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[doc] Add release notes v1.14.0 (RobotLocomotion#18954)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,291 @@ | ||
| --- | ||
| title: Drake v1.14.0 | ||
| date: 2023-03-15 | ||
| released: 2023-03-15 | ||
| --- | ||
|
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||
| # Announcements | ||
|
|
||
| * Drake's precopmiled Ubuntu binaries now have OpenMP enabled ([#18849][_#18849]). | ||
| * Drake's parser can add ``*.obj`` files directly into a MultibodyPlant without | ||
| SDFormat boilerplate ([#18776][_#18776]). | ||
| * Drake no longers sets nor requires FMT_DEPRECATED_OSTREAM ([#18806][_#18806], | ||
| [#18850][_#18850]). | ||
| * Drake will remain compatible with this setting, so if you still need it | ||
| for your own project you can set it yourself. | ||
|
|
||
| # Breaking changes since v1.13.0 | ||
|
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| * InverseKinematics no longer gives mutable access to const members ([#18793][_#18793]) | ||
|
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||
| Refer to our [Drake Stability Guidelines](/stable.html) for our policy | ||
| on API changes. | ||
|
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||
| # Changes since v1.13.0 | ||
|
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||
| ## Dynamical Systems | ||
|
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||
| <!-- <relnotes for systems go here> --> | ||
|
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| New features | ||
|
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||
| * Improve defaults for AffineSystem and LinearSystem ([#18822][_#18822]) | ||
|
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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 GUROBI_NUM_THREADS environment variable ([#18819][_#18819]) | ||
| * QuadraticConstraint stores Hessian type and checks convexity ([#18965][_#18965]) | ||
| * Add SubstituteAndExpand method to Polynomial ([#18752][_#18752]) | ||
| * Enable symbolic matrix inversions ([#18823][_#18823]) | ||
| * Adds BezierCurve (isa Trajectory) ([#18868][_#18868]) | ||
|
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| Fixes | ||
|
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||
| * Fix a bug in GurobiSolver with duplicated variables in second-order cone constraints ([#18890][_#18890]) | ||
| * Retrieve Mosek IPM solution if basis selection is disabled for LP ([#18895][_#18895]) | ||
| * Speed up symbolic Add and Mul ([#18869][_#18869]) | ||
| * Speed up symbolic Variable ([#18901][_#18901]) | ||
| * Remove redundant options copying in IpoptSolver ([#18874][_#18874]) | ||
| * Change SolverBase constructor to prefer SolverId directly ([#18880][_#18880]) | ||
|
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||
| ## Multibody Dynamics and Geometry | ||
|
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||
| <!-- <relnotes for geometry,multibody go here> --> | ||
|
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| New features | ||
|
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||
| * Implement Meshcat::PlotSurface() ([#18924][_#18924]) | ||
| * Implement Meshcat::GetSliderNames() ([#18949][_#18949]) | ||
| * Add SpatialInertia::PointMass() ([#18864][_#18864]) | ||
| * Add SpatialInertia::HollowSphereWithDensity() ([#18865][_#18865]) | ||
| * Add SpatialInertia::SolidCubeWithDensity() ([#18866][_#18866]) | ||
| * Add SpatialInertia::SolidCylinderAboutEnd() ([#18889][_#18889]) | ||
| * Add SpatialInertia::ThinRodWithMass() ([#18891][_#18891]) | ||
| * Add SpatialInertia::ThinRodWithMassAboutEnd() ([#18950][_#18950]) | ||
| * Allow models to be parsed into plant from ``*.obj`` files ([#18776][_#18776]) | ||
| * Support auto-renaming of models ([#18921][_#18921]) | ||
| * Retrieve joint actuators and actuated joints per model instance ([#18959][_#18959]) | ||
|
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||
| Fixes | ||
|
|
||
| * Improve SDFormat parsing error reporting ([#18462][_#18462]) | ||
| * Ignore collision filter groups from model directives if there's no scene graph ([#18798][_#18798]) | ||
| * SceneGraphInspector provides ordering guarantees on reported ids ([#18903][_#18903]) | ||
| * Relax single model test in SDFormat singular API ([#18888][_#18888]) | ||
|
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||
| ## Planning | ||
|
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||
| <!-- <relnotes for planning go here> --> | ||
|
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| New features | ||
|
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||
| * Ongoing work in progress on the C-IRIS feature: | ||
| * Move c_iris_collision_geometry out of dev folder ([#18824][_#18824]) | ||
| * Move c_iris_separating_plane out of dev ([#18852][_#18852]) | ||
| * Move cspace_free_polytope.h out of dev folder ([#18860][_#18860]) | ||
| * Move CspaceFreePolytope constructor out of dev folder ([#18863][_#18863]) | ||
| * Add PointToLineDistanceConstraint ([#18817][_#18817]) | ||
|
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||
| Fixes | ||
|
|
||
| * InverseKinematics no longer gives mutable access to const members ([#18793][_#18793]) | ||
| * Further improve welded body check ([#18723][_#18723]) | ||
| * Clean up ZmpPlanner ([#18845][_#18845]) | ||
|
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||
| ## Tutorials and examples | ||
|
|
||
| <!-- <relnotes for examples,tutorials go here> --> | ||
|
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||
| * Add Diagram tutorial ([#18873][_#18873]) | ||
| * Add an example of using `namedview` in authoring leaf systems ([#18809][_#18809]) | ||
| * Add and use drake_models/package.xml ([#18919][_#18919]) | ||
| * Fix skydio model prop colors and normals ([#18867][_#18867]) | ||
| * Move the distal geometry for the Jaco arm to link 7 ([#18799][_#18799]) | ||
|
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||
| ## Miscellaneous features and fixes | ||
|
|
||
| <!-- <relnotes for common,math,lcm,lcmtypes,manipulation,perception,visualization go here> --> | ||
|
|
||
| * Visualiation improvements | ||
| * Meldis displays point cloud data ([#18896][_#18896]) | ||
| * ModelVisualizer preserves joint posture on reload ([#18933][_#18933], [#18949][_#18949]) | ||
| * Add contact visualization to meshcat defaults ([#18907][_#18907]) | ||
| * Logging changes | ||
| * Add DRAKE_FORMATTER_AS ([#18771][_#18771]) | ||
| * Add fmt_eigen ([#18811][_#18811]) | ||
| * Add fmt::streamed and fmt::ostream_formatter polyfills ([#18801][_#18801]) | ||
| * Add DrakeLcmBase ([#18847][_#18847]) | ||
| * Add DrakeLcmInterface::SubscribeMultichannel ([#18826][_#18826]) | ||
| * Serializable objects can also be output as JSON ([#18943][_#18943]) | ||
|
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| ## pydrake bindings | ||
|
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||
| <!-- <relnotes for bindings go here> --> | ||
|
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||
|
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| New features | ||
|
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||
| * None | ||
|
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||
| Fixes | ||
|
|
||
| * Leave C++ logging sink intact (but no-op) ([#18750][_#18750]) | ||
| * Condense pydrake.manipulation into a single module ([#18973][_#18973]) | ||
| * Use nice names for default template classes ([#18972][_#18972]) | ||
|
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||
| ## Build system | ||
|
|
||
| <!-- <relnotes for cmake,doc,setup,third_party,tools go here> --> | ||
|
|
||
| * Remove opt-in to FMT_DEPRECATED_OSTREAM ([#18806][_#18806]), [#18850][_#18850]) | ||
| * Enable OpenMP in Ubuntu binaries ([#18849][_#18849]) | ||
| * Automatically fix more GCC 12 installation mistakes on Jammy ([#18925][_#18925]) | ||
|
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||
| ## Build dependencies | ||
|
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||
| <!-- <relnotes for workspace go here> --> | ||
|
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||
| * Upgrade abseil_cpp_internal to latest commit ([#18926][_#18926]) | ||
| * Upgrade bazel_skylib to latest release 1.4.1 ([#18926][_#18926]) | ||
| * Upgrade curl_internal to latest release 7.88.1 ([#18929][_#18929]) | ||
| * Upgrade lcm to latest commit ([#18926][_#18926]) | ||
| * Upgrade mypy_internal to latest release v1.0.1 ([#18926][_#18926]) | ||
| * Upgrade petsc to latest release v3.18.5 ([#18926][_#18926]) | ||
| * Upgrade ros_xacro_internal to latest release 1.14.15 ([#18926][_#18926]) | ||
| * Upgrade rules_pkg to latest release 0.8.1 ([#18926][_#18926]) | ||
| * Upgrade rules_python to latest release 0.19.0 ([#18926][_#18926]) | ||
| * Upgrade sdformat_internal to latest release 13.3.0 ([#18931][_#18931]) | ||
| * Upgrade tinyobjloader to latest commit ([#18926][_#18926]) | ||
| * Upgrade typing_extensions_internal to latest release 4.5.0 ([#18926][_#18926]) | ||
|
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||
| ## Newly-deprecated APIs | ||
|
|
||
| * drake::SortedPair::operator<< ([#18892][_#18892]) | ||
| * drake::copyable_unique_ptr::operator<< ([#18771][_#18771]) | ||
| * drake::kHomogeneousTransformSize ([#18857][_#18857]) | ||
| * drake::kQuaternionSize ([#18857][_#18857]) | ||
| * drake::kRotmatSize ([#18857][_#18857]) | ||
| * drake::kRpySize ([#18857][_#18857]) | ||
| * drake::kSpaceDimension ([#18857][_#18857]) | ||
| * drake::kTwistSize ([#18857][_#18857]) | ||
| * drake::multibody::parsing::GetInstanceScopeName ([#17482][_#17482]) | ||
| * drake::multibody::parsing::GetScopedFrameName ([#17482][_#17482]) | ||
| * drake::multibody::parsing::ParseScopedName ([#17482][_#17482]) | ||
| * drake::multibody::parsing::PrefixName ([#17482][_#17482]) | ||
| * drake::planning::CollisionChecker::GetScopedName ([#17482][_#17482]) | ||
| * drake::solvers::SolverBase constructor with a SolverId-returning functor ([#18880][_#18880]) | ||
| * drake::systems::controllers::ZMPPlanner ([#18845][_#18845]) | ||
| * pydrake.multibody.parsing.GetScopedFrameName ([#17482][_#17482]) | ||
| * pydrake.multibody.plant.CalcJacobianSpatialVelocity(*, p_BP) use p_BoBp_B ([#18876][_#18876]) | ||
| * pydrake.planning.CollisionChecker.GetScopedName ([#17482][_#17482]) | ||
|
|
||
| ## Removal of deprecated items | ||
|
|
||
| * drake::trajectories::PiecewisePolynomial::Cubic ([#18927][_#18927]) | ||
| * drake::multibody::MultibodyPlant::AddCouplerConstraint with non-double gear_ratio and offet ([#18927][_#18927]) | ||
| * drake::multibody::MultibodyPlant continuous_state port ([#18927][_#18927]) | ||
| * drake::multibody::MoultibodyPlant port suffixed with _continuous_state ([#18927][_#18927]) | ||
| * drake::multibody::FixedOffsetFrame::SetPoseInBodyFrame ([#18927][_#18927]) | ||
| * drake::systems::LeafSystem::DeclarePeriodicPublish ([#18927][_#18927]) | ||
| * drake::systems::LeafSystem::DeclarePeriodicDiscreteUpdate ([#18927][_#18927]) | ||
| * drake::systems::LeafSystem::DeclarePeriodicUnrestrictedUpdate ([#18927][_#18927]) | ||
| * drake::systems::System::CalcDiscreteVariableUpdates ([#18927][_#18927]) | ||
| * drake::systems::System::CalcUnrestrictedUpdate ([#18927][_#18927]) | ||
| * drake::systems::System::Publish(context) ([#18927][_#18927]) | ||
| * pydrake.multibody.tree.FixedOffsetFrame.SetPoseInBodyFrame ([#18927][_#18927]) | ||
| * pydrake.systems.framework.LeafSystem.DeclarePeriodicPublish ([#18927][_#18927]) | ||
| * pydrake.systems.framework.LeafSystem.DeclarePeriodicDiscreteUpdate ([#18927][_#18927]) | ||
| * pydrake.systems.framework.System.CalcDiscreteVariableUpdates ([#18927][_#18927]) | ||
| * pydrake.systems.framework.System.CalcUnrestrictedUpdate ([#18927][_#18927]) | ||
| * pydrake.systems.framework.System.Publish ([#18927][_#18927]) | ||
|
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||
| # Notes | ||
|
|
||
|
|
||
| This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v1.14.0) named | ||
| ``drake-20230315-{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> --> | ||
| [_#17482]: https://github.com/RobotLocomotion/drake/pull/17482 | ||
| [_#18462]: https://github.com/RobotLocomotion/drake/pull/18462 | ||
| [_#18723]: https://github.com/RobotLocomotion/drake/pull/18723 | ||
| [_#18750]: https://github.com/RobotLocomotion/drake/pull/18750 | ||
| [_#18752]: https://github.com/RobotLocomotion/drake/pull/18752 | ||
| [_#18771]: https://github.com/RobotLocomotion/drake/pull/18771 | ||
| [_#18776]: https://github.com/RobotLocomotion/drake/pull/18776 | ||
| [_#18793]: https://github.com/RobotLocomotion/drake/pull/18793 | ||
| [_#18798]: https://github.com/RobotLocomotion/drake/pull/18798 | ||
| [_#18799]: https://github.com/RobotLocomotion/drake/pull/18799 | ||
| [_#18801]: https://github.com/RobotLocomotion/drake/pull/18801 | ||
| [_#18806]: https://github.com/RobotLocomotion/drake/pull/18806 | ||
| [_#18809]: https://github.com/RobotLocomotion/drake/pull/18809 | ||
| [_#18811]: https://github.com/RobotLocomotion/drake/pull/18811 | ||
| [_#18817]: https://github.com/RobotLocomotion/drake/pull/18817 | ||
| [_#18819]: https://github.com/RobotLocomotion/drake/pull/18819 | ||
| [_#18822]: https://github.com/RobotLocomotion/drake/pull/18822 | ||
| [_#18823]: https://github.com/RobotLocomotion/drake/pull/18823 | ||
| [_#18824]: https://github.com/RobotLocomotion/drake/pull/18824 | ||
| [_#18826]: https://github.com/RobotLocomotion/drake/pull/18826 | ||
| [_#18845]: https://github.com/RobotLocomotion/drake/pull/18845 | ||
| [_#18847]: https://github.com/RobotLocomotion/drake/pull/18847 | ||
| [_#18849]: https://github.com/RobotLocomotion/drake/pull/18849 | ||
| [_#18850]: https://github.com/RobotLocomotion/drake/pull/18850 | ||
| [_#18852]: https://github.com/RobotLocomotion/drake/pull/18852 | ||
| [_#18857]: https://github.com/RobotLocomotion/drake/pull/18857 | ||
| [_#18860]: https://github.com/RobotLocomotion/drake/pull/18860 | ||
| [_#18863]: https://github.com/RobotLocomotion/drake/pull/18863 | ||
| [_#18864]: https://github.com/RobotLocomotion/drake/pull/18864 | ||
| [_#18865]: https://github.com/RobotLocomotion/drake/pull/18865 | ||
| [_#18866]: https://github.com/RobotLocomotion/drake/pull/18866 | ||
| [_#18867]: https://github.com/RobotLocomotion/drake/pull/18867 | ||
| [_#18868]: https://github.com/RobotLocomotion/drake/pull/18868 | ||
| [_#18869]: https://github.com/RobotLocomotion/drake/pull/18869 | ||
| [_#18873]: https://github.com/RobotLocomotion/drake/pull/18873 | ||
| [_#18874]: https://github.com/RobotLocomotion/drake/pull/18874 | ||
| [_#18876]: https://github.com/RobotLocomotion/drake/pull/18876 | ||
| [_#18880]: https://github.com/RobotLocomotion/drake/pull/18880 | ||
| [_#18888]: https://github.com/RobotLocomotion/drake/pull/18888 | ||
| [_#18889]: https://github.com/RobotLocomotion/drake/pull/18889 | ||
| [_#18890]: https://github.com/RobotLocomotion/drake/pull/18890 | ||
| [_#18891]: https://github.com/RobotLocomotion/drake/pull/18891 | ||
| [_#18892]: https://github.com/RobotLocomotion/drake/pull/18892 | ||
| [_#18895]: https://github.com/RobotLocomotion/drake/pull/18895 | ||
| [_#18896]: https://github.com/RobotLocomotion/drake/pull/18896 | ||
| [_#18901]: https://github.com/RobotLocomotion/drake/pull/18901 | ||
| [_#18903]: https://github.com/RobotLocomotion/drake/pull/18903 | ||
| [_#18907]: https://github.com/RobotLocomotion/drake/pull/18907 | ||
| [_#18919]: https://github.com/RobotLocomotion/drake/pull/18919 | ||
| [_#18921]: https://github.com/RobotLocomotion/drake/pull/18921 | ||
| [_#18924]: https://github.com/RobotLocomotion/drake/pull/18924 | ||
| [_#18925]: https://github.com/RobotLocomotion/drake/pull/18925 | ||
| [_#18926]: https://github.com/RobotLocomotion/drake/pull/18926 | ||
| [_#18927]: https://github.com/RobotLocomotion/drake/pull/18927 | ||
| [_#18929]: https://github.com/RobotLocomotion/drake/pull/18929 | ||
| [_#18931]: https://github.com/RobotLocomotion/drake/pull/18931 | ||
| [_#18933]: https://github.com/RobotLocomotion/drake/pull/18933 | ||
| [_#18943]: https://github.com/RobotLocomotion/drake/pull/18943 | ||
| [_#18949]: https://github.com/RobotLocomotion/drake/pull/18949 | ||
| [_#18950]: https://github.com/RobotLocomotion/drake/pull/18950 | ||
| [_#18959]: https://github.com/RobotLocomotion/drake/pull/18959 | ||
| [_#18965]: https://github.com/RobotLocomotion/drake/pull/18965 | ||
| [_#18972]: https://github.com/RobotLocomotion/drake/pull/18972 | ||
| [_#18973]: https://github.com/RobotLocomotion/drake/pull/18973 | ||
| <!-- <end issue links> --> | ||
|
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||
| <!-- | ||
| Current oldest_commit f062738a338ab26776d24c14e6d5d79b2280a79c (exclusive). | ||
| Current newest_commit 91e3dccea12c6b5fa73ec215d8af0ff4ee7f1876 (inclusive). | ||
| --> |