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doc: Add past release notes (RobotLocomotion#12411)
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jwnimmer-tri authored Nov 26, 2019
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3 changes: 1 addition & 2 deletions doc/installation.rst
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Expand Up @@ -17,5 +17,4 @@ You can choose to download a pre-compiled version of Drake, or to build it from
from_binary
from_source
docker


release_notes/release_notes
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.. _release_notes:

*************
Release Notes
*************

.. toctree::
:maxdepth: 1

v0.10.0
v0.11.0
v0.12.0
19 changes: 19 additions & 0 deletions doc/release_notes/v0.10.0.rst
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*************
Drake v0.10.0
*************

Nearly four years have passed since the 0.9.x releases, and almost all of the code has been rewritten, so the changes are various and many.

Some of the more recent or substantial changes include:

* Expanded `Dynamical Systems <https://drake.mit.edu/doxygen_cxx/group__systems.html>`__ APIs and features; now supports Python and/or C++.
* Expanded `MathematicalProgram <https://drake.mit.edu/doxygen_cxx/group__solvers.html>`__ APIs and features, supported problems, and the suite of solver implementations.
* Added `MultibodyPlant dynamics <https://drake.mit.edu/doxygen_cxx/group__multibody.html>`__ (RigidBodyPlant is no longer actively maintained).
* Added camera and depth simulation (RgbdSensor) and geometric queries (SceneGraph).
* Reworked examples.
* Supports Ubuntu 16, Ubuntu 18, and macOS (see `Supported Configurations <https://drake.mit.edu/developers.html#supported-configurations>`__ documentation for details).
* Removed support for MATLAB; removed support for Windows.

This release provides pre-compiled binaries named ``drake-20190905-{bionic|xenial|mac}.tar.gz``. See https://drake.mit.edu/from\_binary.html#nightly-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.
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*************
Drake v0.11.0
*************

Announcements
-------------

This is the final release that will support Python 2, C++14, Ubuntu 16.04, or macOS High Sierra. Future releases will require Python 3, C++17, and one of either Ubuntu 18.04 or macOS Mojave (or newer). See `#10606`_ for details.

Changes since v0.10.0
---------------------

Dynamical Systems
~~~~~~~~~~~~~~~~~

* New `tutorial for systems framework <https://nbviewer.jupyter.org/github/RobotLocomotion/drake/blob/master/tutorials/dynamical_systems.ipynb>`__ (`#12009`_, `#12045`_)
* Implicit Euler integrator improves convergence speed (`#12018`_)
* ``SymbolicVectorSystem`` adds parameters and accessors (`#12012`_, `#12048`_)
* Fix: Graphviz output for diagram port names (`#12060`_)

Mathematical Program
~~~~~~~~~~~~~~~~~~~~

* New `tutorial for mathematical program <https://nbviewer.jupyter.org/github/RobotLocomotion/drake/blob/master/tutorials/mathematical_program.ipynb>`__ (`#12023`_, `#12032`_)
* Developers can now implement ``SolverInterface`` subclasses in pydrake (`#12056`_)
* Add constructors of ``MultipleShooting`` that accept placeholders (`#12051`_)
* Add alias ``solvers::DecisionVariable`` for ``symbolic::Variable`` (`#12051`_)
* Improve SNOPT citations and credits (`#12062`_)

Multibody Dynamics
~~~~~~~~~~~~~~~~~~

* New hydroelastic contact model in progress (`#11924`_, `#11928`_, `#11986`_, `#11996`_, `#12029`_, `#12036`_, `#12082`_, `#12083`_, `#12085`_, `#12093`_, `#12094`_, `#12096`_, `#12100`_, `#12101`_, `#12103`_, `#12112`_)

* This is experimental and will change in the near future! (And it will not be used by default.)
* Hydroelastics only supports soft-hard contact with spheres; see demo at ``examples/multibody/rolling_sphere``.
* For more information, see Elandt, et al. “A pressure field model for fast, robust approximation of net contact force and moment between nominally rigid objects” to appear in IROS 2019. `ArXiv pre-print <https://arxiv.org/abs/1904.11433>`__.

* Add ``ContactResults`` output for continuous plant (previously, only discrete) (`#12067`_)
* Fix: Gravity generalized forces must ignore velocity terms (`#12065`_)
* Fix: Contact force direction appears to be incorrect (`#12067`_)
* Fix: Crash when there are no degrees of freedom (`#12070`_)
* Cache generalized accelerations for both continuous and discrete models (`#12050`_)

pydrake bindings
~~~~~~~~~~~~~~~~

* ``multibody.LinearSpringDamper`` (`#11987`_)
* ``solvers.mathematicalprogram.MathematicalProgram.AddIndeterminates`` (`#12017`_)
* ``solvers.mathematicalprogram.MathematicalProgram.AddDecisionVariables`` (`#12017`_)
* ``solvers.mathematicalprogram.SolverInterface`` (`#12056`_)
* ``systems.controllers.PidController`` (`#12020`_, `#12030`_)
* ``systems.controllers.PidControlledSystem`` (`#12020`_, `#12030`_)

Build system
~~~~~~~~~~~~

* Suggest Bionic as our preference (not Xenial) (`#12074`_)
* Remove ``snopt`` support for upstream BUILD files (`#12098`_)
* Add warning about ``pytorch``'s use of ``RTLD_GLOBAL`` (`#12108`_)
* Fix: ``libstdc++6-7-dbg`` dependency typo in Ubuntu 18.04 (`#12013`_)
* Fix: Suppress "self-assign-overloaded" warnings for Apple LLVM >= 10.0.1 (`#12092`_)
* Permit downstream projects to use ``ExecuteExtraPythonCode`` (`#12000`_)

Dependencies
^^^^^^^^^^^^

* Add ``ghc::filesystem`` as a new dependency (`#12106`_, `#12116`_)
* Add ``suitesparse`` as a new dependency (`#12071`_, `#12072`_)
* Expand ``jupyter`` dependency to add ``jupyter-notebook`` (`#12043`_)
* Update ``buildifier`` to latest release 0.29.0 (`#12014`_)
* Update ``fcl`` to latest commit (`#12054`_)
* Update ``fmt`` to latest release 6.0.0 (`#12014`_)
* Update ``ignition_math`` to latest release 6.4.0 (`#12014`_)
* Update ``meshcat`` to latest commit (`#12014`_)
* Update ``osqp`` to latest release 0.6.0 (`#12047`_)
* Update ``qdldl`` to latest release 0.1.4 (`#12047`_)
* Update ``semantic_version`` to latest version 2.8.2 (`#12041`_)
* Update ``scs`` to latest release 2.1.1 (`#12084`_)
* Update ``stx`` to latest commit (`#12014`_)
* Remove unused ``ignition_rndf`` dependency (`#12014`_, `#12024`_)

Other
-----

* Update camera extrinsics in manipulation station class setup (`#12089`_)
* Draw body frames in meshcat visualizer (`#12090`_)

Newly-deprecated APIs
---------------------

* ``Simulator::StepTo`` (`#12008`_)

* Use ``Simulator::AdvanceTo``.

Removal of deprecated APIs
--------------------------

* ``MultibodyPlant::AddForceElement<UniformGravityFieldElement>`` (`#11987`_)

Binaries
--------

This release provides pre-compiled binaries named ``drake-20191002-{bionic|xenial|mac}.tar.gz``. See https://drake.mit.edu/from\_binary.html#nightly-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.

.. _#10606: https://github.com/RobotLocomotion/drake/pull/10606
.. _#11924: https://github.com/RobotLocomotion/drake/pull/11924
.. _#11928: https://github.com/RobotLocomotion/drake/pull/11928
.. _#11986: https://github.com/RobotLocomotion/drake/pull/11986
.. _#11987: https://github.com/RobotLocomotion/drake/pull/11987
.. _#11996: https://github.com/RobotLocomotion/drake/pull/11996
.. _#12000: https://github.com/RobotLocomotion/drake/pull/12000
.. _#12008: https://github.com/RobotLocomotion/drake/pull/12008
.. _#12009: https://github.com/RobotLocomotion/drake/pull/12009
.. _#12012: https://github.com/RobotLocomotion/drake/pull/12012
.. _#12013: https://github.com/RobotLocomotion/drake/pull/12013
.. _#12014: https://github.com/RobotLocomotion/drake/pull/12014
.. _#12017: https://github.com/RobotLocomotion/drake/pull/12017
.. _#12018: https://github.com/RobotLocomotion/drake/pull/12018
.. _#12020: https://github.com/RobotLocomotion/drake/pull/12020
.. _#12023: https://github.com/RobotLocomotion/drake/pull/12023
.. _#12024: https://github.com/RobotLocomotion/drake/pull/12024
.. _#12029: https://github.com/RobotLocomotion/drake/pull/12029
.. _#12030: https://github.com/RobotLocomotion/drake/pull/12030
.. _#12032: https://github.com/RobotLocomotion/drake/pull/12032
.. _#12036: https://github.com/RobotLocomotion/drake/pull/12036
.. _#12041: https://github.com/RobotLocomotion/drake/pull/12041
.. _#12043: https://github.com/RobotLocomotion/drake/pull/12043
.. _#12045: https://github.com/RobotLocomotion/drake/pull/12045
.. _#12047: https://github.com/RobotLocomotion/drake/pull/12047
.. _#12048: https://github.com/RobotLocomotion/drake/pull/12048
.. _#12050: https://github.com/RobotLocomotion/drake/pull/12050
.. _#12051: https://github.com/RobotLocomotion/drake/pull/12051
.. _#12054: https://github.com/RobotLocomotion/drake/pull/12054
.. _#12056: https://github.com/RobotLocomotion/drake/pull/12056
.. _#12060: https://github.com/RobotLocomotion/drake/pull/12060
.. _#12062: https://github.com/RobotLocomotion/drake/pull/12062
.. _#12065: https://github.com/RobotLocomotion/drake/pull/12065
.. _#12067: https://github.com/RobotLocomotion/drake/pull/12067
.. _#12070: https://github.com/RobotLocomotion/drake/pull/12070
.. _#12071: https://github.com/RobotLocomotion/drake/pull/12071
.. _#12072: https://github.com/RobotLocomotion/drake/pull/12072
.. _#12074: https://github.com/RobotLocomotion/drake/pull/12074
.. _#12082: https://github.com/RobotLocomotion/drake/pull/12082
.. _#12083: https://github.com/RobotLocomotion/drake/pull/12083
.. _#12084: https://github.com/RobotLocomotion/drake/pull/12084
.. _#12085: https://github.com/RobotLocomotion/drake/pull/12085
.. _#12089: https://github.com/RobotLocomotion/drake/pull/12089
.. _#12090: https://github.com/RobotLocomotion/drake/pull/12090
.. _#12092: https://github.com/RobotLocomotion/drake/pull/12092
.. _#12093: https://github.com/RobotLocomotion/drake/pull/12093
.. _#12094: https://github.com/RobotLocomotion/drake/pull/12094
.. _#12096: https://github.com/RobotLocomotion/drake/pull/12096
.. _#12098: https://github.com/RobotLocomotion/drake/pull/12098
.. _#12100: https://github.com/RobotLocomotion/drake/pull/12100
.. _#12101: https://github.com/RobotLocomotion/drake/pull/12101
.. _#12103: https://github.com/RobotLocomotion/drake/pull/12103
.. _#12106: https://github.com/RobotLocomotion/drake/pull/12106
.. _#12108: https://github.com/RobotLocomotion/drake/pull/12108
.. _#12112: https://github.com/RobotLocomotion/drake/pull/12112
.. _#12116: https://github.com/RobotLocomotion/drake/pull/12116
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