title | date | released |
---|---|---|
Drake v0.18.0 |
2020-05-14 |
2020-05-14 |
When paths are set incorrectly, you will see an error such as this:
ImportError: Python version mismatch: module was compiled for Python 3.8,
but the interpreter version is incompatible: 3.7.7
- RigidBodyPlant and all of the drake "attic" is scheduled for removal on
2020-09-01 (#12158, #13030).
- Please see #12158 for details of the timeline, and let us know if this will cause a problem.
- A new tutorial on AddVisualizationCallback is available (#13211).
These are breaking changes that did not undergo a deprecation period:
- All pydrake.solvers SolverDetails classes are now read-only. (#13152)
New features
- Trajectories
- Add Trajectory::has_derivative and EvalDerivative (#13144)
- Add DiscreteTimeTrajectory (#13157)
- Improve BsplineBasis and BsplineTrajectory (#13149, #13057, #13158)
- Add PiecewisePolynomial unary minus (#13109)
- Add Substitute(var, Polynomial) with support for multivariate polynomials (#13108)
- Add Lagrange Interpolating Polynomial and Block(i,j,p,q) (#13269)
- System
- Controllers
Fixes
- None
New features
- None
Fixes
- Fix memcpy undefined behavior in unconstrained optimization (#13111)
- Fix AutoDiffXd derivatives for min and max (#13112)
New features
-
Add propeller model (#13135)
-
Add planar four bar linkage example (#13036)
-
Add custom drake:linear_bushing_rpy/ tag in SDF/URDF (#13255)
-
Add get_body_poses_output_port (#13137)
-
Make joint store default value (#13105)
-
New hydroelastic contact model in progress (#13114, #13138, #13140)
- Still only experimental
Fixes
- Allow CollectRegisteredGeometries to be called pre-finalize (#13281)
- Upgrade quadrotor to Skydio R2 model (#13050)
- Add lcmtypes for panda command/status (#13163)
- Move Jaco LCM helpers from examples to manipulation (#13275)
- Install Drake's custom drake_visualizer plugins (#13127)
Newly bound
- pydrake.common.kDrakeAssertIsArmed (#13183, #13195)
pydrake.geometry.QueryObject.__init__
(#13156)- pydrake.multibody.plant.MultibodyPlant.get_body_poses_output_port (#13229)
- pydrake.multibody.plant.MultibodyPlant.get_contact_penalty_method_time_scale (#13294)
- pydrake.multibody.plant.MultibodyPlant.set_stiction_tolerance (#13294)
- pydrake.solvers.gurobi.GurobiSolverDetails (#13152)
- pydrake.solvers.mosek.MosekSolverDetails (#13151)
- pydrake.systems.framework.DiagramBuilder.GetMutableSystems (#13270)
- pydrake.systems.framework.DiagramBuilder.empty (#13270)
- pydrake.systems.framework.OutputPort.Allocate (#13270)
New features
- Move the Value and AbstractValue classes from the pydrake.systems.framework module to the pydrake.common.value module (#13217, #13225)
Fixes
- Add stricter checks and friendlier errors for mathematical program user-functions (#13183)
- Resolve AbstractValue RTTI linking inconsistency on macOS (#13225)
- Provide more specific type names in diagnostics (#13194)
- Use clang-format version 9, not version 6 (#13259, #13260, #13286, #13287)
- Upgrade buildifier to latest release 3.0.0 (#13198)
- Upgrade dreal to latest commit (#13133)
- Upgrade fcl to latest commit (#13274)
- Upgrade fmt to latest release 6.2.0 (#13200)
- Upgrade gurobi to 9.0.2 and use GUROBI_HOME instead of GUROBI_PATH (#13049)
- Upgrade lcm to latest commit (#13199)
- Upgrade meshcat to latest commit (#13141)
- Upgrade meshcat_python to latest commit (#13155)
- Upgrade pycodestyle to latest release 2.5.0 (#13197, #13204)
- Upgrade semantic_version to latest release 2.8.5 (#13197)
- Only compile the parts of FCL that we need (#13230)
- Remove use of octomap (#13230)
- Remove use of ruby (#13262)
- Remove use of tinydir (#13180)
- Disable python imports from /.local during build on Ubuntu (#13190)
- Fetch sdformat and ignition_math from GitHub, not Bitbucket (#13188)
- Don't install unused sdformat data (#13268)
- Fix bazel third_party include path complaints (#13189)
- Begin Ubuntu 20.04 (Focal Fossa) accommodations (#13142, #13235, #13303)
- drake::Polynomial::IsApprox (#13108)
- pydrake.systems.framework.AbstractValue (#13217, #13225)
- pydrake.systems.framework.Value (#13217, #13225)
- The octomap external (#13230)
- The ruby external (#13262)
- The tinydir external (#13180)
- The bitbucket.bzl macros (#13193)
- DRAKE_NODISCARD in common/drake_nodiscard.h (#13170)
- drake::examples::kuka_iiwa_arm::ComputeLumpedGripperInertiaInEndEffectorFrame (#13169)
- drake::examples::kuka_iiwa_arm::CreateTreedFromFixedModelAtPose (#13169)
- drake::examples::kuka_iiwa_arm::IiwaAndWsgPlantWithStateEstimator (#13169)
- drake::examples::kuka_iiwa_arm::KukaTorqueController for RigidBodyTree (#13169)
- drake::examples::kuka_iiwa_arm::OracularStateEstimation (#13169)
- drake::geometry::Identifier (#13170)
- drake::geometry::SceneGraphInspector::GetNumAnchoredGeometries (#13170)
- drake::geometry::SceneGraphInspector::GetNumDynamicGeometries (#13170)
- drake::multibody::AddMultibodyPlantSceneGraph(builder) (#13170)
- drake::multibody::MultibodyPlant default constructor (#13170)
- drake::systems::Simulator::reset_integrator (#13172)
- drake::systems::System::CheckValidContextT (#13172)
- drake::systems::SystemBase::CheckValidContext (#13172)
- drake::systems::SystemBase::DoCheckValidContext (#13172)
- drake::systems::SystemBase::ThrowIfContextNotCompatible (#13172)
- pydrake.examples.manipulation_station.ManipulationStation.SetIiwaPosition(q, context) (#13233)
- pydrake.examples.manipulation_station.ManipulationStation.SetIiwaVelocity(v, context) (#13233)
- pydrake.examples.manipulation_station.ManipulationStation.SetWsgPosition(q, context) (#13233)
- pydrake.examples.manipulation_station.ManipulationStation.SetWsgVelocity(v, context) (#13233)
- pydrake.geometry.FrameId constructor (#13233)
- pydrake.geometry.GeometryId constructor (#13233)
- pydrake.geometry.SceneGraph.AddRenderer(renderer_name=) (#13233)
- pydrake.geometry.SourceId constructor (#13233)
- pydrake.multibody.AddMultibodyPlantSceneGraph(builder) (#13170)
- pydrake.multibody.MultibodyPlant zero-argument constructor (#13170)
- Legacy ("attic") manipulation/util (#13169)
- The json external (#13171)
- The --config=snopt_fortran bazel option (#13171)
- drake/examples/kuka_iiwa/iiwa_wsg_simulation (#13169)
This release provides
pre-compiled binaries
name drake-20200514-{bionic|mac}.tar.gz
. See
Stable Releases for instructions on how to use them.
Drake binary releases incorporate a pre-compiled version of SNOPT as part of the Mathematical Program toolbox. Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
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