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[doc] Add release notes v1.23.0 (RobotLocomotion#20540)
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| Original file line number | Diff line number | Diff line change |
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| --- | ||
| title: Drake v1.23.0 | ||
| date: 2023-11-17 | ||
| released: 2023-11-17 | ||
| --- | ||
|
|
||
| # Announcements | ||
|
|
||
| * Drake now offers experimental support for the | ||
| [Clarabel](https://github.com/oxfordcontrol/Clarabel.cpp) | ||
| solver ([#20375][_#20375], [#20536][_#20536], [#20475][_#20475]). | ||
| * Our | ||
| [ClarabelSolver](https://drake.mit.edu/doxygen_cxx/classdrake_1_1solvers_1_1_clarabel_solver.html) | ||
| wrapper supports quadratic/linear costs and | ||
| linear/second-order/exponential-cone/positive-semidefinite constraints. | ||
| * This feature is not available in our pre-compiled binary releases. To try it, | ||
| you must build from source using Bazel with `--define=WITH_CLARABEL=ON`. | ||
| * ChooseBestSolver doesn't select ClarabelSolver. To try it, you must invoke | ||
| the solver directly. | ||
| * Per our support policy schedule, macOS Monterey on arm64 is no longer | ||
| supported ([#20511][_#20511]). | ||
|
|
||
| # Breaking changes since v1.22.0 | ||
|
|
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| * None | ||
|
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||
| Refer to our [Drake Stability Guidelines](/stable.html) for our policy | ||
| on API changes. | ||
|
|
||
| # Changes since v1.22.0 | ||
|
|
||
| ## Dynamical Systems | ||
|
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||
| New features | ||
|
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||
| * Provide image-processing systems in C++ ([#20488][_#20488]) | ||
| * Update ImageWriter to add forced publish event ([#20460][_#20460]) | ||
|
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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 ClarabelSolver ([#20375][_#20375], [#20536][_#20536], [#20475][_#20475]) | ||
| * Add AffineBall as subclass of ConvexSet to represent bounded ellipsoidal convex sets that may not be full-dimensional ([#20038][_#20038]) | ||
| * Allow linear constraints to be sparse ([#20361][_#20361]) | ||
| * Allow conversion between Hyperellipsoid and AffineBall ([#20040][_#20040]) | ||
| * Add ability to tighten and relax positive semi-definite (PSD) constraints as diagonally dominant constraints (DD), scaled diagonally dominant (SDD) constraints, and their dual ([#20398][_#20398]) | ||
| * Add log(det(X)) >= lower to MathematicalProgram ([#20411][_#20411]) | ||
| * Add AffineBall::MinimumVolumeCircumscribedEllipsoid (#20399) ([#20399][_#20399]) | ||
| * Add bounding_region to IrisOptions ([#20417][_#20417]) | ||
| * Add MonomialBasis for a map from Variables to its degree ([#20523][_#20523]) | ||
|
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||
| Fixes | ||
|
|
||
| * None | ||
|
|
||
| ## Multibody Dynamics and Geometry | ||
|
|
||
| <!-- <relnotes for geometry,multibody go here> --> | ||
|
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| New features | ||
|
|
||
| * Add per model instance net actuation output port ([#20549][_#20549]) | ||
| * Support .vtk meshes in CalcSpatialInertia() ([#20539][_#20539]) | ||
| * Allow some uses of surface mesh or convex hull for VTK volume mesh files ([#20278][_#20278]) | ||
| * Add support for using SDFormat merge-includes with custom parsed models ([#16727][_#16727]) | ||
| * Use environment maps in RenderEngineVtk ([#20385][_#20385]) | ||
| * Implement net actuation output port for MultibodyPlant ([#20421][_#20421]) | ||
| * Add parsing of JointActuator PD controller gains ([#20497][_#20497]) | ||
| * Add parsing of custom drake:mimic tag for SDFormat ([#20503][_#20503], [#20551][_#20551]) | ||
|
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||
| Fixes | ||
|
|
||
| * Fix MuJoCo parser joint kinematics ([#20414][_#20414]) | ||
| * Fix actuation input ordering to be ordered by joint actuator index ([#20212][_#20212]) | ||
| * Support drake:joint involving links in nested models ([#20381][_#20381]) | ||
| * Make coordinate numbering for Weld mobilizers consistent with other mobilizers ([#20428][_#20428]) | ||
| * Upgrade meshcat to latest commit ([#20442][_#20442]) | ||
| * Fix point contact results store incorrect geometry data ([#20378][_#20378]) | ||
| * RenderEngineVtk throws on errors ([#20461][_#20461]) | ||
| * Apply upstream VTK changes for a textured capsule ([#20492][_#20492]) | ||
| * Correct, test, and document FlattenModelDirectives ([#20438][_#20438]) | ||
| * Make weld constraint use active status ([#20530][_#20530]) | ||
| * Bugfix model directives ModelInstanceInfo offsets ([#20513][_#20513]) | ||
|
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||
| ## Planning | ||
|
|
||
| <!-- <relnotes for planning go here> --> | ||
|
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| New features | ||
|
|
||
| * Add max clique solver interface and MIP (mixed integer programming)-based max clique solver ([#20401][_#20401]) | ||
| * Add continuity constraints to GcsTrajectoryOptimization ([#20441][_#20441]) | ||
| * Switch CollisionChecker and VisibilityGraph to use CRU parallel-for API to support non-OpenMP parallel operations ([#20528][_#20528]) | ||
|
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||
| Fixes | ||
|
|
||
| * None | ||
|
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||
| ## Tutorials and examples | ||
|
|
||
| <!-- <relnotes for examples,tutorials go here> --> | ||
| * Adjust tutorial launcher to accommodate Jupyter 6 and 7 ([#20408][_#20408]) | ||
|
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||
| ## Miscellaneous features and fixes | ||
|
|
||
| <!-- <relnotes for common,math,lcm,lcmtypes,manipulation,perception,visualization go here> --> | ||
|
|
||
| * Improve PointCloud::VoxelizedDownSample speed ([#20476][_#20476]) | ||
| * Retain default YAML values when parsing a variant ([#20391][_#20391]) | ||
| * Fix autodiff gradient in RotationMatrix::NormalizeOrThrow() ([#20406][_#20406]) | ||
| * Add rotor inertias to iiwa7 model, fix rotation of inertias for link 2 and link 4 ([#20420][_#20420]) | ||
| * Ensure MakeArmControllerModel uses same gravity as incoming plant ([#20513][_#20513]) | ||
|
|
||
| ## pydrake bindings | ||
|
|
||
| <!-- <relnotes for bindings go here> --> | ||
|
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| New features | ||
|
|
||
| * Add basic conversion to/from SymPy ([#20117][_#20117], [#20415][_#20415]) | ||
| * Bind all image types, ImageFileFormat, and PixelScalar ([#20502][_#20502], [#20508][_#20508]) | ||
|
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||
| Fixes | ||
|
|
||
| * Fix CompositeTrajectory binding to correctly derive from PiecewiseTrajectory ([#20407][_#20407]) | ||
| * Only ship `*.pyi` typestubs for native code, not pure code ([#20403][_#20403]) | ||
| * Avoid stubgen timeouts when building from source ([#20403][_#20403]) | ||
| * Consolidate modules to decrease download size by about 5% ([#20465][_#20465]) | ||
|
|
||
| ## Build system | ||
|
|
||
| <!-- <relnotes for cmake,doc,setup,third_party,tools go here> --> | ||
|
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||
| * Identify mismatched clang-format-{on,off} comments via linting tools ([#20396][_#20396]) | ||
| * Remove macOS Monterey arm64 support ([#20511][_#20511]) | ||
| * Precompiled binaries for stable releases now provide the version number instead of the date ([#20532][_#20532]) | ||
|
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||
| ## Build dependencies | ||
|
|
||
| <!-- <relnotes for workspace go here> --> | ||
|
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||
| * Build libjpeg_turbo_internal from source ([#20343][_#20343]) | ||
| * Upgrade abseil_cpp_internal to latest commit ([#20469][_#20469]) | ||
| * Upgrade bazel to latest release 6.4.0 ([#20410][_#20410]) | ||
| * Upgrade build_bazel_apple_support to latest release 1.11.1 ([#20469][_#20469]) | ||
| * Upgrade buildifier to latest release 6.4.0 ([#20543][_#20543]) | ||
| * Upgrade clp_internal to latest release 1.17.9 ([#20469][_#20469]) | ||
| * Upgrade coinutils_internal to latest release 2.11.10 ([#20469][_#20469]) | ||
| * Upgrade common_robotics_utilities to latest commit ([#20374][_#20374], [#20387][_#20387], [#20528][_#20528]) | ||
| * Upgrade crate_universe to latest releases ([#20474][_#20474]) | ||
| * Upgrade crate__num-traits to 0.2.17 | ||
| * Upgrade crate__proc-macro2 to 1.0.69 | ||
| * Upgrade crate__syn to 2.0.38 | ||
| * Upgrade crate__thiserror to 1.0.50 | ||
| * Upgrade crate__thiserror-impl to 1.0.50 | ||
| * Upgrade curl_internal to latest release 8.4.0 ([#20472][_#20472]) | ||
| * Upgrade dm_control_internal to latest release 1.0.15 ([#20469][_#20469]) | ||
| * Upgrade ipopt_internal_fromsource to latest release 3.14.13 ([#20525][_#20525]) | ||
| * Upgrade mypy_internal to latest release 1.6.1 ([#20469][_#20469]) | ||
| * Upgrade platforms to latest release 0.0.8 ([#20469][_#20469]) | ||
| * Upgrade pybind11 fork to latest commit, merging with upstream 2.11.1 ([#20362][_#20362], [#20524][_#20524]) | ||
| * Upgrade pycodestyle to latest release 2.11.1 ([#20469][_#20469]) | ||
| * Upgrade python_rules to latest release 0.26.0 ([#20473][_#20473]) | ||
| * Upgrade rules_rust to latest release 0.30.0 ([#20471][_#20471]) | ||
| * Upgrade suitesparse_internal to latest release 7.3.0 ([#20469][_#20469]) | ||
| * Upgrade voxelized_geometry_tools to latest commit ([#20374][_#20374], [#20387][_#20387], [#20528][_#20528]) | ||
|
|
||
| ## Newly-deprecated APIs | ||
|
|
||
| * ``drake::multibody::MultibodyPlant::GetMutablePositions`` ([#20424][_#20424]) | ||
| * Use ``GetPositions`` and ``SetPositions`` instead | ||
| * ``drake::multibody::MultibodyPlant::GetMutablePositionsAndVelocities`` ([#20424][_#20424]) | ||
| * Use ``GetPositionsAndVelocities`` and ``SetPositionsAndVelocities`` instead | ||
| * ``drake::multibody::MultibodyPlant::GetMutableVelocities`` ([#20424][_#20424]) | ||
| * Use ``GetVelocities`` and ``SetVelocities`` instead | ||
| * ``drake::multibody::Body::floating_velocities_start`` ([#20454][_#20454]) | ||
| * Use ``floating_velocities_start_in_v`` instead | ||
| * ``@libjpeg`` external ([#20343][_#20343]) | ||
| * Please vendor your own dependency. | ||
|
|
||
| ## Removal of deprecated items | ||
|
|
||
| * ``@conex`` ([#20463][_#20463]) | ||
| * ``@csdp`` ([#20463][_#20463]) | ||
| * ``@optitrack_driver`` ([#20463][_#20463]) | ||
| * ``@petsc`` ([#20463][_#20463]) | ||
| * ``@picosha2`` ([#20463][_#20463]) | ||
| * ``@rules_pkg`` ([#20463][_#20463]) | ||
| * ``@tinyobjloader`` ([#20463][_#20463]) | ||
| * ``@usockets`` ([#20463][_#20463]) | ||
| * ``@uwebsockets`` ([#20463][_#20463]) | ||
| * ``drake::geometry::optimization::GraphOfConvexSets::AddEdge`` (VertexId overload only) ([#20463][_#20463]) | ||
| * ``drake::geometry::optimization::GraphOfConvexSets::RemoveEdge`` (EdgeId overload only) ([#20463][_#20463]) | ||
| * ``drake::geometry::optimization::GraphOfConvexSets::RemoveVertex`` (VertexId overload only) ([#20463][_#20463]) | ||
| * ``drake::geometry::optimization::GraphOfConvexSets::SolveShortestPath`` (VertexId overload only) ([#20463][_#20463]) | ||
| * ``drake::multibody::Body::get_num_flexible_positions`` ([#20427][_#20427]) | ||
| * ``drake::multibody::Body::get_num_flexible_velocities`` ([#20427][_#20427]) | ||
| * ``drake::multibody::MinimumDistanceConstraint::minimum_distance`` ([#20463][_#20463]) | ||
| * ``drake::solvers::FindNonconvexQuadraticCost`` ([#20463][_#20463]) | ||
| * ``drake::solvers::MinimumValueConstraint::minimum_value`` ([#20463][_#20463]) | ||
| * ``drake::systems::sensors::OptitrackReceiver`` ([#20463][_#20463]) | ||
| * ``drake::systems::sensors::OptitrackSender`` ([#20463][_#20463]) | ||
| * ``pydrake.manipulation.kuka_iiwa`` ([#20463][_#20463]) | ||
| * ``pydrake.manipulation.schunk_wsg`` ([#20463][_#20463]) | ||
| * ``pydrake.manipulation.util`` ([#20463][_#20463]) | ||
|
|
||
| # Notes | ||
|
|
||
|
|
||
| This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v1.23.0) named | ||
| ``drake-1.23.0-{focal|jammy|mac|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> --> | ||
| [_#16727]: https://github.com/RobotLocomotion/drake/pull/16727 | ||
| [_#20038]: https://github.com/RobotLocomotion/drake/pull/20038 | ||
| [_#20040]: https://github.com/RobotLocomotion/drake/pull/20040 | ||
| [_#20117]: https://github.com/RobotLocomotion/drake/pull/20117 | ||
| [_#20212]: https://github.com/RobotLocomotion/drake/pull/20212 | ||
| [_#20278]: https://github.com/RobotLocomotion/drake/pull/20278 | ||
| [_#20343]: https://github.com/RobotLocomotion/drake/pull/20343 | ||
| [_#20361]: https://github.com/RobotLocomotion/drake/pull/20361 | ||
| [_#20362]: https://github.com/RobotLocomotion/drake/pull/20362 | ||
| [_#20374]: https://github.com/RobotLocomotion/drake/pull/20374 | ||
| [_#20375]: https://github.com/RobotLocomotion/drake/pull/20375 | ||
| [_#20378]: https://github.com/RobotLocomotion/drake/pull/20378 | ||
| [_#20381]: https://github.com/RobotLocomotion/drake/pull/20381 | ||
| [_#20385]: https://github.com/RobotLocomotion/drake/pull/20385 | ||
| [_#20387]: https://github.com/RobotLocomotion/drake/pull/20387 | ||
| [_#20391]: https://github.com/RobotLocomotion/drake/pull/20391 | ||
| [_#20396]: https://github.com/RobotLocomotion/drake/pull/20396 | ||
| [_#20398]: https://github.com/RobotLocomotion/drake/pull/20398 | ||
| [_#20399]: https://github.com/RobotLocomotion/drake/pull/20399 | ||
| [_#20401]: https://github.com/RobotLocomotion/drake/pull/20401 | ||
| [_#20403]: https://github.com/RobotLocomotion/drake/pull/20403 | ||
| [_#20406]: https://github.com/RobotLocomotion/drake/pull/20406 | ||
| [_#20407]: https://github.com/RobotLocomotion/drake/pull/20407 | ||
| [_#20408]: https://github.com/RobotLocomotion/drake/pull/20408 | ||
| [_#20410]: https://github.com/RobotLocomotion/drake/pull/20410 | ||
| [_#20411]: https://github.com/RobotLocomotion/drake/pull/20411 | ||
| [_#20414]: https://github.com/RobotLocomotion/drake/pull/20414 | ||
| [_#20415]: https://github.com/RobotLocomotion/drake/pull/20415 | ||
| [_#20417]: https://github.com/RobotLocomotion/drake/pull/20417 | ||
| [_#20420]: https://github.com/RobotLocomotion/drake/pull/20420 | ||
| [_#20421]: https://github.com/RobotLocomotion/drake/pull/20421 | ||
| [_#20424]: https://github.com/RobotLocomotion/drake/pull/20424 | ||
| [_#20427]: https://github.com/RobotLocomotion/drake/pull/20427 | ||
| [_#20428]: https://github.com/RobotLocomotion/drake/pull/20428 | ||
| [_#20438]: https://github.com/RobotLocomotion/drake/pull/20438 | ||
| [_#20441]: https://github.com/RobotLocomotion/drake/pull/20441 | ||
| [_#20442]: https://github.com/RobotLocomotion/drake/pull/20442 | ||
| [_#20454]: https://github.com/RobotLocomotion/drake/pull/20454 | ||
| [_#20460]: https://github.com/RobotLocomotion/drake/pull/20460 | ||
| [_#20461]: https://github.com/RobotLocomotion/drake/pull/20461 | ||
| [_#20463]: https://github.com/RobotLocomotion/drake/pull/20463 | ||
| [_#20465]: https://github.com/RobotLocomotion/drake/pull/20465 | ||
| [_#20469]: https://github.com/RobotLocomotion/drake/pull/20469 | ||
| [_#20471]: https://github.com/RobotLocomotion/drake/pull/20471 | ||
| [_#20472]: https://github.com/RobotLocomotion/drake/pull/20472 | ||
| [_#20473]: https://github.com/RobotLocomotion/drake/pull/20473 | ||
| [_#20474]: https://github.com/RobotLocomotion/drake/pull/20474 | ||
| [_#20475]: https://github.com/RobotLocomotion/drake/pull/20475 | ||
| [_#20476]: https://github.com/RobotLocomotion/drake/pull/20476 | ||
| [_#20488]: https://github.com/RobotLocomotion/drake/pull/20488 | ||
| [_#20492]: https://github.com/RobotLocomotion/drake/pull/20492 | ||
| [_#20497]: https://github.com/RobotLocomotion/drake/pull/20497 | ||
| [_#20502]: https://github.com/RobotLocomotion/drake/pull/20502 | ||
| [_#20503]: https://github.com/RobotLocomotion/drake/pull/20503 | ||
| [_#20508]: https://github.com/RobotLocomotion/drake/pull/20508 | ||
| [_#20511]: https://github.com/RobotLocomotion/drake/pull/20511 | ||
| [_#20513]: https://github.com/RobotLocomotion/drake/pull/20513 | ||
| [_#20523]: https://github.com/RobotLocomotion/drake/pull/20523 | ||
| [_#20524]: https://github.com/RobotLocomotion/drake/pull/20524 | ||
| [_#20525]: https://github.com/RobotLocomotion/drake/pull/20525 | ||
| [_#20528]: https://github.com/RobotLocomotion/drake/pull/20528 | ||
| [_#20530]: https://github.com/RobotLocomotion/drake/pull/20530 | ||
| [_#20532]: https://github.com/RobotLocomotion/drake/pull/20532 | ||
| [_#20536]: https://github.com/RobotLocomotion/drake/pull/20536 | ||
| [_#20539]: https://github.com/RobotLocomotion/drake/pull/20539 | ||
| [_#20543]: https://github.com/RobotLocomotion/drake/pull/20543 | ||
| [_#20549]: https://github.com/RobotLocomotion/drake/pull/20549 | ||
| [_#20551]: https://github.com/RobotLocomotion/drake/pull/20551 | ||
| <!-- <end issue links> --> | ||
|
|
||
| <!-- | ||
| Current oldest_commit da969f5c8f97e661c6ca9450d0cff0b52a240619 (exclusive). | ||
| Current newest_commit 6955a4668b84b133e1c827560083685cd6d39849 (inclusive). | ||
| --> |