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[doc] Add release notes v1.33.0 (RobotLocomotion#21885)
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doc/_pages/from_binary.md

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[releases](https://github.com/RobotLocomotion/drake/releases) page.
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The most recent release is
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[v1.32.0](https://github.com/RobotLocomotion/drake/releases/tag/v1.32.0):
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[v1.33.0](https://github.com/RobotLocomotion/drake/releases/tag/v1.33.0):
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* [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)
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* [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)
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* https://github.com/RobotLocomotion/drake/releases/download/v1.32.0/drake-1.32.0-mac-arm64.tar.gz (for arm64)
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* [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)
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* [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)
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* https://github.com/RobotLocomotion/drake/releases/download/v1.33.0/drake-1.33.0-mac-arm64.tar.gz (for arm64)
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Users of macOS must download using a command-line tool such as ``curl`` instead
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of using a web browser, to avoid hassles from Gatekeeper checks for malicious
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software. For example:
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```
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curl -fsSLO https://github.com/RobotLocomotion/drake/releases/download/v1.32.0/drake-1.32.0-mac-arm64.tar.gz
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curl -fsSLO https://github.com/RobotLocomotion/drake/releases/download/v1.33.0/drake-1.33.0-mac-arm64.tar.gz
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```
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### Use as a C++ library

doc/_release-notes/v1.33.0.md

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---
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title: Drake v1.33.0
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date: 2024-09-13
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released: 2024-09-13
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---
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# Announcements
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* Some APIs in the experimental Graph of Convex Sets feature have changed.
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* Changed return values for GraphOfConvexSets SolveShortestPath and SolveConvexRestriction functions to resolve inconsistencies ([#21833][_#21833])
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* Changed return value of GraphOfConvexSets::GetSolution*() to return std::nullopt rather than NaN ([#21843][_#21843])
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# Breaking changes since v1.32.0
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* None
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Refer to our [Drake Stability Guidelines](/stable.html) for our policy
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on API changes.
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# Changes since v1.32.0
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## Dynamical Systems
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<!-- <relnotes for systems go here> -->
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New features
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* None
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Fixes
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* None
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## Mathematical Program
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<!-- <relnotes for solvers go here> -->
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New features
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* Add CartesianProduct getters for A and b properties ([#21827][_#21827])
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* Extend IrisInConfigurationSpace to support continuous revolute and planar joints ([#21837][_#21837])
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* Implement AffineSubspace::DoAddPointInNonnegativeScalingConstraints ([#21874][_#21874])
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* Add more efficient AffineHull computation for certain subclasses of ConvexSet ([#21828][_#21828])
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* Replace drake::geometry::CalcPairwiseIntersections with drake::geometry::ComputePairwiseIntersections to update its return type ([#21807][_#21807])
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* Support RpyFloatingJoint in IrisInConfigurationSpace and GcsTrajectoryOptimization ([#21861][_#21861])
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* Add common option for max number of threads ([#21857][_#21857])
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Fixes
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* Resolve inconsistencies in results from shortest path vs convex restriction in Graph of Convex Sets ([#21833][_#21833])
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* Changed return value of GraphOfConvexSets::GetSolution*() to return std::nullopt rather than NaN ([#21843][_#21843])
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## Multibody Dynamics and Geometry
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<!-- <relnotes for geometry,multibody go here> -->
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New features
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* Add Drake Model Directive support for canonical frames for default poses ([#21765][_#21765])
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Fixes
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* Update APIs on MultibodyPlant for working with free bodies to more clearly reflect current implementation ([#21808][_#21808])
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* Fix Drake Model Directive default_free_body_pose vs offset frames ([#21765][_#21765])
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* When .mtl files are missing, Meshcat uses property colors instead ([#21889][_#21889])
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## Planning
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<!-- <relnotes for planning go here> -->
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New features
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* Add PathEnergyCost to GcsTrajectoryOptimization ([#21810][_#21810])
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Fixes
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* Add better error message for zero-duration trajectory segments in GcsTrajectoryOptimization ([#21734][_#21734])
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* Fix LinearDistanceAndInterpolationProvider in the presence of removed joints ([#21867][_#21867])
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## Tutorials and examples
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<!-- <relnotes for examples,tutorials go here> -->
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* None
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## Miscellaneous features and fixes
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<!-- <relnotes for common,math,lcm,lcmtypes,manipulation,perception,visualization go here> -->
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* Made usage of fmt::join compatible with fmt v11 ([#21856][_#21856])
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* Add static factory function CompositeTrajectory::AlignAndConcatenateStatic() that automatically aligns segment timings ([#21656][_#21656])
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* Adjust non-spdlog stub to correctly handle calls that would otherwise use fmt_runtime ([#21864][_#21864])
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* Introduce MemoryFile ([#21875][_#21875]) ([#21895][_#21895])
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## pydrake bindings
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<!-- <relnotes for bindings go here> -->
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New features
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* Bind drake::geometry::optimization::ConvexHull ([#21849][_#21849])
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* Bind Joint.kTypeName constants ([#21896][_#21896])
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Fixes
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* GraphOfConvexSets.GetGraphvizString accepts default `active_path` ([#21817][_#21817])
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## Build system
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<!-- <relnotes for cmake,doc,setup,third_party,tools go here> -->
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* None
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## Build dependencies
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<!-- <relnotes for workspace go here> -->
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* Upgrade abseil_cpp_internal to latest commit ([#21887][_#21887])
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* Upgrade bazel to latest release 7.3.1 ([#21878][_#21878])
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* Upgrade bazelisk to latest release 1.21.0 ([#21884][_#21884]) ([#21888][_#21888])
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* Upgrade build_bazel_apple_support to latest release 1.17.0 ([#21887][_#21887])
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* Upgrade buildifier to latest release v7.3.1 ([#21887][_#21887])
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* Upgrade clp_internal to latest release 1.17.10 ([#21887][_#21887])
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* Upgrade coinutils_internal to latest release 2.11.12 ([#21887][_#21887])
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* Upgrade common_robotics_utilities to latest commit ([#21812][_#21812])
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* Upgrade crate_universe to latest ([#21887][_#21887])
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* Upgrade dm_control_internal to latest release 1.0.22 ([#21887][_#21887])
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* Upgrade googlebenchmark to latest release v1.9.0 ([#21887][_#21887])
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* Upgrade gz_math_internal to latest release 7.5.1 ([#21887][_#21887])
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* Upgrade mujoco_menagerie_internal to latest commit ([#21887][_#21887])
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* Upgrade mypy_internal to latest release v1.11.2 ([#21887][_#21887])
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* Upgrade nanoflann_internal to latest release v1.6.1 ([#21887][_#21887])
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* Upgrade nlopt_internal to latest release v2.8.0 ([#21893][_#21893])
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* Upgrade pycodestyle to latest release 2.12.1 ([#21887][_#21887])
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* Upgrade rules_license to latest release 1.0.0 ([#21887][_#21887])
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* Upgrade rules_python to latest release 0.35.0 ([#21887][_#21887])
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* Upgrade rules_rust to latest release 0.49.3 ([#21887][_#21887])
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* Upgrade rust_toolchain to latest ([#21887][_#21887])
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* Upgrade scs_internal to latest release 3.2.7 ([#21797][_#21797])
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* Upgrade suitesparse_internal to latest release v7.8.2 ([#21887][_#21887])
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* Upgrade sympy_py_internal to latest release 1.13.2 ([#21887][_#21887])
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* Upgrade tinygltf_internal to latest release v2.9.3 ([#21887][_#21887])
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* Upgrade tinyobjloader_internal to latest commit ([#21887][_#21887])
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* Upgrade voxelized_geometry_tools to latest commit ([#21812][_#21812])
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* Upgrade vtk_internal to latest commit ([#21799][_#21799])
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## Newly-deprecated APIs
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* `pydrake.multibody.MultibodyPlant.SetFreeBodyPose` with parameter X_WB ([#21808][_#21808])
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* `pydrake.multibody.MultibodyPlant.SetDefaultFreeBodyPose` with parameter X_WB ([#21808][_#21808])
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* `pydrake.multibody.MultibodyPlant.SetFreeBodySpatialVelocity` with parameter V_WB ([#21808][_#21808])
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* `drake::geometry::CalcPairwiseIntersections` ([#21807][_#21807])
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* `pydrake.geometry.CalcPairwiseIntersections` ([#21807][_#21807])
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* `drake::multibody::FrameBase` ([#21891][_#21891])
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## Removal of deprecated items
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* The following include paths ([#21858][_#21858])
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* ``drake/examples/acrobot/gen/acrobot_input.h``
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* ``drake/examples/acrobot/gen/acrobot_params.h``
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* ``drake/examples/acrobot/gen/acrobot_state.h``
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* ``drake/examples/acrobot/gen/spong_controller_params.h``
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* ``drake/examples/compass_gait/gen/compass_gait_continuous_state.h``
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* ``drake/examples/compass_gait/gen/compass_gait_params.h``
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* ``drake/examples/pendulum/gen/pendulum_input.h``
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* ``drake/examples/pendulum/gen/pendulum_params.h``
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* ``drake/examples/pendulum/gen/pendulum_state.h``
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* ``drake/examples/rimless_wheel/gen/rimless_wheel_continuous_state.h``
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* ``drake/examples/rimless_wheel/gen/rimless_wheel_params.h``
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* ``drake/manipulation/schunk_wsg/gen/schunk_wsg_trajectory_generator_state_vector.h``
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* ``drake/systems/sensors/gen/beam_model_params.h``
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* None
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# Notes
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This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v1.33.0) named
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``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.
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Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
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[Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
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Philip E. Gill and Elizabeth Wong for their kind support.
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<!-- <begin issue links> -->
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[_#21656]: https://github.com/RobotLocomotion/drake/pull/21656
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[_#21734]: https://github.com/RobotLocomotion/drake/pull/21734
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[_#21765]: https://github.com/RobotLocomotion/drake/pull/21765
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[_#21797]: https://github.com/RobotLocomotion/drake/pull/21797
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[_#21799]: https://github.com/RobotLocomotion/drake/pull/21799
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[_#21807]: https://github.com/RobotLocomotion/drake/pull/21807
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[_#21808]: https://github.com/RobotLocomotion/drake/pull/21808
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[_#21810]: https://github.com/RobotLocomotion/drake/pull/21810
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[_#21812]: https://github.com/RobotLocomotion/drake/pull/21812
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[_#21817]: https://github.com/RobotLocomotion/drake/pull/21817
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[_#21827]: https://github.com/RobotLocomotion/drake/pull/21827
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[_#21828]: https://github.com/RobotLocomotion/drake/pull/21828
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[_#21833]: https://github.com/RobotLocomotion/drake/pull/21833
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[_#21837]: https://github.com/RobotLocomotion/drake/pull/21837
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[_#21843]: https://github.com/RobotLocomotion/drake/pull/21843
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[_#21849]: https://github.com/RobotLocomotion/drake/pull/21849
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[_#21856]: https://github.com/RobotLocomotion/drake/pull/21856
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[_#21857]: https://github.com/RobotLocomotion/drake/pull/21857
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[_#21858]: https://github.com/RobotLocomotion/drake/pull/21858
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[_#21861]: https://github.com/RobotLocomotion/drake/pull/21861
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[_#21864]: https://github.com/RobotLocomotion/drake/pull/21864
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[_#21867]: https://github.com/RobotLocomotion/drake/pull/21867
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[_#21874]: https://github.com/RobotLocomotion/drake/pull/21874
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[_#21875]: https://github.com/RobotLocomotion/drake/pull/21875
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[_#21878]: https://github.com/RobotLocomotion/drake/pull/21878
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[_#21884]: https://github.com/RobotLocomotion/drake/pull/21884
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[_#21887]: https://github.com/RobotLocomotion/drake/pull/21887
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[_#21888]: https://github.com/RobotLocomotion/drake/pull/21888
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[_#21889]: https://github.com/RobotLocomotion/drake/pull/21889
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[_#21891]: https://github.com/RobotLocomotion/drake/pull/21891
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[_#21893]: https://github.com/RobotLocomotion/drake/pull/21893
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[_#21895]: https://github.com/RobotLocomotion/drake/pull/21895
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[_#21896]: https://github.com/RobotLocomotion/drake/pull/21896
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<!-- <end issue links> -->
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<!--
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Current oldest_commit 75fc21fde7fad2fe2af2c7914e1a37381a39b310 (exclusive).
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Current newest_commit b28b5dc276bc05bfe8a592a3a07ec541bb1d1864 (inclusive).
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-->

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