latest commit ([#21887][_#21887]) +* Upgrade mypy_internal to latest release v1.11.2 ([#21887][_#21887]) +* Upgrade nanoflann_internal to latest release v1.6.1 ([#21887][_#21887]) +* Upgrade nlopt_internal to latest release v2.8.0 ([#21893][_#21893]) +* Upgrade pycodestyle to latest release 2.12.1 ([#21887][_#21887]) +* Upgrade rules_license to latest release 1.0.0 ([#21887][_#21887]) +* Upgrade rules_python to latest release 0.35.0 ([#21887][_#21887]) +* Upgrade rules_rust to latest release 0.49.3 ([#21887][_#21887]) +* Upgrade rust_toolchain to latest ([#21887][_#21887]) +* Upgrade scs_internal to latest release 3.2.7 ([#21797][_#21797]) +* Upgrade suitesparse_internal to latest release v7.8.2 ([#21887][_#21887]) +* Upgrade sympy_py_internal to latest release 1.13.2 ([#21887][_#21887]) +* Upgrade tinygltf_internal to latest release v2.9.3 ([#21887][_#21887]) +* Upgrade tinyobjloader_internal to latest commit ([#21887][_#21887]) +* Upgrade voxelized_geometry_tools to latest commit ([#21812][_#21812]) +* Upgrade vtk_internal to latest commit ([#21799][_#21799]) + +## Newly-deprecated APIs + +* `pydrake.multibody.MultibodyPlant.SetFreeBodyPose` with parameter X_WB ([#21808][_#21808]) +* `pydrake.multibody.MultibodyPlant.SetDefaultFreeBodyPose` with parameter X_WB ([#21808][_#21808]) +* `pydrake.multibody.MultibodyPlant.SetFreeBodySpatialVelocity` with parameter V_WB ([#21808][_#21808]) +* `drake::geometry::CalcPairwiseIntersections` ([#21807][_#21807]) +* `pydrake.geometry.CalcPairwiseIntersections` ([#21807][_#21807]) +* `drake::multibody::FrameBase` ([#21891][_#21891]) + + +## Removal of deprecated items + +* The following include paths ([#21858][_#21858]) + * ``drake/examples/acrobot/gen/acrobot_input.h`` + * ``drake/examples/acrobot/gen/acrobot_params.h`` + * ``drake/examples/acrobot/gen/acrobot_state.h`` + * ``drake/examples/acrobot/gen/spong_controller_params.h`` + * ``drake/examples/compass_gait/gen/compass_gait_continuous_state.h`` + * ``drake/examples/compass_gait/gen/compass_gait_params.h`` + * ``drake/examples/pendulum/gen/pendulum_input.h`` + * ``drake/examples/pendulum/gen/pendulum_params.h`` + * ``drake/examples/pendulum/gen/pendulum_state.h`` + * ``drake/examples/rimless_wheel/gen/rimless_wheel_continuous_state.h`` + * ``drake/examples/rimless_wheel/gen/rimless_wheel_params.h`` + * ``drake/manipulation/schunk_wsg/gen/schunk_wsg_trajectory_generator_state_vector.h`` + * ``drake/systems/sensors/gen/beam_model_params.h`` + +* None + +# Notes + + +This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v1.33.0) named +``drake-1.33.0-{jammy|noble|mac-arm64}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them. + +Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the +[Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to +Philip E. Gill and Elizabeth Wong for their kind support. + + +[_#21656]: https://github.com/RobotLocomotion/drake/pull/21656 +[_#21734]: https://github.com/RobotLocomotion/drake/pull/21734 +[_#21765]: https://github.com/RobotLocomotion/drake/pull/21765 +[_#21797]: https://github.com/RobotLocomotion/drake/pull/21797 +[_#21799]: https://github.com/RobotLocomotion/drake/pull/21799 +[_#21807]: https://github.com/RobotLocomotion/drake/pull/21807 +[_#21808]: https://github.com/RobotLocomotion/drake/pull/21808 +[_#21810]: https://github.com/RobotLocomotion/drake/pull/21810 +[_#21812]: https://github.com/RobotLocomotion/drake/pull/21812 +[_#21817]: https://github.com/RobotLocomotion/drake/pull/21817 +[_#21827]: https://github.com/RobotLocomotion/drake/pull/21827 +[_#21828]: https://github.com/RobotLocomotion/drake/pull/21828 +[_#21833]: https://github.com/RobotLocomotion/drake/pull/21833 +[_#21837]: https://github.com/RobotLocomotion/drake/pull/21837 +[_#21843]: https://github.com/RobotLocomotion/drake/pull/21843 +[_#21849]: https://github.com/RobotLocomotion/drake/pull/21849 +[_#21856]: https://github.com/RobotLocomotion/drake/pull/21856 +[_#21857]: https://github.com/RobotLocomotion/drake/pull/21857 +[_#21858]: https://github.com/RobotLocomotion/drake/pull/21858 +[_#21861]: https://github.com/RobotLocomotion/drake/pull/21861 +[_#21864]: https://github.com/RobotLocomotion/drake/pull/21864 +[_#21867]: https://github.com/RobotLocomotion/drake/pull/21867 +[_#21874]: https://github.com/RobotLocomotion/drake/pull/21874 +[_#21875]: https://github.com/RobotLocomotion/drake/pull/21875 +[_#21878]: https://github.com/RobotLocomotion/drake/pull/21878 +[_#21884]: https://github.com/RobotLocomotion/drake/pull/21884 +[_#21887]: https://github.com/RobotLocomotion/drake/pull/21887 +[_#21888]: https://github.com/RobotLocomotion/drake/pull/21888 +[_#21889]: https://github.com/RobotLocomotion/drake/pull/21889 +[_#21891]: https://github.com/RobotLocomotion/drake/pull/21891 +[_#21893]: https://github.com/RobotLocomotion/drake/pull/21893 +[_#21895]: https://github.com/RobotLocomotion/drake/pull/21895 +[_#21896]: https://github.com/RobotLocomotion/drake/pull/21896 + + +