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[doc] Add release notes v1.37.0 (#22413)
Co-Authored-By: Jeremy Nimmer <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,333 @@ | ||
| --- | ||
| title: Drake v1.37.0 | ||
| date: 2025-01-15 | ||
| released: 2025-01-15 | ||
| --- | ||
|
|
||
| # Announcements | ||
|
|
||
| * The default `DiscreteContactApproximation` for MultibodyPlant has been updated to `kLagged`. | ||
| * This approximation integrates engineering-quality, physics-based models | ||
| into our convex formulations, providing strong convergence guarantees. The | ||
| resulting SAP formulation is both robust and high-performing, while | ||
| preserving physical accuracy. Refer to [Castro et al., 2024](https://arxiv.org/abs/2312.03908) | ||
| for further details. Keep in mind that this may cause different simulation | ||
| results, and users who rely on a specific contact approximation might need | ||
| to update their code and/or modeling assumptions ([#21294][_#21294]). | ||
| * Drake now officially supports macOS 15 Sequoia ([#22324][_#22324]). | ||
| * On macOS, Ipopt is now compiled from source instead of using Homebrew ([#22331][_#22331]). | ||
| * One consequence is that MUMPS is no longer available as one of Ipopt's | ||
| linear solvers. The only available linear solver is SPRAL. | ||
| * For Bazel users, Drake has been ported to | ||
| [Bazel modules](https://bazel.build/external/module) instead of repository | ||
| rules ([#22338][_#22338], [#22432][_#22432]). | ||
| * Please start porting your project to the new technology. See the | ||
| [drake_bazel_external](https://github.com/RobotLocomotion/drake-external-examples/tree/main/drake_bazel_external) | ||
| example for how to use this from your project. | ||
| * Refer to the comments in | ||
| [drake/tools/flags/BUILD.bazel](https://github.com/RobotLocomotion/drake/blob/master/tools/flags/BUILD.bazel) | ||
| to see new flags you can use to govern the dependencies. | ||
| * After Drake has good support for modules, we plan to deprecate Drake's | ||
| repository rules for removal. For updates, follow [#20731][_#20731]. | ||
| * When building from source with CMake, the default value for `WITH_USER_EIGEN` | ||
| and `WITH_USER_FMT` and `WITH_USER_SPDLOG` is now `ON`. In other words, CMake | ||
| will use `find_package` to locate dependencies, instead of `pkg-config` | ||
| ([#22421][_#22421]). | ||
| * YAML load/save can now handle bytes and paths ([#22288][_#22288], [#22318][_#22318]). | ||
| * Drake now uses AVX512 instructions (when available) for hand-coded Highway (SIMD) functions. ([#22423][_#22423]). | ||
| To opt-out for reproducible results, see | ||
| <a href="/doxygen_cxx/group__environment__variables.html">DRAKE_DISABLE_CPU_FEATURES</a>. | ||
|
|
||
| # Breaking changes since v1.36.0 | ||
|
|
||
| * `InitialValueProgram` changed the data type of some static constants ([#22358][_#22358]) | ||
| * Remove LinearModelPredictiveControl ([#22306][_#22306]) | ||
| * If downstream C++ code calls RenderEngine::Clone and the runtime type of the RenderEngine is a downstream Python subclass, then the call will now throw an exception. The C++ call must be updated to opt-in to the shared_ptr template argument. ([#22353][_#22353]) | ||
| * `InverseDynamicsController::get_output_port_control()` now reports the actuation on joint actuators instead of generalized forces on all joints. The generalized forces on all joints are still reported, but through `get_output_port_generalized_force()` ([#22315][_#22315]) | ||
|
|
||
| Refer to our [Drake Stability Guidelines](/stable.html) for our policy | ||
| on API changes. | ||
|
|
||
| # Changes since v1.36.0 | ||
|
|
||
| ## Dynamical Systems | ||
|
|
||
| <!-- <relnotes for systems go here> --> | ||
|
|
||
|
|
||
|
|
||
| New features | ||
|
|
||
| * Add SparseMatrixGain as a primitive system ([#22314][_#22314]) | ||
| * Add DiagramBuilder overloads for shared_ptr ([#22347][_#22347]) | ||
| * Add LuenbergerObserver and KalmanFilter support for shared_ptr ([#22351][_#22351]) | ||
| * Add PidControlledSystem and RgbdSensorDiscrete support for shared_ptr ([#22347][_#22347]) | ||
| * Add SteadyStateKalmanFilter overload to accept the context by-const-ref ([#22351][_#22351]) | ||
|
|
||
| Fixes | ||
|
|
||
| * Fix JointStiffnessController to output actuation instead of generalized_force ([#22329][_#22329]) | ||
| * Fix InverseDynamicsController to output actuation instead of generalized_force ([#22315][_#22315]) | ||
|
|
||
| ## Mathematical Program | ||
|
|
||
| <!-- <relnotes for solvers go here> --> | ||
|
|
||
| New features | ||
|
|
||
| * Add MathematicalProgram::AddQuadraticCost w*‖x-x_d‖² ([#22424][_#22424]) | ||
| * SolverOptions is serializable to/from YAML ([#22078][_#22078]) | ||
|
|
||
| Fixes | ||
|
|
||
| * Change solver names to upstream's preferred case ([#22407][_#22407]) | ||
| * Fix MobyLCPSolver to use Drake logging not cerr ([#22359][_#22359]) | ||
| * IpoptSolver by default now uses SPRAL (not MUMPS) ([#22385][_#22385]) | ||
| * Relax the tolerance in IpoptSolver ([#22426][_#22426]) | ||
|
|
||
| ## Multibody Dynamics and Geometry | ||
|
|
||
| <!-- <relnotes for geometry,multibody go here> --> | ||
|
|
||
| New features | ||
|
|
||
| * Add a Parser::scene_graph() accessor ([#22317][_#22317]) | ||
| * Implement `ref` for joints in MuJoCo parser ([#22446][_#22446]) | ||
| * Add functionality to create Convex shapes from vertices and enable geometry::VPolytope to use it to create its corresponding Convex shape. ([#22390][_#22390], [#22442][_#22442]) | ||
| * AddUnitQuaternionConstraintOnPlant also adds the constraint that quaternion variables lie in [-1,1] ([#22373][_#22373]) | ||
| * Implement AddMultibodyPlantConstraints() that maps from the constraints used in MultibodyPlant to the constraints used in MathematicalProgram ([#22327][_#22327]) | ||
| * Use AddMultibodyPlantConstraints in InverseKinematics ([#22361][_#22361]) | ||
| * Add RenderEngine support for shared_ptr ([#22353][_#22353]) | ||
|
|
||
| Fixes | ||
|
|
||
| * Fix "more than one orientation" error in mujoco parser ([#22387][_#22387]) | ||
| * Fix a throw from RotationalInertia in debug mode ([#22401][_#22401]) | ||
| * Improve Mujoco parser's error message for "size from mesh" ([#22389][_#22389]) | ||
| * Make SAP the default discrete contact solver ([#21294][_#21294]) | ||
|
|
||
| ## Planning | ||
|
|
||
| <!-- <relnotes for planning go here> --> | ||
|
|
||
|
|
||
| New features | ||
|
|
||
| * None | ||
|
|
||
| Fixes | ||
|
|
||
| * None | ||
|
|
||
| ## Tutorials and examples | ||
|
|
||
| <!-- <relnotes for examples,tutorials go here> --> | ||
|
|
||
| * None | ||
|
|
||
| ## Miscellaneous features and fixes | ||
|
|
||
| <!-- <relnotes for common,math,lcm,lcmtypes,manipulation,perception,visualization go here> --> | ||
|
|
||
| * Improvements to YAML serialization: | ||
| * Add support for `std::filesystem::path` and `pathlib.Path` ([#22288][_#22288]) | ||
| * Add support for `drake::FileSource` ([#22288][_#22288]) | ||
| * Add support for YAML's `!!binary` tag ([#22318][_#22318]) | ||
| * In C++ the type is `std::vector<std::byte>`. | ||
| * In Python the type is `bytes`. | ||
| * Fix Python `yaml_dump_typed` for Union on str ([#22394][_#22394]) | ||
| * Add PiecewiseConstantCurvatureTrajectory ([#22214][_#22214]) | ||
|
|
||
| ## pydrake bindings | ||
|
|
||
| <!-- <relnotes for bindings go here> --> | ||
|
|
||
| New features | ||
|
|
||
| * Add binding for MultibodyPlant::GetActuationFromArray() ([#22356][_#22356]) | ||
|
|
||
| Fixes | ||
|
|
||
| * Fix diagram memory leaks ([#22221][_#22221], [#22343][_#22343]) | ||
|
|
||
| ## Build system | ||
|
|
||
| <!-- <relnotes for cmake,doc,setup,third_party,tools go here> --> | ||
|
|
||
| * Officially support macOS 15 Sequoia ([#22324][_#22324]) | ||
| * The command line option `--define=DRAKE_WERROR=ON` no longer has any effect ([#22335][_#22335]) | ||
| * The `DRAKE_OS` environment variable no longer has any effect ([#22432][_#22432]) | ||
| * Use AVX512 instructions when available ([#22423][_#22423]) | ||
|
|
||
| ## Build dependencies | ||
|
|
||
| <!-- <relnotes for workspace go here> --> | ||
|
|
||
| * Require Bazel >= 7.4 ([#22305][_#22305]) | ||
| * Use `MODULE.bazel` for all dependencies ([#22338][_#22338]) | ||
| * Modular Bazel builds use eigen, fmt, spdlog from bzlmod by default ([#22432][_#22432]) | ||
| * CMake builds prefer find_package over pkg-config ([#22421][_#22421]) | ||
| * Provide new Bazel flag to opt-out of spdlog entirely ([#22432][_#22432]) | ||
| * Provide new Bazel flags to control solver dependencies ([#22393][_#22393]) | ||
| * Add `rules_java` external ([#22305][_#22305]) | ||
| * Add `rules_shell` external ([#22305][_#22305]) | ||
| * Use `ipopt_internal` on macOS (previously was Ubuntu-only) ([#22331][_#22331]) | ||
| * Use `py_cc_toolchain` for configuring pybind11 ([#22346][_#22346]) | ||
| * Update `styleguide` to latest commit ([#22409][_#22409]) | ||
| * Upgrade `abseil_cpp_internal` to latest commit ([#22375][_#22375], [#22411][_#22411]) | ||
| * Upgrade `crate_universe` to latest ([#22310][_#22310]) | ||
| * Upgrade `crate_universe` to latest ([#22375][_#22375]) | ||
| * Upgrade `curl_internal` to latest release 8.11.1 ([#22376][_#22376]) | ||
| * Upgrade `dm_control_internal` to latest release 1.0.26 ([#22375][_#22375]) | ||
| * Upgrade `drake_models` to latest commit ([#22321][_#22321], [#22408][_#22408]) | ||
| * Upgrade `ipopt_internal` to latest release 3.14.17 ([#22388][_#22388]) | ||
| * Upgrade `lcm` to latest release v1.5.1 ([#22458][_#22458]) | ||
| * Upgrade `mypy_internal` to latest release 1.14.1 ([#22375][_#22375]) | ||
| * Upgrade `rules_rust` to latest release 0.56.0 ([#22319][_#22319]) | ||
| * Upgrade `rules_cc` to latest release 0.1.0 -- for MODULE only, not WORKSPACE ([#22432][_#22432]) | ||
| * Upgrade `tinygltf_internal` to latest release 2.9.4 ([#22375][_#22375]) | ||
| * Upgrade `vtk_internal` to latest commit ([#22384][_#22384]) | ||
| * Remove vendored `libcrypt` from wheel builds ([#22392][_#22392]) | ||
| * (macOS only) Upgrade Python venv lockfile to latest versions ([#22381][_#22381]) | ||
|
|
||
| ## Newly-deprecated APIs | ||
|
|
||
| * Subclassing `drake::multibody::MultibodyPlant` ([#22397][_#22397]) | ||
| * Setting the `drake::solvers::IpoptSolver` solver option named `linear_solver` to the value `mumps` ([#22385][_#22385]) | ||
| * `drake::solvers::MathematicalProgram::GetSolverOptionsDouble()` ([#22078][_#22078]) | ||
| * `drake::solvers::MathematicalProgram::GetSolverOptionsInt()` ([#22078][_#22078]) | ||
| * `drake::solvers::MathematicalProgram::GetSolverOptionsStr()` ([#22078][_#22078]) | ||
| * `drake::solvers::MobyLCPSolver::SetLoggingEnabled` ([#22359][_#22359]) | ||
| * `drake::solvers::SolverOptions::CheckOptionKeysForSolver()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::GetOptionsDouble()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::GetOptionsInt()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::GetOptionsStr()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::GetOptions()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::GetSolverIds()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::common_solver_options()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::get_max_threads()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::get_print_file_name()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::get_print_to_console()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::get_standalone_reproduction_file_name()` ([#22078][_#22078]) | ||
| * `drake::solvers::SolverOptions::operator<<()` ([#22078][_#22078]) | ||
| * `drake::solvers::to_string(const &SolverOptions)` ([#22078][_#22078]) | ||
| * `drake::systems::controllers::JointStiffnessController::get_output_port_generalized_force()` ([#22329][_#22329]) | ||
| * `drake::systems::controllers::JointStiffnessController` output port named `generalized_force` ([#22329][_#22329]) | ||
| * `drake::trajectories::Trajectory` virtual interface for subclasses ([#22395][_#22395]) | ||
| * Subclasses are no longer allowed to override public virtual methods. They | ||
| must now override the NVI ("non-virtual interface") protected methods, e.g., | ||
| `do_cols()` instead of `cols()`. | ||
| * `pydrake.common.yaml.yaml_load_typed` behavior with certain implicit primitive conversions ([#22410][_#22410]); the following behaviors are deprecated: | ||
| * writing a bool in a document and loading it into an int; | ||
| * writing a bool in a document and loading it into a float; | ||
| * writing a bool in a document and loading it into a string; | ||
| * writing an int in a document and loading it into a bool; | ||
| * writing an int in a document and loading it into a string; | ||
| * writing a float in a document and loading it into a bool; | ||
| * writing a non-integral float in a document and loading it into an int; | ||
| * writing a float in a document and loading it into a string; | ||
| * writing a string in a document and loading it into a bool. | ||
| * `@python//:python` label in Bazel ([#22346][_#22346]) | ||
| * `@python//:python_direct_link` label in Bazel ([#22346][_#22346]) | ||
| * The `@cc` external ([#22335][_#22335]) | ||
| * The `@common_robotics_utilities` external ([#22334][_#22334]) | ||
| * The `@ipopt` external ([#22331][_#22331]) | ||
| * The `@voxelized_geometry_tools` external ([#22334][_#22334]) | ||
|
|
||
| ## Removal of deprecated items | ||
|
|
||
| * `//manipulation/util:meshlab_to_sdf` ([#22368][_#22368]) | ||
| * `//manipulation/util:show_model` ([#22368][_#22368]) | ||
| * `drake::geometry::ReadObjToTriangleSurfaceMesh` overload that takes a `std::istream` ([#21914][_#21914], [#22368][_#22368]) | ||
| * `drake::multibody::FrameBase` ([#21891][_#21891], [#22368][_#22368]) | ||
| * `drake::multibody::MultibodyPlant::set_discrete_contact_solver()` ([#20672][_#20672], [#21294][_#21294]) | ||
| * `drake::systems::sensors::RgbdSensor::X_BC` ([#21937][_#21937], [#22368][_#22368]) | ||
| * `drake::systems::sensors::RgbdSensor::X_BD` ([#21937][_#21937], [#22368][_#22368]) | ||
| * `drake::systems::sensors::RgbdSensor::X_PB` ([#21937][_#21937], [#22368][_#22368]) | ||
| * `drake::systems::sensors::RgbdSensor::color_render_camera` ([#21937][_#21937], [#22368][_#22368]) | ||
| * `drake::systems::sensors::RgbdSensor::depth_camera_info` ([#21937][_#21937], [#22368][_#22368]) | ||
| * `drake::systems::sensors::RgbdSensor::depth_render_camera` ([#21937][_#21937], [#22368][_#22368]) | ||
| * `drake::systems::sensors::RgbdSensor::parent_frame_id` ([#21937][_#21937], [#22368][_#22368]) | ||
|
|
||
| # Notes | ||
|
|
||
|
|
||
| This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v1.37.0) named | ||
| ``drake-1.37.0-{jammy|noble|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> --> | ||
| [_#20672]: https://github.com/RobotLocomotion/drake/pull/20672 | ||
| [_#20731]: https://github.com/RobotLocomotion/drake/pull/20731 | ||
| [_#21294]: https://github.com/RobotLocomotion/drake/pull/21294 | ||
| [_#21891]: https://github.com/RobotLocomotion/drake/pull/21891 | ||
| [_#21914]: https://github.com/RobotLocomotion/drake/pull/21914 | ||
| [_#21937]: https://github.com/RobotLocomotion/drake/pull/21937 | ||
| [_#22078]: https://github.com/RobotLocomotion/drake/pull/22078 | ||
| [_#22214]: https://github.com/RobotLocomotion/drake/pull/22214 | ||
| [_#22221]: https://github.com/RobotLocomotion/drake/pull/22221 | ||
| [_#22288]: https://github.com/RobotLocomotion/drake/pull/22288 | ||
| [_#22305]: https://github.com/RobotLocomotion/drake/pull/22305 | ||
| [_#22306]: https://github.com/RobotLocomotion/drake/pull/22306 | ||
| [_#22310]: https://github.com/RobotLocomotion/drake/pull/22310 | ||
| [_#22314]: https://github.com/RobotLocomotion/drake/pull/22314 | ||
| [_#22315]: https://github.com/RobotLocomotion/drake/pull/22315 | ||
| [_#22317]: https://github.com/RobotLocomotion/drake/pull/22317 | ||
| [_#22318]: https://github.com/RobotLocomotion/drake/pull/22318 | ||
| [_#22319]: https://github.com/RobotLocomotion/drake/pull/22319 | ||
| [_#22321]: https://github.com/RobotLocomotion/drake/pull/22321 | ||
| [_#22324]: https://github.com/RobotLocomotion/drake/pull/22324 | ||
| [_#22327]: https://github.com/RobotLocomotion/drake/pull/22327 | ||
| [_#22329]: https://github.com/RobotLocomotion/drake/pull/22329 | ||
| [_#22331]: https://github.com/RobotLocomotion/drake/pull/22331 | ||
| [_#22334]: https://github.com/RobotLocomotion/drake/pull/22334 | ||
| [_#22335]: https://github.com/RobotLocomotion/drake/pull/22335 | ||
| [_#22338]: https://github.com/RobotLocomotion/drake/pull/22338 | ||
| [_#22343]: https://github.com/RobotLocomotion/drake/pull/22343 | ||
| [_#22346]: https://github.com/RobotLocomotion/drake/pull/22346 | ||
| [_#22347]: https://github.com/RobotLocomotion/drake/pull/22347 | ||
| [_#22351]: https://github.com/RobotLocomotion/drake/pull/22351 | ||
| [_#22353]: https://github.com/RobotLocomotion/drake/pull/22353 | ||
| [_#22356]: https://github.com/RobotLocomotion/drake/pull/22356 | ||
| [_#22358]: https://github.com/RobotLocomotion/drake/pull/22358 | ||
| [_#22359]: https://github.com/RobotLocomotion/drake/pull/22359 | ||
| [_#22361]: https://github.com/RobotLocomotion/drake/pull/22361 | ||
| [_#22368]: https://github.com/RobotLocomotion/drake/pull/22368 | ||
| [_#22373]: https://github.com/RobotLocomotion/drake/pull/22373 | ||
| [_#22375]: https://github.com/RobotLocomotion/drake/pull/22375 | ||
| [_#22376]: https://github.com/RobotLocomotion/drake/pull/22376 | ||
| [_#22381]: https://github.com/RobotLocomotion/drake/pull/22381 | ||
| [_#22384]: https://github.com/RobotLocomotion/drake/pull/22384 | ||
| [_#22385]: https://github.com/RobotLocomotion/drake/pull/22385 | ||
| [_#22387]: https://github.com/RobotLocomotion/drake/pull/22387 | ||
| [_#22388]: https://github.com/RobotLocomotion/drake/pull/22388 | ||
| [_#22389]: https://github.com/RobotLocomotion/drake/pull/22389 | ||
| [_#22390]: https://github.com/RobotLocomotion/drake/pull/22390 | ||
| [_#22392]: https://github.com/RobotLocomotion/drake/pull/22392 | ||
| [_#22393]: https://github.com/RobotLocomotion/drake/pull/22393 | ||
| [_#22394]: https://github.com/RobotLocomotion/drake/pull/22394 | ||
| [_#22395]: https://github.com/RobotLocomotion/drake/pull/22395 | ||
| [_#22397]: https://github.com/RobotLocomotion/drake/pull/22397 | ||
| [_#22401]: https://github.com/RobotLocomotion/drake/pull/22401 | ||
| [_#22407]: https://github.com/RobotLocomotion/drake/pull/22407 | ||
| [_#22408]: https://github.com/RobotLocomotion/drake/pull/22408 | ||
| [_#22409]: https://github.com/RobotLocomotion/drake/pull/22409 | ||
| [_#22410]: https://github.com/RobotLocomotion/drake/pull/22410 | ||
| [_#22411]: https://github.com/RobotLocomotion/drake/pull/22411 | ||
| [_#22421]: https://github.com/RobotLocomotion/drake/pull/22421 | ||
| [_#22423]: https://github.com/RobotLocomotion/drake/pull/22423 | ||
| [_#22424]: https://github.com/RobotLocomotion/drake/pull/22424 | ||
| [_#22426]: https://github.com/RobotLocomotion/drake/pull/22426 | ||
| [_#22432]: https://github.com/RobotLocomotion/drake/pull/22432 | ||
| [_#22442]: https://github.com/RobotLocomotion/drake/pull/22442 | ||
| [_#22446]: https://github.com/RobotLocomotion/drake/pull/22446 | ||
| [_#22458]: https://github.com/RobotLocomotion/drake/pull/22458 | ||
| <!-- <end issue links> --> | ||
|
|
||
| <!-- | ||
| Current oldest_commit b95c19c62d2eab2c2a6a3e37d11788e696b2111f (exclusive). | ||
| Current newest_commit 6e2350171d34d51cb66b8d5e520252a638c2729a (inclusive). | ||
| --> |
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