From 140c8f90570a1b60c3d93c36ba5c47d3fc861537 Mon Sep 17 00:00:00 2001 From: Eric Cousineau Date: Tue, 11 Apr 2023 18:51:09 -0400 Subject: [PATCH 01/21] DNM Disable CI --- tools/workspace/cc/repository.bzl | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/workspace/cc/repository.bzl b/tools/workspace/cc/repository.bzl index a0d829ce4726..c9655352c1ef 100644 --- a/tools/workspace/cc/repository.bzl +++ b/tools/workspace/cc/repository.bzl @@ -55,6 +55,7 @@ def _check_compiler_version(compiler_id, actual_version, supported_version): )) def _impl(repository_ctx): + fail("Disable CI") file_content = """# DO NOT EDIT: generated by cc_repository() # This file exists to make our directory into a Bazel package, so that our From fa2b9d6c0eed6885eccc95b032caa530bb068d8a Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 08:22:17 -0700 Subject: [PATCH 02/21] Release notes template --- doc/_release-notes/v1.33.0.md | 133 ++++++++++++++++++++++++++++++++++ 1 file changed, 133 insertions(+) create mode 100644 doc/_release-notes/v1.33.0.md diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md new file mode 100644 index 000000000000..a4e9f687bc4f --- /dev/null +++ b/doc/_release-notes/v1.33.0.md @@ -0,0 +1,133 @@ +--- +title: Drake v1.33.0 +date: 2099-12-31 +released: YYYY-MM-DD +--- + +# Announcements + +* TBD + +# Breaking changes since v1.32.0 + +* TBD + +Refer to our [Drake Stability Guidelines](/stable.html) for our policy +on API changes. + +# Changes since v1.32.0 + +## Dynamical Systems + + + + +New features + +* TBD + +Fixes + +* TBD + +## Mathematical Program + + + + +New features + +* TBD + +Fixes + +* TBD + +## Multibody Dynamics and Geometry + + + + +New features + +* TBD + +Fixes + +* TBD + +## Planning + + + + +New features + +* TBD + +Fixes + +* TBD + +## Tutorials and examples + + + +* TBD + +## Miscellaneous features and fixes + + + +* TBD + +## pydrake bindings + + + + +New features + +* TBD + +Fixes + +* TBD + +## Build system + + + +* TBD + +## Build dependencies + + + +* TBD + +## Newly-deprecated APIs + +* TBD + +## Removal of deprecated items + +* TBD + +# 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. + + + + + From 79a07e839ce9a750c6f34729897d03c56814442d Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 08:22:40 -0700 Subject: [PATCH 03/21] Initial update --- doc/_release-notes/v1.33.0.md | 44 ++++++++++++++++++++++++++++++++++- 1 file changed, 43 insertions(+), 1 deletion(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index a4e9f687bc4f..bd54c33e4c45 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -34,6 +34,10 @@ Fixes +* [breaking change fix] TBD [GCS] Resolve inconsistencies in results from shortest path vs convex restriction ([#21833][_#21833]) # **This is a breaking change** (Note that GCS is still marked experimental) During the review of #21530, we realized that cost slack variables were not being written to the MathematicalProgramResult in a consistent way between SolveShortestPath and SolveConvexRestriction. This PR addresses this by: 1) The "ell" slack variables associated with the AddCost methods are not returned to the user. Users should call vertex->GetSolutionCost() or edge->GetSolutionCost() to retrieve them. SolveConvexRestriction doesn't use ell, and it's an implementation detail that shouldn't have ever been exposed to the user. 2) GetSolutionCost and GetSolution are now more robust... if the placeholder variables are not in the MathematicalProgramResult, they return the implied values. 3) SolveConvexRestriction no longer tries to write NaN values for the unused vertices on every solve. The more robust GetSolution methods make this reasonable, and now that we've been generating large graphs this has become more important. Users may need to change calls from e.g. `result->GetSolution(v->x())` to `v->GetSolution(result)`. 4) The artificial `graphviz_options.show_costs = False` that was needed in `trajectory_optimization_test.py` to cover up this issue is now safely removed. Resolves #20443. +* [feature] TBD Add CartesianProduct Getters for A and b Properties ([#21827][_#21827]) +* [feature] TBD Extend IrisInConfigurationSpace to support continuous revolute and planar joints ([#21837][_#21837]) +* [breaking change fix] TBD [GCS] GetSolution*() returns std::nullopt rather than nan ([#21843][_#21843]) # when a solution (for a particular vertex/edge) is not contained in the results. ** This is a breaking change. The return value for all of the GetSolution*() methods has changed types to include the std::optional. ** Also handles empty results in GetGraphvizString (which resolves #20859). New features @@ -47,6 +51,13 @@ Fixes +* [feature] TBD Replace BodyIndex with LinkIndex alias ([#21811][_#21811]) +* [newly deprecated fix] TBD Update working with free bodies to reflect current implementations ([#21808][_#21808]) # Much of the free body documentation still assumes that all free bodies have the world as parent. That's not generally true. In fact, we advocate simulating things like suction by putting a floating joint between end effector and manipuland and simply locking the joint when the end effector is "holding" the manipuland. The configuration of the joint is always relative to the inboard frame which, in this case, is not the world. This amends the documentation to distinguish between "free" bodies and "floating base" bodies. Furthermore, the API Mbp::SetFreeBodyPoseInWorldFrame() is a lie. For the new terminology, it doesn't actually operate on "free" bodies -- only "floating base" bodies. Its documentation has been corrected to reflect the *true* state. While the name is still misleading, it is left intact in case we can correct the implementation in the future to match the name. +* [fix] TBD [multibody,systems,geometry,common,solvers] Usages of fmt::join made compatible with fmt v11 ([#21856][_#21856]) # For v11, fmt moved the "range and iterator overloads" of fmt::join into the fmt/ranges.h header file. This mindlessly adds that header to all of the compilation units that make use of fmt::join to offer v10->v11 compatibility. +* [fix] TBD [multibody] Fix dmd default_free_body_pose vs offset frames ([#21854][_#21854]) # Previously, if the model frame being postured was a non-identity fixed offset frame and the parent frame was the world, then the old code would mistakenly posture the body frame instead of the offset frame. (This is an important change and should be highlighted more strongly than usual in the release notes.) +* [breaking change] TBD Nuke useless FrameBase class; adds frame body pose cache ([#21853][_#21853]) # Convert BodyNode functions to use the new cache. Release note: FrameBase is gone. In theory it could have appeared somewhere, but in practice Drake and Anzu never mentioned it and it had no functionality. Worth noting in the release notes as a very unlikely breaking change. +* [removal of deprecated] TBD [multibody,examples,workspace,manipulation,systems,tools] Remove deprecated code 2024-09 ([#21858][_#21858]) +* [fix] TBD [multibody] Add dmd support for canonical frames for default poses ([#21765][_#21765]) New features @@ -60,6 +71,8 @@ Fixes +* [fix] TBD Better error message for zero-duration trajectory segments in GcsTrajectoryOptimization ([#21734][_#21734]) # Better error message for zero-duration trajectory segments in GcsTrajectoryOptimization. +* [feature] TBD PathEnergyCost for GCSTrajectoryOptimization ([#21810][_#21810]) # * Modifications to GCSTRajOpt * completed L2 squared cost * Updated Q matrix version of L2 Sauare * added documentation for all code additions * using clang format * Updated to include path energy function * Updated documentation * Fixed clang errors and removed unused variables * Revised spacing test such that OSQP can be used * Adding comment and increasing tolerance on quad test * linting * overriding function size linting in bindings * Updated energy cost to include n x n weight matrix * comment revisions * resolving merge errors * fixing small comments * removing const * removing triple slash comment New features @@ -79,12 +92,15 @@ Fixes +* [feature] TBD Static constructor for CompositeTrajectory that automatically aligns segment timings ([#21656][_#21656]) +* [fix] TBD [common] Adjust non-spdlog stub to be more generous ([#21864][_#21864]) # Calls that used fmt_runtime were not being stubbed correctly. * TBD ## pydrake bindings +* [fix] TBD Fix GCS GetGraphvizString bindings to accept default `active_path` ([#21817][_#21817]) # Resolves #21816. New features @@ -98,12 +114,17 @@ Fixes +* [fix] TBD [tools] Upgrade bazel to latest release 7.3.1 ([#21878][_#21878]) +* [fix] TBD [setup] Upgrade bazelisk to latest release 1.21.0 ([#21884][_#21884]) * TBD ## Build dependencies +* [fix] TBD Bump CRU and VGT 2024-08-14 ([#21812][_#21812]) +* [fix] TBD [workspace,systems] [workspace] Upgrade vtk_internal to latest commit ([#21799][_#21799]) # - Remove patches that have been upstreamed to VTK. - Add more printouts when verbose mode has been enabled. - Prune out some new dependencies that cause trouble / waste. - Adjust image loading to avoid a VTK segfault. Co-authored-by: Jeremy Nimmer +* [fix] TBD [workspace] Upgrade scs_internal to latest release 3.2.7 ([#21797][_#21797]) * TBD ## Newly-deprecated APIs @@ -125,9 +146,30 @@ Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom 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 +[_#21808]: https://github.com/RobotLocomotion/drake/pull/21808 +[_#21810]: https://github.com/RobotLocomotion/drake/pull/21810 +[_#21811]: https://github.com/RobotLocomotion/drake/pull/21811 +[_#21812]: https://github.com/RobotLocomotion/drake/pull/21812 +[_#21817]: https://github.com/RobotLocomotion/drake/pull/21817 +[_#21827]: https://github.com/RobotLocomotion/drake/pull/21827 +[_#21833]: https://github.com/RobotLocomotion/drake/pull/21833 +[_#21837]: https://github.com/RobotLocomotion/drake/pull/21837 +[_#21843]: https://github.com/RobotLocomotion/drake/pull/21843 +[_#21853]: https://github.com/RobotLocomotion/drake/pull/21853 +[_#21854]: https://github.com/RobotLocomotion/drake/pull/21854 +[_#21856]: https://github.com/RobotLocomotion/drake/pull/21856 +[_#21858]: https://github.com/RobotLocomotion/drake/pull/21858 +[_#21864]: https://github.com/RobotLocomotion/drake/pull/21864 +[_#21878]: https://github.com/RobotLocomotion/drake/pull/21878 +[_#21884]: https://github.com/RobotLocomotion/drake/pull/21884 From 4319d9486467ecff3f443b230aaa2758039d6c5f Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 08:34:11 -0700 Subject: [PATCH 04/21] Sort Mathematical Program --- doc/_release-notes/v1.33.0.md | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index bd54c33e4c45..c3db1ae6e28e 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -10,7 +10,8 @@ released: YYYY-MM-DD # Breaking changes since v1.32.0 -* TBD +* 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]) Refer to our [Drake Stability Guidelines](/stable.html) for our policy on API changes. @@ -34,18 +35,15 @@ Fixes -* [breaking change fix] TBD [GCS] Resolve inconsistencies in results from shortest path vs convex restriction ([#21833][_#21833]) # **This is a breaking change** (Note that GCS is still marked experimental) During the review of #21530, we realized that cost slack variables were not being written to the MathematicalProgramResult in a consistent way between SolveShortestPath and SolveConvexRestriction. This PR addresses this by: 1) The "ell" slack variables associated with the AddCost methods are not returned to the user. Users should call vertex->GetSolutionCost() or edge->GetSolutionCost() to retrieve them. SolveConvexRestriction doesn't use ell, and it's an implementation detail that shouldn't have ever been exposed to the user. 2) GetSolutionCost and GetSolution are now more robust... if the placeholder variables are not in the MathematicalProgramResult, they return the implied values. 3) SolveConvexRestriction no longer tries to write NaN values for the unused vertices on every solve. The more robust GetSolution methods make this reasonable, and now that we've been generating large graphs this has become more important. Users may need to change calls from e.g. `result->GetSolution(v->x())` to `v->GetSolution(result)`. 4) The artificial `graphviz_options.show_costs = False` that was needed in `trajectory_optimization_test.py` to cover up this issue is now safely removed. Resolves #20443. -* [feature] TBD Add CartesianProduct Getters for A and b Properties ([#21827][_#21827]) -* [feature] TBD Extend IrisInConfigurationSpace to support continuous revolute and planar joints ([#21837][_#21837]) -* [breaking change fix] TBD [GCS] GetSolution*() returns std::nullopt rather than nan ([#21843][_#21843]) # when a solution (for a particular vertex/edge) is not contained in the results. ** This is a breaking change. The return value for all of the GetSolution*() methods has changed types to include the std::optional. ** Also handles empty results in GetGraphvizString (which resolves #20859). - New features -* TBD +* Add CartesianProduct getters for A and b properties ([#21827][_#21827]) +* Extend IrisInConfigurationSpace to support continuous revolute and planar joints ([#21837][_#21837]) Fixes -* TBD +* 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 From 99d541ad481b6af9743077010b1012f5f5a64335 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 08:54:33 -0700 Subject: [PATCH 05/21] Sort (most) Multibody Dynamics --- doc/_release-notes/v1.33.0.md | 35 +++++++++++++++++++++++++---------- 1 file changed, 25 insertions(+), 10 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index c3db1ae6e28e..225d1b76c425 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -12,6 +12,7 @@ released: YYYY-MM-DD * 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]) +* drake::multibody::FrameBase class removed ([#21853][_#21853]) Refer to our [Drake Stability Guidelines](/stable.html) for our policy on API changes. @@ -50,20 +51,15 @@ Fixes * [feature] TBD Replace BodyIndex with LinkIndex alias ([#21811][_#21811]) -* [newly deprecated fix] TBD Update working with free bodies to reflect current implementations ([#21808][_#21808]) # Much of the free body documentation still assumes that all free bodies have the world as parent. That's not generally true. In fact, we advocate simulating things like suction by putting a floating joint between end effector and manipuland and simply locking the joint when the end effector is "holding" the manipuland. The configuration of the joint is always relative to the inboard frame which, in this case, is not the world. This amends the documentation to distinguish between "free" bodies and "floating base" bodies. Furthermore, the API Mbp::SetFreeBodyPoseInWorldFrame() is a lie. For the new terminology, it doesn't actually operate on "free" bodies -- only "floating base" bodies. Its documentation has been corrected to reflect the *true* state. While the name is still misleading, it is left intact in case we can correct the implementation in the future to match the name. -* [fix] TBD [multibody,systems,geometry,common,solvers] Usages of fmt::join made compatible with fmt v11 ([#21856][_#21856]) # For v11, fmt moved the "range and iterator overloads" of fmt::join into the fmt/ranges.h header file. This mindlessly adds that header to all of the compilation units that make use of fmt::join to offer v10->v11 compatibility. -* [fix] TBD [multibody] Fix dmd default_free_body_pose vs offset frames ([#21854][_#21854]) # Previously, if the model frame being postured was a non-identity fixed offset frame and the parent frame was the world, then the old code would mistakenly posture the body frame instead of the offset frame. (This is an important change and should be highlighted more strongly than usual in the release notes.) -* [breaking change] TBD Nuke useless FrameBase class; adds frame body pose cache ([#21853][_#21853]) # Convert BodyNode functions to use the new cache. Release note: FrameBase is gone. In theory it could have appeared somewhere, but in practice Drake and Anzu never mentioned it and it had no functionality. Worth noting in the release notes as a very unlikely breaking change. -* [removal of deprecated] TBD [multibody,examples,workspace,manipulation,systems,tools] Remove deprecated code 2024-09 ([#21858][_#21858]) -* [fix] TBD [multibody] Add dmd support for canonical frames for default poses ([#21765][_#21765]) New features -* TBD +* Add Drake Model Directive support for canonical frames for default poses ([#21765][_#21765]) Fixes -* TBD +* 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 ## Planning @@ -92,7 +88,9 @@ Fixes * [feature] TBD Static constructor for CompositeTrajectory that automatically aligns segment timings ([#21656][_#21656]) * [fix] TBD [common] Adjust non-spdlog stub to be more generous ([#21864][_#21864]) # Calls that used fmt_runtime were not being stubbed correctly. -* TBD + +* Usages of fmt::join made compatible with fmt v11 ([#21856][_#21856]) + ## pydrake bindings @@ -127,10 +125,27 @@ Fixes ## Newly-deprecated APIs -* TBD +* `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]) ## 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`` + * TBD # Notes From 4ed04c960a943929bbecde9d6280228ff8473d66 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 09:09:40 -0700 Subject: [PATCH 06/21] Sor Planning --- doc/_release-notes/v1.33.0.md | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index 225d1b76c425..4d053e5a8fa5 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -65,16 +65,14 @@ Fixes -* [fix] TBD Better error message for zero-duration trajectory segments in GcsTrajectoryOptimization ([#21734][_#21734]) # Better error message for zero-duration trajectory segments in GcsTrajectoryOptimization. -* [feature] TBD PathEnergyCost for GCSTrajectoryOptimization ([#21810][_#21810]) # * Modifications to GCSTRajOpt * completed L2 squared cost * Updated Q matrix version of L2 Sauare * added documentation for all code additions * using clang format * Updated to include path energy function * Updated documentation * Fixed clang errors and removed unused variables * Revised spacing test such that OSQP can be used * Adding comment and increasing tolerance on quad test * linting * overriding function size linting in bindings * Updated energy cost to include n x n weight matrix * comment revisions * resolving merge errors * fixing small comments * removing const * removing triple slash comment New features -* TBD +* Add PathEnergyCost to GCSTrajectoryOptimization ([#21810][_#21810]) Fixes -* TBD +* Add better error message for zero-duration trajectory segments in GcsTrajectoryOptimization ([#21734][_#21734]) ## Tutorials and examples From 0198c47145697a734640318309104f29d38b3b71 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 09:14:48 -0700 Subject: [PATCH 07/21] Sort miscellaneous --- doc/_release-notes/v1.33.0.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index 4d053e5a8fa5..8aed7212ee26 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -84,10 +84,9 @@ Fixes -* [feature] TBD Static constructor for CompositeTrajectory that automatically aligns segment timings ([#21656][_#21656]) -* [fix] TBD [common] Adjust non-spdlog stub to be more generous ([#21864][_#21864]) # Calls that used fmt_runtime were not being stubbed correctly. - -* Usages of fmt::join made compatible with fmt v11 ([#21856][_#21856]) +* 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 correclty handle calls that would otherwise use fmt_runtime ([#21864][_#21864]) ## pydrake bindings From 97185022c9f96c6e324a58a597f24f3dfe7f37d9 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 09:23:14 -0700 Subject: [PATCH 08/21] Sort pydrake bindings --- doc/_release-notes/v1.33.0.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index 8aed7212ee26..00f58ffb3311 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -93,15 +93,13 @@ Fixes -* [fix] TBD Fix GCS GetGraphvizString bindings to accept default `active_path` ([#21817][_#21817]) # Resolves #21816. - New features * TBD Fixes -* TBD +* GraphOfConvexSets.GetGraphvizString accepts default `active_path` ([#21817][_#21817]) ## Build system From 5be02cc8b25c016e301b6a0920a757b714e3b4a9 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 09:25:44 -0700 Subject: [PATCH 09/21] Sort build system and dependencies --- doc/_release-notes/v1.33.0.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index 00f58ffb3311..7cfeb82a7eab 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -105,18 +105,18 @@ Fixes -* [fix] TBD [tools] Upgrade bazel to latest release 7.3.1 ([#21878][_#21878]) -* [fix] TBD [setup] Upgrade bazelisk to latest release 1.21.0 ([#21884][_#21884]) * TBD ## Build dependencies -* [fix] TBD Bump CRU and VGT 2024-08-14 ([#21812][_#21812]) -* [fix] TBD [workspace,systems] [workspace] Upgrade vtk_internal to latest commit ([#21799][_#21799]) # - Remove patches that have been upstreamed to VTK. - Add more printouts when verbose mode has been enabled. - Prune out some new dependencies that cause trouble / waste. - Adjust image loading to avoid a VTK segfault. Co-authored-by: Jeremy Nimmer -* [fix] TBD [workspace] Upgrade scs_internal to latest release 3.2.7 ([#21797][_#21797]) -* TBD +* Upgrade bazel to latest release 7.3.1 ([#21878][_#21878]) +* Upgrade bazelisk to latest release 1.21.0 ([#21884][_#21884]) +* Upgrade common_robotics_utilities to latest commit ([#21812][_#21812]) +* Upgrade scs_internal to latest release 3.2.7 ([#21797][_#21797]) +* Upgrade voxelized_geometry_tools to latest commit ([#21812][_#21812]) +* Upgrade vtk_internal to latest commit ([#21799][_#21799]) ## Newly-deprecated APIs From 2c70be711d28a5f4b4b15d50cf283220ec7684c1 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 09:28:48 -0700 Subject: [PATCH 10/21] Restored missing PR --- doc/_release-notes/v1.33.0.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index 7cfeb82a7eab..57effda98442 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -59,7 +59,7 @@ New features 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 +* Fix Drake Model Directive default_free_body_pose vs offset frames ([#21765][_#21765]) ## Planning From f86069eb41c0f6a261b98278af421907ef9efafe Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Mon, 9 Sep 2024 12:23:59 -0700 Subject: [PATCH 11/21] Removed item not necessary in release notes. --- doc/_release-notes/v1.33.0.md | 2 -- 1 file changed, 2 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index 57effda98442..d96d2a8f7fad 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -50,8 +50,6 @@ Fixes -* [feature] TBD Replace BodyIndex with LinkIndex alias ([#21811][_#21811]) - New features * Add Drake Model Directive support for canonical frames for default poses ([#21765][_#21765]) From ddaeb0e1b6f6c419a40314f06b4f3773a52169d4 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Wed, 11 Sep 2024 07:29:57 -0700 Subject: [PATCH 12/21] Update to current master --- doc/_release-notes/v1.33.0.md | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index d96d2a8f7fad..a1870d953cd5 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -36,6 +36,9 @@ Fixes +* [feature] TBD Implement AffineSubspace::DoAddPointInNonnegativeScalingConstraints ([#21874][_#21874]) # Take advantage of aliases. Platform review fixes. Fix comments. Test AffineSubspace::DoAddPointInNonnegativeScalingConstraints with additional affine constraint. Fix a bug in the scaled constraints. Test AffineSubspace::DoAddPointInNonnegativeScalingConstraints without additional affine constraint. Implement AffineSubspace::DoAddPointInNonnegativeScalingConstraints. +* [newly deprecated feature] TBD [solvers,planning] Separate catch_drake_warnings blocks ([#21807][_#21807]) # Fix python bindings deprecation, and add deprecation tests. Merge master to fix merge conflict. Changes for feature review. More detailed deprecation tests. Introduce ComputePairwiseIntersections, which has a more useful return type, towards replacing CalcPairwiseIntersections. +* [feature] TBD More efficient AffineHull computation for certain subclasses of ConvexSet ([#21828][_#21828]) # Includes shortcuts for AffineBall, AffineSubspace, CartesianProduct, Hyperellipsoid, Hyperrectangle, and VPolytope. (Note that Point, and sets which are obviously singletons, already had special shortcut logic.) The user-specified tolerance will now be forwarded to these shortcut methods, potentially taking a different role, depending on the type of the set. The function documentation includes details on exactly how each subclass uses that tolerance. New features * Add CartesianProduct getters for A and b properties ([#21827][_#21827]) @@ -63,6 +66,7 @@ Fixes +* [fix] TBD Fix LinearDistanceAndInterpolationProvider in the presence of removed joints ([#21867][_#21867]) New features @@ -82,6 +86,7 @@ Fixes +* [feature] TBD [common,geometry] Introduce MemoryFile ([#21875][_#21875]) # Drake can load a file's contents into memory (where we keep its contents, its extension, it's content's hash value, and some textual hint to the user). The MemoryFile stores all of this. It is explicitly used in the Meshcat FileStorage structure (but will be used more in the future). Bindings are included. This includes an incidental improvement to reset_after_move giving direct access to the managed value. * 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 correclty handle calls that would otherwise use fmt_runtime ([#21864][_#21864]) @@ -91,6 +96,7 @@ Fixes +* [feature] TBD Python bindings for ConvexHull ([#21849][_#21849]) # * Python bindings for convex hull * test argument name in binding New features * TBD @@ -103,6 +109,7 @@ Fixes +* [fix] TBD [third_party,workspace] [workspace] Upgrade bazelisk to latest release v1.21.0 ([#21888][_#21888]) * TBD ## Build dependencies @@ -157,25 +164,30 @@ Philip E. Gill and Elizabeth Wong for their kind support. [_#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 -[_#21811]: https://github.com/RobotLocomotion/drake/pull/21811 [_#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 [_#21853]: https://github.com/RobotLocomotion/drake/pull/21853 -[_#21854]: https://github.com/RobotLocomotion/drake/pull/21854 [_#21856]: https://github.com/RobotLocomotion/drake/pull/21856 [_#21858]: https://github.com/RobotLocomotion/drake/pull/21858 [_#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 +[_#21888]: https://github.com/RobotLocomotion/drake/pull/21888 From 50e0aa5f2525146352f7c8c435f9a534dbfe162f Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Wed, 11 Sep 2024 07:39:36 -0700 Subject: [PATCH 13/21] Sort most recent udpate --- doc/_release-notes/v1.33.0.md | 18 ++++++++---------- 1 file changed, 8 insertions(+), 10 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index a1870d953cd5..5e3809c5d7c3 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -36,13 +36,11 @@ Fixes -* [feature] TBD Implement AffineSubspace::DoAddPointInNonnegativeScalingConstraints ([#21874][_#21874]) # Take advantage of aliases. Platform review fixes. Fix comments. Test AffineSubspace::DoAddPointInNonnegativeScalingConstraints with additional affine constraint. Fix a bug in the scaled constraints. Test AffineSubspace::DoAddPointInNonnegativeScalingConstraints without additional affine constraint. Implement AffineSubspace::DoAddPointInNonnegativeScalingConstraints. -* [newly deprecated feature] TBD [solvers,planning] Separate catch_drake_warnings blocks ([#21807][_#21807]) # Fix python bindings deprecation, and add deprecation tests. Merge master to fix merge conflict. Changes for feature review. More detailed deprecation tests. Introduce ComputePairwiseIntersections, which has a more useful return type, towards replacing CalcPairwiseIntersections. -* [feature] TBD More efficient AffineHull computation for certain subclasses of ConvexSet ([#21828][_#21828]) # Includes shortcuts for AffineBall, AffineSubspace, CartesianProduct, Hyperellipsoid, Hyperrectangle, and VPolytope. (Note that Point, and sets which are obviously singletons, already had special shortcut logic.) The user-specified tolerance will now be forwarded to these shortcut methods, potentially taking a different role, depending on the type of the set. The function documentation includes details on exactly how each subclass uses that tolerance. -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]) Fixes @@ -66,7 +64,6 @@ Fixes -* [fix] TBD Fix LinearDistanceAndInterpolationProvider in the presence of removed joints ([#21867][_#21867]) New features @@ -75,6 +72,7 @@ New features 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 @@ -86,20 +84,19 @@ Fixes -* [feature] TBD [common,geometry] Introduce MemoryFile ([#21875][_#21875]) # Drake can load a file's contents into memory (where we keep its contents, its extension, it's content's hash value, and some textual hint to the user). The MemoryFile stores all of this. It is explicitly used in the Meshcat FileStorage structure (but will be used more in the future). Bindings are included. This includes an incidental improvement to reset_after_move giving direct access to the managed value. * 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 correclty handle calls that would otherwise use fmt_runtime ([#21864][_#21864]) +* Introduce MemoryFile ([#21875][_#21875]) ## pydrake bindings -* [feature] TBD Python bindings for ConvexHull ([#21849][_#21849]) # * Python bindings for convex hull * test argument name in binding New features -* TBD +* Add Python bindings for drake::geometry::optimization::ConvexHull ([#21849][_#21849]) Fixes @@ -117,7 +114,7 @@ Fixes * Upgrade bazel to latest release 7.3.1 ([#21878][_#21878]) -* Upgrade bazelisk to latest release 1.21.0 ([#21884][_#21884]) +* Upgrade bazelisk to latest release 1.21.0 ([#21884][_#21884]) ([#21888][_#21888]) * Upgrade common_robotics_utilities to latest commit ([#21812][_#21812]) * Upgrade scs_internal to latest release 3.2.7 ([#21797][_#21797]) * Upgrade voxelized_geometry_tools to latest commit ([#21812][_#21812]) @@ -128,6 +125,7 @@ Fixes * `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]) ## Removal of deprecated items From 57b5311b639a08548fcc92dc6fa875f81d298d31 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Wed, 11 Sep 2024 08:12:32 -0700 Subject: [PATCH 14/21] Reviewer comments --- doc/_release-notes/v1.33.0.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index 5e3809c5d7c3..e41a2e5422cb 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -6,12 +6,12 @@ released: YYYY-MM-DD # Announcements -* TBD +* 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 -* 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]) * drake::multibody::FrameBase class removed ([#21853][_#21853]) Refer to our [Drake Stability Guidelines](/stable.html) for our policy @@ -67,7 +67,7 @@ Fixes New features -* Add PathEnergyCost to GCSTrajectoryOptimization ([#21810][_#21810]) +* Add PathEnergyCost to GcsTrajectoryOptimization ([#21810][_#21810]) Fixes @@ -106,7 +106,6 @@ Fixes -* [fix] TBD [third_party,workspace] [workspace] Upgrade bazelisk to latest release v1.21.0 ([#21888][_#21888]) * TBD ## Build dependencies @@ -126,6 +125,7 @@ Fixes * `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]) ## Removal of deprecated items From 54d850dd33aa7b140cc4a4096a4801971fcad96a Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Thu, 12 Sep 2024 07:14:59 -0700 Subject: [PATCH 15/21] Update morning of 2024-09-12 --- doc/_release-notes/v1.33.0.md | 44 +++++++++++++++++++++++++++++++---- 1 file changed, 40 insertions(+), 4 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index e41a2e5422cb..eafad284e98b 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -12,7 +12,7 @@ released: YYYY-MM-DD # Breaking changes since v1.32.0 -* drake::multibody::FrameBase class removed ([#21853][_#21853]) +* None Refer to our [Drake Stability Guidelines](/stable.html) for our policy on API changes. @@ -36,11 +36,15 @@ Fixes + +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]) Fixes @@ -51,6 +55,7 @@ Fixes + New features * Add Drake Model Directive support for canonical frames for default poses ([#21765][_#21765]) @@ -59,6 +64,7 @@ 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, render colors instead ([#21889][_#21889]) ## Planning @@ -86,8 +92,8 @@ 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 correclty handle calls that would otherwise use fmt_runtime ([#21864][_#21864]) -* Introduce MemoryFile ([#21875][_#21875]) +* Adjust non-spdlog stub to correctly handle calls that would otherwise use fmt_runtime ([#21864][_#21864]) +* Introduce MemoryFile ([#21875][_#21875]) ([#21895][_#21895]) ## pydrake bindings @@ -112,10 +118,32 @@ Fixes +* 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 releases/1.17.10 ([#21887][_#21887]) +* Upgrade coinutils_internal to latest release releases/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 gz-math7_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]) @@ -126,6 +154,8 @@ Fixes * `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 @@ -176,16 +206,22 @@ Philip E. Gill and Elizabeth Wong for their kind support. [_#21853]: https://github.com/RobotLocomotion/drake/pull/21853 [_#21856]: https://github.com/RobotLocomotion/drake/pull/21856 [_#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 From a4751158d36021dee7573f3337f6349f5f3b7687 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Thu, 12 Sep 2024 14:35:08 -0700 Subject: [PATCH 16/21] Clean up --- doc/_release-notes/v1.33.0.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index eafad284e98b..c564fa821428 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -64,7 +64,7 @@ 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, render colors instead ([#21889][_#21889]) +* When .mtl files are missing, Meshcat uses property colors instead ([#21889][_#21889]) ## Planning @@ -123,13 +123,13 @@ Fixes * 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 releases/1.17.10 ([#21887][_#21887]) -* Upgrade coinutils_internal to latest release releases/2.11.12 ([#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 gz-math7_7.5.1 ([#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]) From 890e23dc0d643a8ddbf4a72ef19912dd430976aa Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Fri, 13 Sep 2024 07:09:57 -0700 Subject: [PATCH 17/21] Update results on morning of 2024-09-13 --- doc/_release-notes/v1.33.0.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index c564fa821428..4a2a1c0c796f 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -45,6 +45,7 @@ New features * 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 @@ -100,9 +101,11 @@ Fixes + New features * Add Python bindings for drake::geometry::optimization::ConvexHull ([#21849][_#21849]) +* Bind Joint.kTypeName constants ([#21896][_#21896]) Fixes @@ -203,8 +206,8 @@ Philip E. Gill and Elizabeth Wong for their kind support. [_#21837]: https://github.com/RobotLocomotion/drake/pull/21837 [_#21843]: https://github.com/RobotLocomotion/drake/pull/21843 [_#21849]: https://github.com/RobotLocomotion/drake/pull/21849 -[_#21853]: https://github.com/RobotLocomotion/drake/pull/21853 [_#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 @@ -219,9 +222,10 @@ Philip E. Gill and Elizabeth Wong for their kind support. [_#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 From 7d8d79bfee98c6993de3448af7038a1f3bc212b1 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Fri, 13 Sep 2024 07:11:20 -0700 Subject: [PATCH 18/21] Flush out TBDs and add today's date --- doc/_release-notes/v1.33.0.md | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index 4a2a1c0c796f..f1d4543e5bc6 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -1,7 +1,7 @@ --- title: Drake v1.33.0 -date: 2099-12-31 -released: YYYY-MM-DD +date: 2024-09-13 +released: 2024-09-13 --- # Announcements @@ -26,11 +26,11 @@ on API changes. New features -* TBD +* None Fixes -* TBD +* None ## Mathematical Program @@ -85,7 +85,7 @@ Fixes -* TBD +* None ## Miscellaneous features and fixes @@ -115,7 +115,7 @@ Fixes -* TBD +* None ## Build dependencies @@ -177,7 +177,7 @@ Fixes * ``drake/manipulation/schunk_wsg/gen/schunk_wsg_trajectory_generator_state_vector.h`` * ``drake/systems/sensors/gen/beam_model_params.h`` -* TBD +* None # Notes From 46398852b2c989e37cd46cdce9c382fe755016e1 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Fri, 13 Sep 2024 11:23:08 -0700 Subject: [PATCH 19/21] Unify new language for bindings --- doc/_release-notes/v1.33.0.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/_release-notes/v1.33.0.md b/doc/_release-notes/v1.33.0.md index f1d4543e5bc6..9cbf6ff49edb 100644 --- a/doc/_release-notes/v1.33.0.md +++ b/doc/_release-notes/v1.33.0.md @@ -104,7 +104,7 @@ Fixes New features -* Add Python bindings for drake::geometry::optimization::ConvexHull ([#21849][_#21849]) +* Bind drake::geometry::optimization::ConvexHull ([#21849][_#21849]) * Bind Joint.kTypeName constants ([#21896][_#21896]) Fixes From 6f9f3b2b8382ae7d163042119f216b4420695e9c Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Fri, 13 Sep 2024 11:30:54 -0700 Subject: [PATCH 20/21] Updating from_binary --- doc/_pages/from_binary.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) 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 From 122b7ef7c4260ca34f8020cf05aa0d1d5bbffc21 Mon Sep 17 00:00:00 2001 From: Sean Curtis Date: Fri, 13 Sep 2024 11:31:35 -0700 Subject: [PATCH 21/21] Revert "DNM Disable CI" This reverts commit 140c8f90570a1b60c3d93c36ba5c47d3fc861537. --- tools/workspace/cc/repository.bzl | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/workspace/cc/repository.bzl b/tools/workspace/cc/repository.bzl index c9655352c1ef..a0d829ce4726 100644 --- a/tools/workspace/cc/repository.bzl +++ b/tools/workspace/cc/repository.bzl @@ -55,7 +55,6 @@ def _check_compiler_version(compiler_id, actual_version, supported_version): )) def _impl(repository_ctx): - fail("Disable CI") file_content = """# DO NOT EDIT: generated by cc_repository() # This file exists to make our directory into a Bazel package, so that our