[doc] Add release notes v1.33.0 (RobotLocomotion#21885)

Author: SeanCurtis-TRI

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

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
+
+<!-- <relnotes for systems go here> -->
+
+
+New features
+
+* None
+
+Fixes
+
+* None
+
+## Mathematical Program
+
+<!-- <relnotes for solvers go here> -->
+
+
+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
+
+<!-- <relnotes for geometry,multibody go here> -->
+
+
+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
+
+<!-- <relnotes for planning go here> -->
+
+
+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
+
+<!-- <relnotes for examples,tutorials go here> -->
+
+* None
+
+## Miscellaneous features and fixes
+
+<!-- <relnotes for common,math,lcm,lcmtypes,manipulation,perception,visualization go here> -->
+
+* 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
+
+<!-- <relnotes for bindings go here> -->
+
+
+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
+
+<!-- <relnotes for cmake,doc,setup,third_party,tools go here> -->
+
+* None
+
+## Build dependencies
+
+<!-- <relnotes for workspace go here> -->
+
+* 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.
+
+<!-- <begin issue links> -->
+[_#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
+<!-- <end issue links> -->
+
+<!--
+  Current oldest_commit 75fc21fde7fad2fe2af2c7914e1a37381a39b310 (exclusive).
+  Current newest_commit b28b5dc276bc05bfe8a592a3a07ec541bb1d1864 (inclusive).
+-->