|
| 1 | +--- |
| 2 | +title: Drake v1.33.0 |
| 3 | +date: 2024-09-13 |
| 4 | +released: 2024-09-13 |
| 5 | +--- |
| 6 | + |
| 7 | +# Announcements |
| 8 | + |
| 9 | +* Some APIs in the experimental Graph of Convex Sets feature have changed. |
| 10 | + * Changed return values for GraphOfConvexSets SolveShortestPath and SolveConvexRestriction functions to resolve inconsistencies ([#21833][_#21833]) |
| 11 | + * Changed return value of GraphOfConvexSets::GetSolution*() to return std::nullopt rather than NaN ([#21843][_#21843]) |
| 12 | + |
| 13 | +# Breaking changes since v1.32.0 |
| 14 | + |
| 15 | +* None |
| 16 | + |
| 17 | +Refer to our [Drake Stability Guidelines](/stable.html) for our policy |
| 18 | +on API changes. |
| 19 | + |
| 20 | +# Changes since v1.32.0 |
| 21 | + |
| 22 | +## Dynamical Systems |
| 23 | + |
| 24 | +<!-- <relnotes for systems go here> --> |
| 25 | + |
| 26 | + |
| 27 | +New features |
| 28 | + |
| 29 | +* None |
| 30 | + |
| 31 | +Fixes |
| 32 | + |
| 33 | +* None |
| 34 | + |
| 35 | +## Mathematical Program |
| 36 | + |
| 37 | +<!-- <relnotes for solvers go here> --> |
| 38 | + |
| 39 | + |
| 40 | +New features |
| 41 | + |
| 42 | +* Add CartesianProduct getters for A and b properties ([#21827][_#21827]) |
| 43 | +* Extend IrisInConfigurationSpace to support continuous revolute and planar joints ([#21837][_#21837]) |
| 44 | +* Implement AffineSubspace::DoAddPointInNonnegativeScalingConstraints ([#21874][_#21874]) |
| 45 | +* Add more efficient AffineHull computation for certain subclasses of ConvexSet ([#21828][_#21828]) |
| 46 | +* Replace drake::geometry::CalcPairwiseIntersections with drake::geometry::ComputePairwiseIntersections to update its return type ([#21807][_#21807]) |
| 47 | +* Support RpyFloatingJoint in IrisInConfigurationSpace and GcsTrajectoryOptimization ([#21861][_#21861]) |
| 48 | +* Add common option for max number of threads ([#21857][_#21857]) |
| 49 | + |
| 50 | +Fixes |
| 51 | + |
| 52 | +* Resolve inconsistencies in results from shortest path vs convex restriction in Graph of Convex Sets ([#21833][_#21833]) |
| 53 | +* Changed return value of GraphOfConvexSets::GetSolution*() to return std::nullopt rather than NaN ([#21843][_#21843]) |
| 54 | + |
| 55 | +## Multibody Dynamics and Geometry |
| 56 | + |
| 57 | +<!-- <relnotes for geometry,multibody go here> --> |
| 58 | + |
| 59 | + |
| 60 | +New features |
| 61 | + |
| 62 | +* Add Drake Model Directive support for canonical frames for default poses ([#21765][_#21765]) |
| 63 | + |
| 64 | +Fixes |
| 65 | + |
| 66 | +* Update APIs on MultibodyPlant for working with free bodies to more clearly reflect current implementation ([#21808][_#21808]) |
| 67 | +* Fix Drake Model Directive default_free_body_pose vs offset frames ([#21765][_#21765]) |
| 68 | +* When .mtl files are missing, Meshcat uses property colors instead ([#21889][_#21889]) |
| 69 | + |
| 70 | +## Planning |
| 71 | + |
| 72 | +<!-- <relnotes for planning go here> --> |
| 73 | + |
| 74 | + |
| 75 | +New features |
| 76 | + |
| 77 | +* Add PathEnergyCost to GcsTrajectoryOptimization ([#21810][_#21810]) |
| 78 | + |
| 79 | +Fixes |
| 80 | + |
| 81 | +* Add better error message for zero-duration trajectory segments in GcsTrajectoryOptimization ([#21734][_#21734]) |
| 82 | +* Fix LinearDistanceAndInterpolationProvider in the presence of removed joints ([#21867][_#21867]) |
| 83 | + |
| 84 | +## Tutorials and examples |
| 85 | + |
| 86 | +<!-- <relnotes for examples,tutorials go here> --> |
| 87 | + |
| 88 | +* None |
| 89 | + |
| 90 | +## Miscellaneous features and fixes |
| 91 | + |
| 92 | +<!-- <relnotes for common,math,lcm,lcmtypes,manipulation,perception,visualization go here> --> |
| 93 | + |
| 94 | +* Made usage of fmt::join compatible with fmt v11 ([#21856][_#21856]) |
| 95 | +* Add static factory function CompositeTrajectory::AlignAndConcatenateStatic() that automatically aligns segment timings ([#21656][_#21656]) |
| 96 | +* Adjust non-spdlog stub to correctly handle calls that would otherwise use fmt_runtime ([#21864][_#21864]) |
| 97 | +* Introduce MemoryFile ([#21875][_#21875]) ([#21895][_#21895]) |
| 98 | + |
| 99 | + |
| 100 | +## pydrake bindings |
| 101 | + |
| 102 | +<!-- <relnotes for bindings go here> --> |
| 103 | + |
| 104 | + |
| 105 | +New features |
| 106 | + |
| 107 | +* Bind drake::geometry::optimization::ConvexHull ([#21849][_#21849]) |
| 108 | +* Bind Joint.kTypeName constants ([#21896][_#21896]) |
| 109 | + |
| 110 | +Fixes |
| 111 | + |
| 112 | +* GraphOfConvexSets.GetGraphvizString accepts default `active_path` ([#21817][_#21817]) |
| 113 | + |
| 114 | +## Build system |
| 115 | + |
| 116 | +<!-- <relnotes for cmake,doc,setup,third_party,tools go here> --> |
| 117 | + |
| 118 | +* None |
| 119 | + |
| 120 | +## Build dependencies |
| 121 | + |
| 122 | +<!-- <relnotes for workspace go here> --> |
| 123 | + |
| 124 | +* Upgrade abseil_cpp_internal to latest commit ([#21887][_#21887]) |
| 125 | +* Upgrade bazel to latest release 7.3.1 ([#21878][_#21878]) |
| 126 | +* Upgrade bazelisk to latest release 1.21.0 ([#21884][_#21884]) ([#21888][_#21888]) |
| 127 | +* Upgrade build_bazel_apple_support to latest release 1.17.0 ([#21887][_#21887]) |
| 128 | +* Upgrade buildifier to latest release v7.3.1 ([#21887][_#21887]) |
| 129 | +* Upgrade clp_internal to latest release 1.17.10 ([#21887][_#21887]) |
| 130 | +* Upgrade coinutils_internal to latest release 2.11.12 ([#21887][_#21887]) |
| 131 | +* Upgrade common_robotics_utilities to latest commit ([#21812][_#21812]) |
| 132 | +* Upgrade crate_universe to latest ([#21887][_#21887]) |
| 133 | +* Upgrade dm_control_internal to latest release 1.0.22 ([#21887][_#21887]) |
| 134 | +* Upgrade googlebenchmark to latest release v1.9.0 ([#21887][_#21887]) |
| 135 | +* Upgrade gz_math_internal to latest release 7.5.1 ([#21887][_#21887]) |
| 136 | +* Upgrade mujoco_menagerie_internal to latest commit ([#21887][_#21887]) |
| 137 | +* Upgrade mypy_internal to latest release v1.11.2 ([#21887][_#21887]) |
| 138 | +* Upgrade nanoflann_internal to latest release v1.6.1 ([#21887][_#21887]) |
| 139 | +* Upgrade nlopt_internal to latest release v2.8.0 ([#21893][_#21893]) |
| 140 | +* Upgrade pycodestyle to latest release 2.12.1 ([#21887][_#21887]) |
| 141 | +* Upgrade rules_license to latest release 1.0.0 ([#21887][_#21887]) |
| 142 | +* Upgrade rules_python to latest release 0.35.0 ([#21887][_#21887]) |
| 143 | +* Upgrade rules_rust to latest release 0.49.3 ([#21887][_#21887]) |
| 144 | +* Upgrade rust_toolchain to latest ([#21887][_#21887]) |
| 145 | +* Upgrade scs_internal to latest release 3.2.7 ([#21797][_#21797]) |
| 146 | +* Upgrade suitesparse_internal to latest release v7.8.2 ([#21887][_#21887]) |
| 147 | +* Upgrade sympy_py_internal to latest release 1.13.2 ([#21887][_#21887]) |
| 148 | +* Upgrade tinygltf_internal to latest release v2.9.3 ([#21887][_#21887]) |
| 149 | +* Upgrade tinyobjloader_internal to latest commit ([#21887][_#21887]) |
| 150 | +* Upgrade voxelized_geometry_tools to latest commit ([#21812][_#21812]) |
| 151 | +* Upgrade vtk_internal to latest commit ([#21799][_#21799]) |
| 152 | + |
| 153 | +## Newly-deprecated APIs |
| 154 | + |
| 155 | +* `pydrake.multibody.MultibodyPlant.SetFreeBodyPose` with parameter X_WB ([#21808][_#21808]) |
| 156 | +* `pydrake.multibody.MultibodyPlant.SetDefaultFreeBodyPose` with parameter X_WB ([#21808][_#21808]) |
| 157 | +* `pydrake.multibody.MultibodyPlant.SetFreeBodySpatialVelocity` with parameter V_WB ([#21808][_#21808]) |
| 158 | +* `drake::geometry::CalcPairwiseIntersections` ([#21807][_#21807]) |
| 159 | +* `pydrake.geometry.CalcPairwiseIntersections` ([#21807][_#21807]) |
| 160 | +* `drake::multibody::FrameBase` ([#21891][_#21891]) |
| 161 | + |
| 162 | + |
| 163 | +## Removal of deprecated items |
| 164 | + |
| 165 | +* The following include paths ([#21858][_#21858]) |
| 166 | + * ``drake/examples/acrobot/gen/acrobot_input.h`` |
| 167 | + * ``drake/examples/acrobot/gen/acrobot_params.h`` |
| 168 | + * ``drake/examples/acrobot/gen/acrobot_state.h`` |
| 169 | + * ``drake/examples/acrobot/gen/spong_controller_params.h`` |
| 170 | + * ``drake/examples/compass_gait/gen/compass_gait_continuous_state.h`` |
| 171 | + * ``drake/examples/compass_gait/gen/compass_gait_params.h`` |
| 172 | + * ``drake/examples/pendulum/gen/pendulum_input.h`` |
| 173 | + * ``drake/examples/pendulum/gen/pendulum_params.h`` |
| 174 | + * ``drake/examples/pendulum/gen/pendulum_state.h`` |
| 175 | + * ``drake/examples/rimless_wheel/gen/rimless_wheel_continuous_state.h`` |
| 176 | + * ``drake/examples/rimless_wheel/gen/rimless_wheel_params.h`` |
| 177 | + * ``drake/manipulation/schunk_wsg/gen/schunk_wsg_trajectory_generator_state_vector.h`` |
| 178 | + * ``drake/systems/sensors/gen/beam_model_params.h`` |
| 179 | + |
| 180 | +* None |
| 181 | + |
| 182 | +# Notes |
| 183 | + |
| 184 | + |
| 185 | +This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v1.33.0) named |
| 186 | +``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. |
| 187 | + |
| 188 | +Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the |
| 189 | +[Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to |
| 190 | +Philip E. Gill and Elizabeth Wong for their kind support. |
| 191 | + |
| 192 | +<!-- <begin issue links> --> |
| 193 | +[_#21656]: https://github.com/RobotLocomotion/drake/pull/21656 |
| 194 | +[_#21734]: https://github.com/RobotLocomotion/drake/pull/21734 |
| 195 | +[_#21765]: https://github.com/RobotLocomotion/drake/pull/21765 |
| 196 | +[_#21797]: https://github.com/RobotLocomotion/drake/pull/21797 |
| 197 | +[_#21799]: https://github.com/RobotLocomotion/drake/pull/21799 |
| 198 | +[_#21807]: https://github.com/RobotLocomotion/drake/pull/21807 |
| 199 | +[_#21808]: https://github.com/RobotLocomotion/drake/pull/21808 |
| 200 | +[_#21810]: https://github.com/RobotLocomotion/drake/pull/21810 |
| 201 | +[_#21812]: https://github.com/RobotLocomotion/drake/pull/21812 |
| 202 | +[_#21817]: https://github.com/RobotLocomotion/drake/pull/21817 |
| 203 | +[_#21827]: https://github.com/RobotLocomotion/drake/pull/21827 |
| 204 | +[_#21828]: https://github.com/RobotLocomotion/drake/pull/21828 |
| 205 | +[_#21833]: https://github.com/RobotLocomotion/drake/pull/21833 |
| 206 | +[_#21837]: https://github.com/RobotLocomotion/drake/pull/21837 |
| 207 | +[_#21843]: https://github.com/RobotLocomotion/drake/pull/21843 |
| 208 | +[_#21849]: https://github.com/RobotLocomotion/drake/pull/21849 |
| 209 | +[_#21856]: https://github.com/RobotLocomotion/drake/pull/21856 |
| 210 | +[_#21857]: https://github.com/RobotLocomotion/drake/pull/21857 |
| 211 | +[_#21858]: https://github.com/RobotLocomotion/drake/pull/21858 |
| 212 | +[_#21861]: https://github.com/RobotLocomotion/drake/pull/21861 |
| 213 | +[_#21864]: https://github.com/RobotLocomotion/drake/pull/21864 |
| 214 | +[_#21867]: https://github.com/RobotLocomotion/drake/pull/21867 |
| 215 | +[_#21874]: https://github.com/RobotLocomotion/drake/pull/21874 |
| 216 | +[_#21875]: https://github.com/RobotLocomotion/drake/pull/21875 |
| 217 | +[_#21878]: https://github.com/RobotLocomotion/drake/pull/21878 |
| 218 | +[_#21884]: https://github.com/RobotLocomotion/drake/pull/21884 |
| 219 | +[_#21887]: https://github.com/RobotLocomotion/drake/pull/21887 |
| 220 | +[_#21888]: https://github.com/RobotLocomotion/drake/pull/21888 |
| 221 | +[_#21889]: https://github.com/RobotLocomotion/drake/pull/21889 |
| 222 | +[_#21891]: https://github.com/RobotLocomotion/drake/pull/21891 |
| 223 | +[_#21893]: https://github.com/RobotLocomotion/drake/pull/21893 |
| 224 | +[_#21895]: https://github.com/RobotLocomotion/drake/pull/21895 |
| 225 | +[_#21896]: https://github.com/RobotLocomotion/drake/pull/21896 |
| 226 | +<!-- <end issue links> --> |
| 227 | + |
| 228 | +<!-- |
| 229 | + Current oldest_commit 75fc21fde7fad2fe2af2c7914e1a37381a39b310 (exclusive). |
| 230 | + Current newest_commit b28b5dc276bc05bfe8a592a3a07ec541bb1d1864 (inclusive). |
| 231 | +--> |
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