Drake v0.24.0

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Announcements

This release of Drake does NOT support macOS. The macOS homebrew dependencies are rapidly shifting, and we have been unable to keep up.

  • The python3.9 upgrade remains an unsolved problem (#14243).
  • VTK and drake-visualizer binaries remain an unsolved problem (#14206).

As soon as macOS functionality is restored, we will release new version of Drake that re-adds support.

Breaking changes since v0.23.0

  • Temporary removal of macOS support.
  • De-referencing a drake::EigenPtr no longer checks for nullptr (#14088). Users relying on the nullptr checks should add their own before dereferencing.
  • The exact exception subclasses thrown by VectorBase changed (#14101).
  • BasicVector::DoGetAtIndex changed from protected to private.
  • SceneGraph::AllocateContext now returns an empty context without any geometry. Users should call CreateDefaultContext instead (#14189). Note that System::AllocateContext generally only ever guarantees allocated storage, not any particular value; in this case, though, it was easy to accidentally rely on geometry being present by default.

Changes since v0.23.0

Dynamical Systems

New features

  • Add System::HasInputPort and System::HasOutputPort (#14176)
  • Add DiagramBuilder::GetSystems (#14066)
  • Add Context::SetStateAndParametersFrom (#14156)
  • Add SimulatorConfig, ApplySimulatorConfig, ExtractSimulatorConfig (#14103, #14135, #14150)
  • Add publish_period option to ConnectLcmScope (#14062)

Fixes

  • Remove VectorBase::operator[] bounds checking (#14101)
  • Improve error message for bushing gimbal-lock singularity (#14126)
  • Rename accelerometer_sensor.h to accelerometer.h (#14185)
  • Rename gyroscope_sensor.h to gyroscope.h (#14185)

Mathematical Program

New features

  • AggregateLinearCosts (#14190)
  • AggregateQuadraticAndLinearCosts (#14165)
  • GenericPolynomial operators (+, -, *, /, ==, pow, hash) (#14053, #14100, #14158)

Fixes

  • Improve inlining for EigenPtr (#14088)
  • Improve inlining for AutoDiffXd::operator*= (#14171)
  • Document that CSDP supports SOCP (#14122)

Multibody Dynamics

New features

  • MultibodyPlant calculates the spatial momentum of a subset of model instances (#13916)
  • Rewrite GlobalInverseKinematics using MultibodyPlant public API (#13921)
  • Add parameters for FixedOffsetFrame (#14137)
  • SceneGraph can store geometry data as State or Parameter (#14189)
  • SceneGraph provides GeometryVersion to track geometry changes (#14196)
  • Add model directives tooling for scene assembly (#14038, #14038, #14144, #14145)
  • New hydroelastic contact model in progress (#14178, #14110, #13978, #13808, #14216)

Fixes

  • Add unit length constraint on quaternion variables (#14141)
  • Improve inlining for RotationalInertia::ReExpress (#14088)
  • Change UnitInertia::ReExpress to use frame A instead of frame F (#14112)
  • Don’t warn when re-discovering the same package.xml (#14089)
  • Merge all multibody/math targets into a single package :spatial_algebra, with header spatial_algebra.h (#14113, #14117)
  • Improve error message for LinearBushingRollPitchYaw gimbal-lock singularity (#14126)

Tutorials and examples

  • manipulation_station: Add package.xml (#14164)
  • manipulation_station: Remove noisy warnings about unsupported joint limits (#14079)

Miscellaneous features and fixes

  • find_runfiles: Always return a normalized path (#14211)
  • jaco_description: Add package.xml (#14134)
  • pr2: Remove *.obj files from git and use stl2obj instead (#14219)
  • realsense2_description: Add d415 camera model (#14203)
  • yaml: Fix in std::optional handling (#14076)
  • yaml: Add support for BsplineBasis and BsplineTrajectory (#14106)

pydrake bindings

New features

  • jupyter: Add joint sliders using publishing callback (#14059)
  • meshcat: Add option to set contact cylinder radius (#14131)
  • meshcat: Rewrite MeshcatContactVisualizer (#14210, #14218)
  • multibody: Allow SpatialVector’s to be pickled (#14104)
  • solvers: Add vectorized version of EvalBinding (#14064)

Fixes

  • multibody: SpatialVector default constructor initializes to NaN (#14096)
  • jupyter: Improve descriptive text for joint sliders (#14130)
  • Fix missing runtime module imports (#14072, #14095)

Newly bound

  • pydrake.geometry.render.ClippingRange (#13835)
  • pydrake.geometry.render.ColorRenderCamera (#13835)
  • pydrake.geometry.render.DepthRange (#13835)
  • pydrake.geometry.render.DepthRenderCamera (#13835)
  • pydrake.geometry.render.RenderCameraCore (#13835)
  • pydrake.geometry.render.RenderEngine (#13835)
  • pydrake.math.BsplineBasis (#14201)
  • pydrake.math.BsplineTrajectory (#14201)
  • pydrake.multibody.math.SpatialAcceleration.ComposeWithMovingFrameAcceleration (#14193)
  • pydrake.multibody.math.SpatialAcceleration.Shift (#14193)
  • pydrake.multibody.math.SpatialForce.Shift (#14098)
  • pydrake.multibody.math.SpatialForce.dot (#14098)
  • pydrake.multibody.math.SpatialMomentum.Shift (#14193)
  • pydrake.multibody.math.SpatialMomentum.dot (#14193)
  • pydrake.multibody.math.SpatialVector arithmetic operators (#14098)
  • pydrake.multibody.math.SpatialVelocity.ComposeWithMovingFrameVelocity (#14098)
  • pydrake.multibody.math.SpatialVelocity.Shift (#14098)
  • pydrake.multibody.math.SpatialVelocity.dot (#14098)
  • pydrake.multibody.optimization.ContactWrench (#14140)
  • pydrake.multibody.optimization.StaticEquilibriumProblem (#14140)
  • pydrake.multibody.parsing.PackageMap.AddPackageXml (#14192)
  • pydrake.multibody.plant.ContactModel (#14108)
  • pydrake.multibody.plant.CoulombFriction default ctor (#14192)
  • pydrake.multibody.plant.MultibodyPlant.CalcSpatialMomentumInWorldAboutPoint (#14078)
  • pydrake.multibody.plant.MultibodyPlant.GetFloatingBaseBodies (#14139)
  • pydrake.multibody.plant.MultibodyPlant.GetFreeBodyPose (#14166)
  • pydrake.multibody.plant.MultibodyPlant.get_contact_model (#14108)
  • pydrake.multibody.plant.MultibodyPlant.set_contact_model (#14108)
  • pydrake.multibody.plant.PropellerInfo (#14192)
  • pydrake.multibody.tree.BallRpyJoint.damping (#14195)
  • pydrake.multibody.tree.BallRpyJoint.get_default_angles (#14195)
  • pydrake.multibody.tree.BallRpyJoint.set_default_angles (#14195)
  • pydrake.multibody.tree.Body.GetParentPlant (#14195)
  • pydrake.multibody.tree.Body.floating_positions_start (#14166)
  • pydrake.multibody.tree.Body.floating_velocities_start (#14166)
  • pydrake.multibody.tree.DoorHinge ctor (#14195)
  • pydrake.multibody.tree.FixedOffsetFrame additional ctors (#14195)
  • pydrake.multibody.tree.ForceElement.GetParentPlant (#14195)
  • pydrake.multibody.tree.Frame.GetParentPlant (#14195)
  • pydrake.multibody.tree.Joint.AddInDamping (#14195)
  • pydrake.multibody.tree.Joint.AddInOneForce (#14195)
  • pydrake.multibody.tree.Joint.GetOnePosition (#14195)
  • pydrake.multibody.tree.Joint.GetOneVelocity (#14195)
  • pydrake.multibody.tree.Joint.GetParentPlant (#14195)
  • pydrake.multibody.tree.Joint.type_name (#14195)
  • pydrake.multibody.tree.JointActuator.GetParentPlant (#14195)
  • pydrake.multibody.tree.JointActuator.get_actuation_vector (#14195)
  • pydrake.multibody.tree.JointActuator.set_actuation_vector (#14195)
  • pydrake.multibody.tree.LinearBushingRollPitchYaw (#14070)
  • pydrake.multibody.tree.MultibodyForces ctor (#14193)
  • pydrake.multibody.tree.MultibodyForces.num_bodies (#14193)
  • pydrake.multibody.tree.MultibodyForces.num_velocities (#14193)
  • pydrake.multibody.tree.PlanarJoint.get_default_rotation (#14195)
  • pydrake.multibody.tree.PlanarJoint.get_default_translation (#14195)
  • pydrake.multibody.tree.PlanarJoint.set_default_pose (#14195)
  • pydrake.multibody.tree.PlanarJoint.set_default_rotation (#14195)
  • pydrake.multibody.tree.PlanarJoint.set_default_translation (#14195)
  • pydrake.multibody.tree.PrismaticJoint.acceleration_lower_limit (#14195)
  • pydrake.multibody.tree.PrismaticJoint.acceleration_upper_limit (#14195)
  • pydrake.multibody.tree.PrismaticJoint.get_default_translation (#14195)
  • pydrake.multibody.tree.PrismaticJoint.position_lower_limit (#14195)
  • pydrake.multibody.tree.PrismaticJoint.position_upper_limit (#14195)
  • pydrake.multibody.tree.PrismaticJoint.set_default_translation (#14195)
  • pydrake.multibody.tree.PrismaticJoint.velocity_lower_limit (#14195)
  • pydrake.multibody.tree.PrismaticJoint.velocity_upper_limit (#14195)
  • pydrake.multibody.tree.RevoluteJoint additional ctors (#14195)
  • pydrake.multibody.tree.RevoluteJoint.acceleration_lower_limit (#14195)
  • pydrake.multibody.tree.RevoluteJoint.acceleration_upper_limit (#14195)
  • pydrake.multibody.tree.RevoluteJoint.get_angular_rate (#14195)
  • pydrake.multibody.tree.RevoluteJoint.get_default_angle (#14195)
  • pydrake.multibody.tree.RevoluteJoint.position_lower_limit (#14195)
  • pydrake.multibody.tree.RevoluteJoint.position_upper_limit (#14195)
  • pydrake.multibody.tree.RevoluteJoint.set_angular_rate (#14195)
  • pydrake.multibody.tree.RevoluteJoint.set_default_angle (#14195)
  • pydrake.multibody.tree.RevoluteJoint.velocity_lower_limit (#14195)
  • pydrake.multibody.tree.RevoluteJoint.velocity_upper_limit (#14195)
  • pydrake.multibody.tree.RigidBody additional ctors (#14195)
  • pydrake.multibody.tree.RigidBody.SetCenterOfMassInBodyFrame (#14195)
  • pydrake.multibody.tree.RigidBody.SetMass (#14195)
  • pydrake.multibody.tree.RigidBody.SetSpatialInertiaInBodyFrame (#14195)
  • pydrake.multibody.tree.RigidBody.default_rotational_inertia (#14195)
  • pydrake.multibody.tree.RotationalInertia (many methods) (#14193)
  • pydrake.multibody.tree.RotationalInertia.ReExpress (#14111, #14194)
  • pydrake.multibody.tree.RotationalInertia.UnitInertia.ReExpress (#14111, #14194)
  • pydrake.multibody.tree.SpatialInertia.MakeFromCentralInertia (#14193)
  • pydrake.multibody.tree.UniformGravityFieldElement default ctor (#14195)
  • pydrake.multibody.tree.UniformGravityFieldElement.CalcGravityGeneralizedForces (#14195)
  • pydrake.multibody.tree.UniformGravityFieldElement.kDefaultStrength (#14195)
  • pydrake.multibody.tree.UnitInertia (many methods) (#14193)
  • pydrake.multibody.tree.UniversalJoint.get_default_angles (#14195)
  • pydrake.multibody.tree.UniversalJoint.set_default_angles (#14195)
  • pydrake.solvers.mathematicalprogram.MathematicalProgram.AddLorentzConeConstraint (#14119)
  • pydrake.solvers.mathematicalprogram.MathematicalProgram.AddRotatedLorentzConeConstraint (#14120)
  • pydrake.symbolic.Monomial ctor (#14222)
  • pydrake.systems.framework.BasicVector.set_value (#14231)
  • pydrake.systems.framework.ContinuousState.SetFrom (#14231)
  • pydrake.systems.framework.ContinuousState.SetFromVector (#14231)
  • pydrake.systems.framework.ContinuousState.ctors (#14231)
  • pydrake.systems.framework.ContinuousState.get_generalized_position (#14231)
  • pydrake.systems.framework.ContinuousState.get_generalized_velocity (#14231)
  • pydrake.systems.framework.ContinuousState.get_misc_continuous_state (#14231)
  • pydrake.systems.framework.ContinuousState.get_mutable_generalized_position (#14231)
  • pydrake.systems.framework.ContinuousState.get_mutable_generalized_velocity (#14231)
  • pydrake.systems.framework.ContinuousState.get_mutable_misc_continuous_state (#14231)
  • pydrake.systems.framework.ContinuousState.num_q (#14231)
  • pydrake.systems.framework.ContinuousState.num_v (#14231)
  • pydrake.systems.framework.ContinuousState.num_z (#14231)
  • pydrake.systems.framework.ContinuousState.operator[] (#14231)
  • pydrake.systems.framework.DiscreteValues ctors (#14231)
  • pydrake.systems.framework.DiscreteValues.SetFrom (#14231)
  • pydrake.systems.framework.DiscreteValues.operator[] (#14231)
  • pydrake.systems.framework.VectorBase.PlusEqScaled (#14231)
  • pydrake.systems.framework.VectorBase.SetFrom (#14231)
  • pydrake.systems.framework.VectorBase.operator[] (#14231)

Build system and dependencies

  • Upgrade to Xcode 12 on Catalina (#14142)
    • Disable range-loop-analysis warnings for Clang 10 and Apple Clang 12 (#14091, #14094)
  • Upgrade buildifier to latest release 3.5.0 (#14152)
  • Upgrade dreal to latest release 4.20.09.1 (#14083)
  • Upgrade fcl to latest commit (#14063)
  • Upgrade googlebenchmark to latest release (#14154)
  • Upgrade ignition_math to latest release 6.6.0 (#14148)
  • Upgrade rules_python to latest release 0.0.3 (#14161)
  • Upgrade sdformat to latest release 9.3.0 (#14147)
  • Upgrade spdlog to latest release 1.8.1 (#14153)
  • Upgrade styleguide latest commit (#14217)
  • Downgrade doxygen to 1.8.15 on macOS (#14169)
  • Fix snopt external for Bazel 3.6 (#14179)
  • Fix compilation errors vs Eigen 3.3.8 (#14159)
  • Do not install certain private headers (#14221)
  • Cleanup pkg-config path for ibex (#14109)
  • Clarify which vector_gen macros are to be used outside of Drake (#14092)

Newly-deprecated APIs

  • drake/math/expmap.h include path (#14099)
  • drake/multibody/math/spatial_acceleration.h include path (#14117)
  • drake/multibody/math/spatial_force.h include path (#14117)
  • drake/multibody/math/spatial_momentum.h include path (#14117)
  • drake/multibody/math/spatial_vector.h include path (#14117)
  • drake/multibody/math/spatial_velocity.h include path (#14117)
  • drake/systems/analysis/simulator_flags.h include path (#14135)
  • drake/systems/sensors/accelerometer_sensor.h include path (#14185)
  • drake/systems/sensors/gyroscope_sensor.h include path (#14185)
  • drake::math::closestExpmap (#14099)
  • drake::math::expmap2quat (#14099)
  • drake::math::quat2expmap (#14099)
  • drake::math::quat2expmapSequence (#14099)
  • drake::multibody::math::SpatialVector::ScalarType (#14188)
  • drake::systems::Context::FixInputPort() (#14093)
  • tools/vector_gen/vector_gen.bzl:drake_cc_vector_gen (#14092)
  • tools/vector_gen/vector_gen.bzl:drake_vector_gen_lcm_sources (#14092)
  • The numpy external (#14116)

Removal of deprecated items

  • pydrake.geometry.SceneGraphInspector.GetNameByFrameId (#14128)
  • pydrake.geometry.SceneGraphInspector.GetNameByGeometryId (#14128)
  • schema::Rotation backwards compatibility for rotation_rpy_deg (#14143)
  • Automatic conversion and interop between RigidTransform/Isometry3 (#14128)
    • drake::math::RigidTransform::linear
    • drake::math::RigidTransform::matrix
    • drake::math::RigidTransform::operator Isometry3
  • All functions within manipulation/util/bot_core_lcm_encode_decode.h (#14128)
    • ::EncodeVector3d
    • ::DecodeVector3d
    • ::EncodeQuaternion
    • ::DecodeQuaternion
    • ::EncodePose
    • ::DecodePose
    • ::EncodeTwist
    • ::DecodeTwist

Notes

This release provides pre-compiled binaries named drake-20201026-{bionic|focal|mac}.tar.gz. See Nightly 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.