Announcements
This is relatively minor update to the prior release, v0.20.0.
On macOS, Homebrew now symlinks Drake’s compatible version of Python 3 (3.8)
into /usr/local/bin/, so it is on the $PATH by default. There is no
longer any need to add /usr/local/opt/python@3.8/bin to your $PATH.
Breaking changes since v0.20.0
The new feature in v0.20.0 for JavaScript system diagram visualization
(#13644) with function name drake::systems::GenerateHtml in C++ and
pydrake.systems.framework.GenerateHtml in Python fetched the GoJS graph
library in your browser with only an evaluation license. We have removed this
feature while we sort out the licensing question (#13705, #13720).
Changes since v0.20.0:
Dynamical Systems
Fixes
- Remove thread-unsafe private data from InverseDynamics system (#13706)
- Improve error checking of DiscreteValues (#13681)
Mathematical Program
Fixes
- Speed up QuadraticCost evaluation for AutoDiff (#13674)
Multibody Dynamics
Fixes
- Check for positive penetration_allowance (#13694)
- Improve CalcJacobianAngularAndOrTranslationalVelocityInWorld efficiency (#13682)
Tutorials and examples
New features
- manipulation_station: Add dualshock4 teleoperation (#13570)
pydrake bindings
New features
Fixes
- Improve documentation of module path naming for C++ vs Python (#13555)
- Relax RTLD_GLOBAL warning for torch>=1.5.0 (#13708)
Newly bound
- pydrake.geometry.SceneGraph.RemoveRole (#13731)
- pydrake.solvers.mathematicalprogram.MathematicalProgram.AddLinearEqualityConstraint overload (#13703)
Build system and dependencies
No changes.
Newly-deprecated APIs
Removal of deprecated items
No changes.
Notes
This release provides
pre-compiled binaries
named drake-20200723-{bionic|focal|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.