Release notes v0.23.0 (RobotLocomotion#13956)

doc/release_notes/release_notes.rst

@@ -22,3 +22,4 @@ Release Notes
     v0.20.0
     v0.21.0
     v0.22.0
+    v0.23.0

doc/release_notes/v0.23.0.rst

@@ -0,0 +1,310 @@
+*************
+Drake v0.23.0
+*************
+
+Announcements
+-------------
+
+* All code for RigidBodyPlant and the drake "attic" has been removed (`#13889`_).
+  Refer to `v0.22.0`_ for the final release that contained this code.
+
+Breaking changes since v0.22.0
+------------------------------
+
+These are breaking changes that did not undergo a deprecation period:
+
+* The drake::systems::Subvector and drake::systems::Supervector are now marked
+  final (`#13907`_).
+* Add [[nodiscard]] attributes to symbolic functions (`#14020`_, `#14021`_).
+* The drake/common/symbolic.h headers now ``#error`` when included incorrectly
+* For drake::yaml::YamlReadArchive, it's now an error for yaml data to remain
+  unparsed, unless the user opts in to allowing it; users who want a different
+  behavior should change the Options at construction-time (`#13900`_).
+* The drake::examples::rod2d::Rod2D::pose_output() port has been removed, as
+  the system no longer connects to the systems::rendering API (`#13890`_).
+* Remove pydrake.systems.framework.kAutoSize (`#13981`_).
+  (`#14003`_).
+* If you are using CMake to consume pydrake and you compile your own bindings
+  using pybind11_add_module, you must now reset your target's default
+  visibility to "default" (not "hidden") (`#14048`_).
+
+Changes since v0.22.0
+---------------------
+
+Dynamical Systems
+~~~~~~~~~~~~~~~~~
+
+.. <relnotes for systems go here>
+
+New features
+
+* Provide System::get_input_port and get_output_port sugar (`#13883`_, `#13894`_, `#13895`_, `#13896`_, `#13897`_, `#13898`_)
+* Allow PassThrough to emit default values (`#13976`_, `#13996`_)
+* Optionally suppress simulator initialization events (`#13872`_)
+* Add SequentialExpressionManager::GetSequentialExpressionNames (`#13925`_)
+* Implement derivatives for PiecewiseQuaternion (`#13972`_)
+* Add InverseDynamicsController construtor overload to own the input plant (`#14037`_)
+
+Fixes
+
+* Add port names to InverseDynamicsController (`#13879`_)
+* Mark Subvector and Supervector final (`#13907`_)
+* Fix crash in discrete time TimeVaryingAffineSystem (`#14008`_)
+
+Mathematical Program
+~~~~~~~~~~~~~~~~~~~~
+
+.. <relnotes for solvers go here>
+
+New features
+
+* Change IPOPT eval_g to use double version of constraint evaluation (`#13891`_)
+* Add generic polynomial and MonomialBasisElement (`#13867`_, `#13940`_, `#13980`_, `#13994`_, `#14023`_, `#14036`_)
+* Add a function to compute polynomial basis up to a given order (`#13870`_)
+* Add PiecewisePolynomial::AppendFirstOrderSegment (`#14030`_)
+* Add PiecewiseQuaternionSlerp::Append (`#14031`_)
+
+Fixes
+
+* Add [[nodiscard]] attributes to symbolic functions (`#14020`_, `#14021`_)
+
+Multibody Dynamics
+~~~~~~~~~~~~~~~~~~
+
+.. <relnotes for geometry,multibody go here>
+
+New features
+
+* Add API to compute SpatialAccelerationInWorld (`#13773`_)
+* Add API to set mass, center of pass, and spatial intertia in a Context (`#13860`_)
+* Add API to set LinearBushingRollPitchYaw parameters in a Context (`#14000`_)
+* Add API to get a frame's geometries (`#13999`_)
+* Support parsing massless bodies (`#13908`_, `#13927`_)
+* Add Capsule and Ellipse to RenderEngineGl (`#14001`_)
+* New hydroelastic contact model in progress (`#13864`_)
+
+Fixes
+
+* Fix reported world poses when queried before any updates (`#13990`_)
+* Eliminate heap use from CalcMassMatrix() (`#13873`_, `#13928`_, `#13933`_, `#13953`_)
+* Use a faster inertia matrix rotation method (`#13962`_)
+* Propagate the MultibodyPlant name to the SceneGraph (`#14024`_)
+
+Tutorials and examples
+~~~~~~~~~~~~~~~~~~~~~~
+
+.. <relnotes for examples,tutorials go here>
+
+* In manipulation station, offer better Schunk WSG models (`#13922`_)
+* In manipulation station, make iiwa feedforward torques input optional (`#13995`_)
+* In rod2d, use modern SceneGraph conventions for visualization (`#13890`_)
+
+Miscellaneous features and fixes
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. <relnotes for common,math,lcm,lcmtypes,manipulation,perception go here>
+
+* autodiff: Improve performance by reducing heap use  (`#13988`_, `#14045`_)
+* manipulation: Add DifferentialInverseKinematicsIntegrator (`#13877`_, `#13919`_, `#13920`_, `#14004`_)
+* manipulation: Make Schunk WSG limit input port optional (`#13878`_)
+* meshcat: Support caching mesh geometry on the zmq server (`#13971`_)
+* meshcat: Ignore geometry with invalid sizes (`#14013`_)
+* models: Remove invalid geometry from the jaco model (`#14042`_)
+* schema: Add stochastic, rotation, and transform types (`#13943`_, `#13949`_, `#13991`_, `#14014`_)
+* yaml: Allow omitting the root name while writing (`#13915`_)
+* yaml: It's an error by default for yaml data to remain unparsed (`#13900`_)
+
+pydrake bindings
+~~~~~~~~~~~~~~~~
+
+.. <relnotes for bindings go here>
+
+New features
+
+* Add pydrake.systems.jupyter_widgets.WidgetSystem (`#13882`_)
+* Add jupyter widget version of JointSliders (`#14017`_)
+* Copy and adapt yaml utilities from Anzu (`#13982`_)
+
+Fixes
+
+* Ensure that multiply (matmul) preserves input shape (`#13886`_)
+* Add missing import for jupyter widgets (`#13941`_)
+* Ensure keep_alive for Image[].data is honored (`#14015`_)
+* Make Jupyter fail fast when running as non-interactive kernel (`#14025`_)
+
+Newly bound
+
+* pydrake.geometry.IllustrationPropertiescopying (`#14010`_)
+* pydrake.geometry.PerceptionPropertiescopying (`#14010`_)
+* pydrake.geometry.ProximityProperties copying (`#14010`_)
+* pydrake.geometry.render.MakeRenderEngineOspray (`#13893`_)
+* pydrake.math.UniformlyRandomAngleAxis (`#13993`_)
+* pydrake.math.UniformlyRandomQuaternion (`#13993`_)
+* pydrake.math.UniformlyRandomRPY (`#13993`_)
+* pydrake.math.UniformlyRandomRotationMatrix (`#13993`_)
+* pydrake.multibody.plant.MultibodyPlant.CalcBiasCenterOfMassTranslationalAcceleration (`#13997`_)
+* pydrake.multibody.plant.MultibodyPlant.CalcJacobianCenterOfMassTranslationalVelocity (`#13997`_)
+* pydrake.systems.primitives.TrajectoryAffineSystem (`#14009`_)
+* pydrake.trajectories.PiecewisePolynomial.__add__ (`#14009`_)
+* pydrake.trajectories.PiecewiseQuaternionSlerp (`#13974`_)
+* pydrake.trajectories.Trajectory.end_time (`#14049`_)
+* pydrake.trajectories.Trajectory.start_time (`#14049`_)
+
+Build system and dependencies
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. <relnotes for attic,cmake,doc,setup,third_party,tools go here>
+
+* Upgrade recommended Bazel version to 3.5 (`#14005`_)
+* Upgrade bazel_skylib to latest release 1.0.3 (`#13969`_)
+* Upgrade fcl to latest commit (`#13965`_)
+* Upgrade fmt to latest release 7.0.3 (`#13968`_)
+* Upgrade ghc_filesystem to latest release 1.3.4 (`#13966`_)
+* Upgrade meshcat_python to latest commit (`#13971`_)
+* Upgrade pybind11 fork to latest commit (`#14028`_, `#14046`_, `#14048`_)
+* Upgrade ros_xacro to latest release 1.13.8 (`#13967`_)
+* Separate out dependencies related to documentation generation (`#13984`_)
+
+Newly-deprecated APIs
+~~~~~~~~~~~~~~~~~~~~~
+
+* drake::systems::Subvector 1-argument constructor (`#13907`_)
+* drake::systems::kAutoSize (`#13981`_)
+* The bullet external (`#13986`_)
+* The freetype2 external (`#13986`_)
+
+Removal of deprecated items
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+* All code for RigidBodyPlant and the drake "attic" (`#13889`_).
+* drake::manipulation::kuka_iiwa::IiwaCommandReceiver::get_input_port (`#13939`_)
+* drake::manipulation::kuka_iiwa::IiwaCommandReceiver::set_initial_position (`#13939`_)
+* drake::manipulation::schunk_wsg::SchunkWsgPositionController::set_initial_position (`#13939`_)
+* drake::multibody::MultibodyPlant::CalcBiasForJacobianSpatialVelocity (`#13939`_)
+* drake::multibody::MultibodyPlant::CalcBiasForJacobianTranslationalVelocity (`#13939`_)
+* drake::multibody::MultibodyPlant::default_coulomb_friction  (`#13939`_)
+* drake::solvers::GetInfeasibleConstraints (`#13939`_)
+* drake::solvers::SolverBase one constructor (`#13939`_)
+* drake::systems::estimators::LuenbergerObserver one constructor (`#13939`_)
+* drake::systems::rendering::PoseBundle::get_pose (`#13939`_)
+* drake::systems::rendering::PoseBundle::set_pose (`#13939`_)
+* drake::systems::rendering::PoseVector::get_isometry (`#13939`_)
+* pydrake.multibody.VectorExternallyAppliedSpatialForced (`#13939`_)
+* pydrake.systems.rendering.PoseBundle.get_pose (`#13939`_)
+* pydrake.systems.rendering.PoseBundle.set_pose (`#13939`_)
+* pydrake.systems.rendering.PoseVector.get_isometry (`#13939`_)
+* The octomap external (`#13939`_)
+* The ruby external (`#13939`_)
+
+Notes
+-----
+
+This release provides `pre-compiled binaries
+<https://github.com/RobotLocomotion/drake/releases/tag/v0.23.0>`__ named
+``drake-20200913-{bionic|focal|mac}.tar.gz``. See :ref:`Nightly Releases
+<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.
+
+.. _v0.22.0: https://github.com/RobotLocomotion/drake/releases/tag/v0.22.0
+
+.. <begin issue links>
+.. _#13773: https://github.com/RobotLocomotion/drake/pull/13773
+.. _#13860: https://github.com/RobotLocomotion/drake/pull/13860
+.. _#13864: https://github.com/RobotLocomotion/drake/pull/13864
+.. _#13867: https://github.com/RobotLocomotion/drake/pull/13867
+.. _#13870: https://github.com/RobotLocomotion/drake/pull/13870
+.. _#13872: https://github.com/RobotLocomotion/drake/pull/13872
+.. _#13873: https://github.com/RobotLocomotion/drake/pull/13873
+.. _#13877: https://github.com/RobotLocomotion/drake/pull/13877
+.. _#13878: https://github.com/RobotLocomotion/drake/pull/13878
+.. _#13879: https://github.com/RobotLocomotion/drake/pull/13879
+.. _#13882: https://github.com/RobotLocomotion/drake/pull/13882
+.. _#13883: https://github.com/RobotLocomotion/drake/pull/13883
+.. _#13886: https://github.com/RobotLocomotion/drake/pull/13886
+.. _#13889: https://github.com/RobotLocomotion/drake/pull/13889
+.. _#13890: https://github.com/RobotLocomotion/drake/pull/13890
+.. _#13891: https://github.com/RobotLocomotion/drake/pull/13891
+.. _#13893: https://github.com/RobotLocomotion/drake/pull/13893
+.. _#13894: https://github.com/RobotLocomotion/drake/pull/13894
+.. _#13895: https://github.com/RobotLocomotion/drake/pull/13895
+.. _#13896: https://github.com/RobotLocomotion/drake/pull/13896
+.. _#13897: https://github.com/RobotLocomotion/drake/pull/13897
+.. _#13898: https://github.com/RobotLocomotion/drake/pull/13898
+.. _#13900: https://github.com/RobotLocomotion/drake/pull/13900
+.. _#13907: https://github.com/RobotLocomotion/drake/pull/13907
+.. _#13908: https://github.com/RobotLocomotion/drake/pull/13908
+.. _#13915: https://github.com/RobotLocomotion/drake/pull/13915
+.. _#13919: https://github.com/RobotLocomotion/drake/pull/13919
+.. _#13920: https://github.com/RobotLocomotion/drake/pull/13920
+.. _#13922: https://github.com/RobotLocomotion/drake/pull/13922
+.. _#13925: https://github.com/RobotLocomotion/drake/pull/13925
+.. _#13927: https://github.com/RobotLocomotion/drake/pull/13927
+.. _#13928: https://github.com/RobotLocomotion/drake/pull/13928
+.. _#13933: https://github.com/RobotLocomotion/drake/pull/13933
+.. _#13939: https://github.com/RobotLocomotion/drake/pull/13939
+.. _#13940: https://github.com/RobotLocomotion/drake/pull/13940
+.. _#13941: https://github.com/RobotLocomotion/drake/pull/13941
+.. _#13943: https://github.com/RobotLocomotion/drake/pull/13943
+.. _#13949: https://github.com/RobotLocomotion/drake/pull/13949
+.. _#13953: https://github.com/RobotLocomotion/drake/pull/13953
+.. _#13962: https://github.com/RobotLocomotion/drake/pull/13962
+.. _#13965: https://github.com/RobotLocomotion/drake/pull/13965
+.. _#13966: https://github.com/RobotLocomotion/drake/pull/13966
+.. _#13967: https://github.com/RobotLocomotion/drake/pull/13967
+.. _#13968: https://github.com/RobotLocomotion/drake/pull/13968
+.. _#13969: https://github.com/RobotLocomotion/drake/pull/13969
+.. _#13971: https://github.com/RobotLocomotion/drake/pull/13971
+.. _#13972: https://github.com/RobotLocomotion/drake/pull/13972
+.. _#13974: https://github.com/RobotLocomotion/drake/pull/13974
+.. _#13976: https://github.com/RobotLocomotion/drake/pull/13976
+.. _#13980: https://github.com/RobotLocomotion/drake/pull/13980
+.. _#13981: https://github.com/RobotLocomotion/drake/pull/13981
+.. _#13982: https://github.com/RobotLocomotion/drake/pull/13982
+.. _#13984: https://github.com/RobotLocomotion/drake/pull/13984
+.. _#13986: https://github.com/RobotLocomotion/drake/pull/13986
+.. _#13988: https://github.com/RobotLocomotion/drake/pull/13988
+.. _#13990: https://github.com/RobotLocomotion/drake/pull/13990
+.. _#13991: https://github.com/RobotLocomotion/drake/pull/13991
+.. _#13993: https://github.com/RobotLocomotion/drake/pull/13993
+.. _#13994: https://github.com/RobotLocomotion/drake/pull/13994
+.. _#13995: https://github.com/RobotLocomotion/drake/pull/13995
+.. _#13996: https://github.com/RobotLocomotion/drake/pull/13996
+.. _#13997: https://github.com/RobotLocomotion/drake/pull/13997
+.. _#13999: https://github.com/RobotLocomotion/drake/pull/13999
+.. _#14000: https://github.com/RobotLocomotion/drake/pull/14000
+.. _#14001: https://github.com/RobotLocomotion/drake/pull/14001
+.. _#14003: https://github.com/RobotLocomotion/drake/pull/14003
+.. _#14004: https://github.com/RobotLocomotion/drake/pull/14004
+.. _#14005: https://github.com/RobotLocomotion/drake/pull/14005
+.. _#14008: https://github.com/RobotLocomotion/drake/pull/14008
+.. _#14009: https://github.com/RobotLocomotion/drake/pull/14009
+.. _#14010: https://github.com/RobotLocomotion/drake/pull/14010
+.. _#14013: https://github.com/RobotLocomotion/drake/pull/14013
+.. _#14014: https://github.com/RobotLocomotion/drake/pull/14014
+.. _#14015: https://github.com/RobotLocomotion/drake/pull/14015
+.. _#14017: https://github.com/RobotLocomotion/drake/pull/14017
+.. _#14020: https://github.com/RobotLocomotion/drake/pull/14020
+.. _#14021: https://github.com/RobotLocomotion/drake/pull/14021
+.. _#14023: https://github.com/RobotLocomotion/drake/pull/14023
+.. _#14024: https://github.com/RobotLocomotion/drake/pull/14024
+.. _#14025: https://github.com/RobotLocomotion/drake/pull/14025
+.. _#14028: https://github.com/RobotLocomotion/drake/pull/14028
+.. _#14030: https://github.com/RobotLocomotion/drake/pull/14030
+.. _#14031: https://github.com/RobotLocomotion/drake/pull/14031
+.. _#14036: https://github.com/RobotLocomotion/drake/pull/14036
+.. _#14037: https://github.com/RobotLocomotion/drake/pull/14037
+.. _#14042: https://github.com/RobotLocomotion/drake/pull/14042
+.. _#14045: https://github.com/RobotLocomotion/drake/pull/14045
+.. _#14046: https://github.com/RobotLocomotion/drake/pull/14046
+.. _#14048: https://github.com/RobotLocomotion/drake/pull/14048
+.. _#14049: https://github.com/RobotLocomotion/drake/pull/14049
+.. <end issue links>
+
+..
+  Current oldest_commit 0de592fdd53d55132b45a7a7c86b979a99f561e4 (exclusive).
+  Current newest_commit 6bd5f8c25cdcbb4049e57ec0f49f6e2c136d864a (inclusive).

tools/dev/relnotes.py

@@ -131,18 +131,19 @@ def _update(args, rst_filename, gh, drake):
     # Find new commits from newest to oldest.
     commits = []
     for commit in drake.commits(sha='master'):
-        commits.append(commit)
         if commit.sha == prior_newest_commit:
             break
+        commits.append(commit)
         if len(commits) == args.max_num_commits:
             raise RuntimeError("Reached max_num_commits")
-    new_newest_commit = commits[0].sha
 
     # Edit the newest_commit annotation.
-    old_line = lines[prior_newest_commit_line]
-    new_line = re.sub(r"[0-9a-f]{40}", new_newest_commit, old_line)
-    assert new_line != old_line
-    lines[prior_newest_commit_line] = new_line
+    if commits:
+        new_newest_commit = commits[0].sha
+        old_line = lines[prior_newest_commit_line]
+        new_line = re.sub(r"[0-9a-f]{40}", new_newest_commit, old_line)
+        assert new_line != old_line
+        lines[prior_newest_commit_line] = new_line
 
     # Add each commit to a section, based on its package.
     for commit in commits:
@@ -181,10 +182,13 @@ def _update(args, rst_filename, gh, drake):
     for i, one_line in enumerate(lines):
         if begin < i < end:
             continue
-        match = re.search("`#([0-9]*)`_", one_line)
-        if match:
+        while True:
+            match = re.search("`#([0-9]*)`_", one_line)
+            if not match:
+                break
             (number,) = match.groups()
             pr_numbers.add(number)
+            one_line = one_line[match.end(0):]
     pr_links = [
         f".. _#{n}: https://github.com/RobotLocomotion/drake/pull/{n}\n"
         for n in sorted(list(pr_numbers))