Announcements
- Drake will no longer support Ubuntu 18.04 “Bionic” as of April 1st, 2022
(#13391).
- Ubuntu users should plan to upgrade to Ubuntu 20.04 “Focal” before that time.
- Drake will add support for Ubuntu 22.04 “Jammy” as soon as possible after it’s release date, most likely by June 1st, 2022.
- MultibodyPlant now sorts DOFs in depth-first order rather than breadth-first order (#16035)
Breaking changes since v0.36.0
- None
Changes since v0.36.0
Dynamical Systems
New features
- None
Fixes
- Improve error message for diagram scalar conversion (#16131)
Mathematical Program
New features
- Speed up Iris region generation (#16037)
Fixes
- None
Multibody Dynamics and Geometry
New features
- Update MultibodyPlant to sort DOFs in depth-first order rather than breadth-first order (#16035)
- Adds suffix strings to give unique names to each position/velocity element (#14971)
- Add Meshcat::StaticHtml() for saving the scene (#16142)
- Add Meshcat::Flush() (#16144)
- New hydroelastic contact model in progress (#16102, #16111, #16112, #16115, #16120, #16122, #16126, #16134, #16160, #16162, #16163, #16164, #16175, #16176, #16177)
Fixes
- During meshcat visualization, avoid dropping messages due to backpressure (#16144)
- Fix error message when user sets a bad SpatialInertia (#16065)
Tutorials and examples
- None
Miscellaneous features and fixes
- Improve printing of symbolic RollPitchYaw and RigidTransform (#16097)
pydrake bindings
New features
- Add symbolic.Formula.Unapply (#16130)
Fixes
- None
Newly bound
- pydrake.geometry.render.RenderEngineGlParams (#16201)
- pydrake.solvers.mixed_integer_optimization_util.AddBilinearProductMcCormickEnvelopeSos2 (#16121)
- pydrake.solvers.mixed_integer_rotation_constraint.MixedIntegerRotationConstraintGenerator.ReturnType.B_ (#16121)
- pydrake.solvers.mixed_integer_rotation_constraint.MixedIntegerRotationConstraintGenerator.ReturnType.lambda_ (#16121)
- pydrake.solvers.mixed_integer_rotation_constraint.MixedIntegerRotationConstraintGenerator.interval_binning (#16121)
- pydrake.solvers.mixed_integer_rotation_constraint.MixedIntegerRotationConstraintGenerator.num_intervals_per_half_axis (#16121)
- pydrake.solvers.mixed_integer_rotation_constraint.MixedIntegerRotationConstraintGenerator.phi (#16121)
- pydrake.solvers.mixed_integer_rotation_constraint.MixedIntegerRotationConstraintGenerator.phi_nonnegative (#16121)
- pydrake.symbolic.Monomial.EvaluatePartial (#16091)
Build system
Build dependencies
- Upgrade common_robotics_utilities to latest commit (#16167)
- Upgrade intel_realsense_ros to latest release 2.3.2 (#16167)
- Upgrade meshcat_python to latest commit (#16167)
- Upgrade pybind11 to latest commit (#16140)
- Upgrade uwebsockets to latest release v20.8.0 (#16167)
Newly-deprecated APIs
- Drake will no longer support Ubuntu 18.04 “Bionic” as of April 1st, 2022 (#13391)
- drake::geometry::optimization::IrisInConfigurationSpace with a
sampleargument (#16037)
Removal of deprecated items
- DRAKE_ASSERT on a bare pointer (#16157)
- DRAKE_THROW_UNLESS on a bare pointer (#16157)
- common/eigen_stl_types.h (#16157)
- drake::examples::manipulation_station::ManipulationStation “pose_bundle” output port (#16156)
- drake::geometry::SceneGraph::get_pose_bundle_output_port (#16156)
- drake::geometry::SceneGraphInspector::all_frame_ids (#16156)
- drake::math::DiscardGradient specializations for Eigen::Transform (#16157)
- drake::math::DiscardZeroGradient specializations for Eigen::Transform (#16157)
- drake::math::gradientMatrixToAutoDiff (#16157)
- drake::math::resizeDerivativesToMatchScalar (#16157)
- drake::systems::SignalLog (#16158)
- drake::systems::SignalLogger (#16158)
- drake::systems::lcm::TriggerTypeSet (#16158)
- drake::systems::rendering::FrameVelocity (#16156)
- drake::systems::rendering::PoseAggregator (#16156)
- drake::systems::rendering::PoseBundle (#16156)
- drake::systems::rendering::PoseBundleToDrawMessage (#16156)
- drake::systems::rendering::PoseVector (#16156)
- drake::systems::rendering::RenderPoseToGeometryPose (#16156)
- drake::systems::sensors::RgbdSensor::X_WB_output_port (#16156)
- @jsoncpp external (#16155)
- libdrake_ignition_math.so (#16155)
- manipulation/schunk_wsg/schunk_buttons.py helper script (#16158)
Notes
This release provides pre-compiled binaries named
drake-20211213-{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.