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[doc] Add release notes v1.27.0 (RobotLocomotion#21141)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,322 @@ | ||
| --- | ||
| title: Drake v1.27.0 | ||
| date: 2024-03-18 | ||
| released: 2024-03-18 | ||
| --- | ||
|
|
||
| # Announcements | ||
|
|
||
| * Drake no longer supports Ubuntu 20.04 ("Focal") ([#20952][_#20952]). | ||
| * End of life timelines are documented as part of the | ||
| [Supported Configurations](https://drake.mit.edu/installation.html#supported-configurations). | ||
| * As a result, we have some new lower bounds on supported tool versions ([#21107][_#21107]): | ||
| * C++ standard >= 20 | ||
| * GCC >= 11 | ||
| * Clang >= 14 | ||
| * Bazel >= 6.0 | ||
| * Remove drake_visualizer ([#20963][_#20963]) | ||
| * On macOS our primary Python version is now 3.12 ([#21013][_#21013]) | ||
| * Building from source via Bazel defaults to 3.12, but is configurable. | ||
| * Drake wheels are still supported and distributed for both 3.11 and 3.12. | ||
| * The drake binaries tarballs (``*.tgz``) are 3.12 only. | ||
| * On macOS, some support has reached end of life: | ||
| * Drake's support for Monterey (i.e., macOS 12) reached end of life in Drake | ||
| v1.22.0. We have continued to ship some Monterey packages as a courtesy, but | ||
| this be the last release to do so. | ||
| * Drake's support for running on ``x86_64`` reached end of life in Drake | ||
| v1.22.0. We have continued to ship x86 packages as a courtesy, but this will | ||
| be the last release to do so. In the future, we will only ship ``*.whl`` | ||
| packages for macOS x86_64 (not ``*.tgz`` packages), and only for stable | ||
| releases (no more nightly builds). | ||
| * We are no longer running CI testing on macOS ``x86_64``, except for the | ||
| minimal recipe that compiles the wheel packages. | ||
|
|
||
| # Breaking changes since v1.26.0 | ||
|
|
||
| * The ``drake_bazel_installed`` installation workflow is deprecated and no | ||
| longer tested in CI ([#21057][_#21057]) | ||
| * This particular workflow for using Drake binaries via Bazel is characterized | ||
| by a line like this in your ``WORKSPACE`` file: | ||
| ```py | ||
| load("@drake_binary//:share/drake/repo.bzl", "drake_repository") | ||
| ``` | ||
| * During the deprecation window we will continue to install the code in case | ||
| it still happens to work for you, but we are no longer testing it in our CI | ||
| so it will probably bitrot at some point. | ||
| * For Bazel users who only need pydrake, note that the rules_python support | ||
| for pip wheel is pretty good these days; using the pydrake wheels via | ||
| rules_python is a good option. | ||
|
|
||
| Refer to our [Drake Stability Guidelines](/stable.html) for our policy | ||
| on API changes. | ||
|
|
||
| # Changes since v1.26.0 | ||
|
|
||
| ## Dynamical Systems | ||
|
|
||
| <!-- <relnotes for systems go here> --> | ||
|
|
||
| New features | ||
|
|
||
| * Add System::IsDifferentialEquationSystem ([#20976][_#20976]) | ||
| * Add batch (multithreaded) evaluation of system dynamics ([#20979][_#20979]) | ||
|
|
||
| Fixes | ||
|
|
||
| * Disable unused dependency trackers for better performance ([#21134][_#21134]) | ||
| * Fail-fast when given a mismatched context for primitive systems ([#20958][_#20958]) | ||
|
|
||
| ## Mathematical Program | ||
|
|
||
| <!-- <relnotes for solvers go here> --> | ||
|
|
||
| New features | ||
|
|
||
| * Add serialization for GraphOfConvexSetsOptions ([#20946][_#20946]) | ||
| * Add mixing_steps to IrisOptions ([#20974][_#20974]) | ||
| * Make PairwiseIntersectionsContinuousJoints Non-Internal ([#21011][_#21011]) | ||
| * Implement a constructor for HPolyhedron that takes in a linear program, and outputs its feasible set ([#21027][_#21027]) | ||
| * Add support for LorentzConeConstraint and RotatedLorentzConeConstraint in GraphOfConvexSets edges and vertices ([#21001][_#21001]) | ||
| * Add support of intersection of hyperrectangles ([#21076][_#21076]) | ||
|
|
||
| Fixes | ||
|
|
||
| * Prevent segfaults in `VPolytope` by checking square matrix ([#21060][_#21060]) | ||
| * Add finite check to linear constraints ([#21049][_#21049]) | ||
| * Fix a logic bug when constructing an AffineSubspace as the affine hull of a ConvexSet did not find all basis vectors ([#21009][_#21009]) | ||
|
|
||
| ## Multibody Dynamics and Geometry | ||
|
|
||
| <!-- <relnotes for geometry,multibody go here> --> | ||
|
|
||
| New features | ||
|
|
||
| * Collision filter group can be named as a member of another collision filter group when parsing ([#20925][_#20925]) | ||
| * Add RpyFloatingJoint (providing alternative to QuanternionFloatingJoint) ([#20912][_#20912]) | ||
| * Add shadow maps in RenderEngineVtk ([#20944][_#20944]) | ||
| * Add MultibodyPlant::MakeActuationMatrixPseudoinverse ([#20975][_#20975]) | ||
| * Implements PackageMap::ResolveUrl() ([#21042][_#21042]) | ||
| * Add methods for detecting extremely erroneous spatial inertial values ([#20897][_#20897]) | ||
| * Drake-generated meshes render faceted in meshcat ([#21021][_#21021]) | ||
| * Add support for <include> tags in the mujoco parser ([#21087][_#21087]) | ||
| * Visualization makes use of the convex hull for visualization when appropriate ([#21061][_#21061]) | ||
| * Allow tiny compliant primitives to vanish ([#21100][_#21100]) | ||
| * Make joint damping a system parameter ([#20947][_#20947]) | ||
|
|
||
| Fixes | ||
|
|
||
| * Fix behavior of lights expressed in the camera frame for RenderEngineVtk ([#20930][_#20930]) | ||
| * Defining a collision filter group multiple times no longer allows later definitions to supplant earlier definitions ([#20925][_#20925]) | ||
| * Mujoco parser assigns unique names to default geometries ([#21045][_#21045]) | ||
| * Obey extensionsUsed and extensionsRequired in glTF files in RenderEngineVtk ([#21090][_#21090]) | ||
|
|
||
| ## Planning | ||
|
|
||
| <!-- <relnotes for planning go here> --> | ||
|
|
||
| New features | ||
|
|
||
| * Unwrap GraphOfConvexSets trajectories with continuous revolute joints to continuous Euclidean space ([#21137][_#21137]) | ||
| * Enable solving a path via convex restriction ([#20895][_#20895]) | ||
| * Return bindings from KinematicTrajectoryOptimization Add* methods ([#21014][_#21014]) | ||
| * Add new algorithm, IrisInConfigurationSpaceFromCliqueCover, for efficiently placing IRIS regions ([#20831][_#20831]) | ||
| * Implement wraparound edges together with the subspace machinery ([#20886][_#20886]) | ||
| * Enable removal of subgraphs ([#21006][_#21006]) | ||
| * Implement MaxCliqueSolverViaGreedy, a greedy heuristic for obtaining large maximal cliques ([#21097][_#21097]) | ||
|
|
||
| Fixes | ||
|
|
||
| * None | ||
|
|
||
| ## Tutorials and examples | ||
|
|
||
| <!-- <relnotes for examples,tutorials go here> --> | ||
|
|
||
| * Add tutorial for hydroelastic contact with a nonconvex mesh ([#20774][_#20774]) | ||
|
|
||
| ## Miscellaneous features and fixes | ||
|
|
||
| <!-- <relnotes for common,math,lcm,lcmtypes,manipulation,perception,visualization go here> --> | ||
|
|
||
| * Improve variant support for primitive types in yaml serialization ([#20937][_#20937]) | ||
| * Move `tri_homecart` to `drake_models` package ([#21004][_#21004]) | ||
| * Add `trajectories::DerivativeTrajectory` ([#21036][_#21036]) | ||
| * Promote `manipulation::kuka_iiwa::SimIiwaDriver` to public API ([#21040][_#21040]) | ||
| * Adjust `FindResource` on installed Drake to chase symlinks ([#21092][_#21092]) | ||
|
|
||
| ## pydrake bindings | ||
|
|
||
| <!-- <relnotes for bindings go here> --> | ||
|
|
||
|
|
||
| New features | ||
|
|
||
| * Convert Drake `ExpressionKind.Constant` to `Sympy` `Integer` and `Float` ([#20996][_#20996]) | ||
| * Allow `visualization.AddFrameTriadIllustration` to accept a multibody Frame ([#21064][_#21064]) | ||
|
|
||
| Fixes | ||
|
|
||
| * Bind `MultibodyPlant::GetVisualGeometriesForBody` ([#21153][_#21153]) | ||
| * Bind `SpatialInertia::CalcPrincipalSemiDiametersAndPoseForSolidEllipsoid` ([#21149][_#21149]) | ||
| * Avoid `runpy` warning due to import order ([#20968][_#20968]) | ||
| * Warn about implausible scale in `mesh_to_model` tool ([#20966][_#20966]) | ||
| * Handle `UnionType` hints in yaml serialization ([#21108][_#21108]) | ||
|
|
||
| ## Build system | ||
|
|
||
| <!-- <relnotes for cmake,doc,setup,third_party,tools go here> --> | ||
|
|
||
| * Drop Ubuntu 20.04 ("Focal") as a supported platform ([#20952][_#20952]) | ||
| * Simplify CMakeLists to use whatever OS codename for bazel customizations ([#21089][_#21089]) | ||
| * Bump minimum supported versions ([#21107][_#21107]) | ||
| * Update MacOS Python to 3.12 ([#21013][_#21013]) | ||
| * CMake only installs during the install step (not the build step) ([#20916][_#20916]) | ||
| * Disable legacy_create_init by default ([#21126][_#21126]) | ||
| * Fix linker options for building on arm64 ([#21047][_#21047]) | ||
|
|
||
| ## Build dependencies | ||
|
|
||
| <!-- <relnotes for workspace go here> --> | ||
|
|
||
| * Remove drake_visualizer ([#20963][_#20963]) | ||
| * Remove determine_os logic ([#21089][_#21089]) | ||
| * Add boost_internal ([#21037][_#21037]) | ||
| * This is not used by default; it is only used when --WITH_USD=ON is enabled. | ||
| * Add com_github_nelhage_rules_boost_internal ([#21037][_#21037] | ||
| * This is not used by default; it is only used when --WITH_USD=ON is enabled. | ||
| * Upgrade Bazel to latest release 7.0.2 ([#21103][_#21103]) | ||
| * Fix apple_support for Bazel 7 compatibility ([#21116][_#21116]) | ||
| * Fix rules_rust for Bazel 7 compatibility ([#21104][_#21104]) | ||
| * Fix gflags for Bazel 7 compatibility ([#21106][_#21106]) | ||
| * Upgrade abseil_cpp_internal to latest commit ([#21072][_#21072]) | ||
| * Upgrade build_bazel_apple_support to latest release 1.14.0 ([#21072][_#21072]) | ||
| * Upgrade com_github_nelhage_rules_boost_internal to latest commit ([#21072][_#21072]) | ||
| * Upgrade crate_universe to latest ([#21072][_#21072]) | ||
| * Upgrade crate_universe to latest ([#21083][_#21083]) | ||
| * Upgrade drake_models to latest commit ([#21039][_#21039]) | ||
| * Upgrade intel_realsense_ros to latest commit ([#20960][_#20960]) | ||
| * Upgrade libpng_internal to latest release v1.6.43 ([#21072][_#21072]) | ||
| * Upgrade meshcat to latest commit ([#21080][_#21080]) | ||
| * Upgrade openusd_internal to latest release v24.03 ([#21078][_#21078]) | ||
| * Upgrade ros_xacro to latest commit ([#20960][_#20960]) | ||
| * Upgrade rules_python to latest release 0.31.0 ([#21072][_#21072]) | ||
| * Upgrade rules_rust to latest release 0.40.0 ([#21083][_#21083]) | ||
| * Upgrade rust_toolchain to latest ([#21083][_#21083]) | ||
| * Upgrade typing_extensions_internal to latest release 4.10.0 ([#21072][_#21072]) | ||
| * Upgrade vtk_internal to latest commit ([#21072][_#21072]) | ||
| * Upgrade xmlrunner_py to latest release 3.2.0 ([#21071][_#21071]) | ||
| * Fix github.bzl for extracting attachments without a prefix ([#21111][_#21111]) | ||
|
|
||
| ## Newly-deprecated APIs | ||
|
|
||
| * The ``drake_bazel_installed`` installation workflow ([#21057][_#21057]) | ||
| * `drake::multibody::BallRpyJoint::damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::DifferentialInverseKinematicsIntegrator` input port `X_WE_desired` input port ([#20973][_#20973]) | ||
| * `drake::multibody::Joint::damping_vector()` ([#20947][_#20947]) | ||
| * `drake::multibody::PlanarJoint::damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::PrismaticJoint::damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::QuaternionFloatingJoint::angular_damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::QuaternionFloatingJoint::translational_damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::RevoluteJoint::damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::RpyFloatingJoint::angular_damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::RpyFloatingJoint::translational_damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::ScrewJoint::damping()` ([#20947][_#20947]) | ||
| * `drake::multibody::UniversalJoint::damping()` ([#20947][_#20947]) | ||
|
|
||
| ## Removal of deprecated items | ||
|
|
||
| * Remove drake_visualizer ([#20963][_#20963]) | ||
| * `drake::multibody::Body::node_index` ([#20603][_#20603], [#21075][_#21075]) | ||
| * The `@drake_detected_os` external ([#20600][_#20600], [#21075][_#21075]) | ||
|
|
||
| # Notes | ||
|
|
||
|
|
||
| This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v1.27.0) named | ||
| ``drake-1.27.0-{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> --> | ||
| [_#20600]: https://github.com/RobotLocomotion/drake/pull/20600 | ||
| [_#20603]: https://github.com/RobotLocomotion/drake/pull/20603 | ||
| [_#20774]: https://github.com/RobotLocomotion/drake/pull/20774 | ||
| [_#20831]: https://github.com/RobotLocomotion/drake/pull/20831 | ||
| [_#20886]: https://github.com/RobotLocomotion/drake/pull/20886 | ||
| [_#20895]: https://github.com/RobotLocomotion/drake/pull/20895 | ||
| [_#20897]: https://github.com/RobotLocomotion/drake/pull/20897 | ||
| [_#20912]: https://github.com/RobotLocomotion/drake/pull/20912 | ||
| [_#20916]: https://github.com/RobotLocomotion/drake/pull/20916 | ||
| [_#20925]: https://github.com/RobotLocomotion/drake/pull/20925 | ||
| [_#20930]: https://github.com/RobotLocomotion/drake/pull/20930 | ||
| [_#20937]: https://github.com/RobotLocomotion/drake/pull/20937 | ||
| [_#20944]: https://github.com/RobotLocomotion/drake/pull/20944 | ||
| [_#20946]: https://github.com/RobotLocomotion/drake/pull/20946 | ||
| [_#20947]: https://github.com/RobotLocomotion/drake/pull/20947 | ||
| [_#20952]: https://github.com/RobotLocomotion/drake/pull/20952 | ||
| [_#20958]: https://github.com/RobotLocomotion/drake/pull/20958 | ||
| [_#20960]: https://github.com/RobotLocomotion/drake/pull/20960 | ||
| [_#20963]: https://github.com/RobotLocomotion/drake/pull/20963 | ||
| [_#20966]: https://github.com/RobotLocomotion/drake/pull/20966 | ||
| [_#20968]: https://github.com/RobotLocomotion/drake/pull/20968 | ||
| [_#20973]: https://github.com/RobotLocomotion/drake/pull/20973 | ||
| [_#20974]: https://github.com/RobotLocomotion/drake/pull/20974 | ||
| [_#20975]: https://github.com/RobotLocomotion/drake/pull/20975 | ||
| [_#20976]: https://github.com/RobotLocomotion/drake/pull/20976 | ||
| [_#20979]: https://github.com/RobotLocomotion/drake/pull/20979 | ||
| [_#20996]: https://github.com/RobotLocomotion/drake/pull/20996 | ||
| [_#21001]: https://github.com/RobotLocomotion/drake/pull/21001 | ||
| [_#21004]: https://github.com/RobotLocomotion/drake/pull/21004 | ||
| [_#21006]: https://github.com/RobotLocomotion/drake/pull/21006 | ||
| [_#21009]: https://github.com/RobotLocomotion/drake/pull/21009 | ||
| [_#21011]: https://github.com/RobotLocomotion/drake/pull/21011 | ||
| [_#21013]: https://github.com/RobotLocomotion/drake/pull/21013 | ||
| [_#21014]: https://github.com/RobotLocomotion/drake/pull/21014 | ||
| [_#21021]: https://github.com/RobotLocomotion/drake/pull/21021 | ||
| [_#21027]: https://github.com/RobotLocomotion/drake/pull/21027 | ||
| [_#21033]: https://github.com/RobotLocomotion/drake/pull/21033 | ||
| [_#21036]: https://github.com/RobotLocomotion/drake/pull/21036 | ||
| [_#21037]: https://github.com/RobotLocomotion/drake/pull/21037 | ||
| [_#21039]: https://github.com/RobotLocomotion/drake/pull/21039 | ||
| [_#21040]: https://github.com/RobotLocomotion/drake/pull/21040 | ||
| [_#21042]: https://github.com/RobotLocomotion/drake/pull/21042 | ||
| [_#21045]: https://github.com/RobotLocomotion/drake/pull/21045 | ||
| [_#21047]: https://github.com/RobotLocomotion/drake/pull/21047 | ||
| [_#21049]: https://github.com/RobotLocomotion/drake/pull/21049 | ||
| [_#21057]: https://github.com/RobotLocomotion/drake/pull/21057 | ||
| [_#21060]: https://github.com/RobotLocomotion/drake/pull/21060 | ||
| [_#21061]: https://github.com/RobotLocomotion/drake/pull/21061 | ||
| [_#21064]: https://github.com/RobotLocomotion/drake/pull/21064 | ||
| [_#21071]: https://github.com/RobotLocomotion/drake/pull/21071 | ||
| [_#21072]: https://github.com/RobotLocomotion/drake/pull/21072 | ||
| [_#21075]: https://github.com/RobotLocomotion/drake/pull/21075 | ||
| [_#21076]: https://github.com/RobotLocomotion/drake/pull/21076 | ||
| [_#21078]: https://github.com/RobotLocomotion/drake/pull/21078 | ||
| [_#21080]: https://github.com/RobotLocomotion/drake/pull/21080 | ||
| [_#21083]: https://github.com/RobotLocomotion/drake/pull/21083 | ||
| [_#21087]: https://github.com/RobotLocomotion/drake/pull/21087 | ||
| [_#21089]: https://github.com/RobotLocomotion/drake/pull/21089 | ||
| [_#21090]: https://github.com/RobotLocomotion/drake/pull/21090 | ||
| [_#21092]: https://github.com/RobotLocomotion/drake/pull/21092 | ||
| [_#21097]: https://github.com/RobotLocomotion/drake/pull/21097 | ||
| [_#21100]: https://github.com/RobotLocomotion/drake/pull/21100 | ||
| [_#21103]: https://github.com/RobotLocomotion/drake/pull/21103 | ||
| [_#21104]: https://github.com/RobotLocomotion/drake/pull/21104 | ||
| [_#21106]: https://github.com/RobotLocomotion/drake/pull/21106 | ||
| [_#21107]: https://github.com/RobotLocomotion/drake/pull/21107 | ||
| [_#21108]: https://github.com/RobotLocomotion/drake/pull/21108 | ||
| [_#21111]: https://github.com/RobotLocomotion/drake/pull/21111 | ||
| [_#21116]: https://github.com/RobotLocomotion/drake/pull/21116 | ||
| [_#21126]: https://github.com/RobotLocomotion/drake/pull/21126 | ||
| [_#21134]: https://github.com/RobotLocomotion/drake/pull/21134 | ||
| [_#21137]: https://github.com/RobotLocomotion/drake/pull/21137 | ||
| [_#21149]: https://github.com/RobotLocomotion/drake/pull/21149 | ||
| [_#21153]: https://github.com/RobotLocomotion/drake/pull/21153 | ||
| <!-- <end issue links> --> | ||
|
|
||
| <!-- | ||
| Current oldest_commit ddb32f9dba9db9984b9292ad5227a8911a5950e7 (exclusive). | ||
| Current newest_commit 38728a99103e0c057e512a701a4df43960d12e19 (inclusive). | ||
| --> |