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 (#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 (#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.
• 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 Stable Releases for instructions on how to use them.

Drake binary releases incorporate a pre-compiled version of SNOPT as part of the Mathematical Program toolbox. Thanks to Philip E. Gill and Elizabeth Wong for their kind support.