22 Pull requests merged by 7 people

• [setup] Upgrade Bazel to latest release 7.2.1

  #21676 merged Jul 9, 2024

• July external upgrades

  #21670 merged Jul 9, 2024

• Warn the user if the psd constraint has 1 or 2 rows.

  #21657 merged Jul 9, 2024

• Add RigidBody::CalcCenterOfMassTranslationalAccelerationInWorld().

  #21599 merged Jul 8, 2024

• [multibody] Clean up some helper file structure

  #21692 merged Jul 8, 2024

• [multibody] ContactResults no longer reports quadrature data

  #21683 merged Jul 8, 2024

• [planning] Improve direct transcription error messages

  #21688 merged Jul 8, 2024

• [multibody] Adjust contact results targets for uniformity

  #21689 merged Jul 8, 2024

• [pydrake] Remove vestigial build details

  #21690 merged Jul 8, 2024

• [multibody] Add ContactResults non-default constructor

  #21685 merged Jul 8, 2024

• [multibody] Clarify some docs, and other cleanups

  #21660 merged Jul 7, 2024

• [multibody] Avoid per-function template specialization

  #21680 merged Jul 5, 2024

• [Mujoco parser] Don't call CalcSpatialInertia unless needed

  #21665 merged Jul 4, 2024

• [DiffIkIntegrator] Update docstring port name X_WE => X_AE.

  #21679 merged Jul 3, 2024

• [workspace] Upgrade crate_universe to latest

  #21671 merged Jul 3, 2024

• [GCS] Support use_in_transcription in AddCost.

  #21650 merged Jul 3, 2024

• [framework] Add ExecuteForcedEvents() to System API

  #21664 merged Jul 3, 2024

• [math] Use dynamic dispatch for highway SIMD

  #21626 merged Jul 2, 2024

• Remove deprecated code 2024-07

  #21651 merged Jul 2, 2024

• Use DRAKE_THROW_UNLESS in cost/constraint

  #21654 merged Jul 2, 2024

• [geometry] Exempt a long test from kcov

  #21642 merged Jul 2, 2024

• [ClarabelSolver] Don't declare zero-dimensional cones

  #21646 merged Jul 2, 2024

10 Pull requests opened by 9 people

• Fix UniformSample for Zero-Measure HPolyhedron

  #21667 opened Jul 2, 2024

• [workspace] Upgrade rust_toolchain to latest

  #21672 opened Jul 2, 2024

• Upgrade gz_math_internal and sdformat_internal to latest

  #21674 opened Jul 2, 2024

• [WIP] Allow floating body to also use RpyFloatingJoint.

  #21678 opened Jul 3, 2024

• Add support for numpy 2.0

  #21684 opened Jul 4, 2024

• Implement USD geometry parsing tests (#17833)

  #21686 opened Jul 5, 2024

• [geometry] Speed up ClipPolygonbyHalfSpace

  #21691 opened Jul 8, 2024

• CalcSpatialInertia handles Convex correctly

  #21693 opened Jul 8, 2024

• [multibody] Rework ContactResults for performance and safety

  #21694 opened Jul 9, 2024

• [multibody topology] Update to support MbP's RemoveJoint feature

  #21695 opened Jul 9, 2024

3 Issues closed by 3 people

• July 2024 Monthly Jenkins update

  #21653 closed Jul 5, 2024

• Mujoco parser fails during CalcSpatialInertia, even when that inertia calculation is not needed.

  #21648 closed Jul 4, 2024

• [framework] Sugar to force a full update

  #21659 closed Jul 3, 2024

7 Issues opened by 5 people

• QueryObject::ComputeSignedDistancePairwiseClosestPoints is not deterministic

  #21687 opened Jul 6, 2024

• Non-Repeatability in KinematicTrajectoryOptimization

  #21682 opened Jul 3, 2024

• CalcSpatialInerta(Shape, double) doesn't respect Convex

  #21681 opened Jul 3, 2024

• BoxBoxGradient Failure in KinematicTrajectoryOptimization

  #21675 opened Jul 2, 2024

• FCL bug in IK optimization with AddMinimumDistanceLowerBoundConstraint

  #21673 opened Jul 2, 2024

• Upgrade Externals July 2024

  #21669 opened Jul 2, 2024

• Biannual linux kernel/security update for CI image

  #21668 opened Jul 2, 2024

23 Unresolved conversations

Sometimes conversations happen on old items that aren’t yet closed. Here is a list of all the Issues and Pull Requests with unresolved conversations.

• CalcSpatialInertia fails on this Hello Robot obj

  #21666 commented on Jul 8, 2024 • 19 new comments

• Improve GCS graphviz

  #21530 commented on Jul 8, 2024 • 5 new comments

• Do not use PSD or LMI constraint for small matrices

  #21663 commented on Jul 3, 2024 • 3 new comments

• NumPy 2.0 support (AttributeError: "itemset")

  #21577 commented on Jul 8, 2024 • 2 new comments

• [planning] Revise CollisionChecker parallel edge checks

  #21645 commented on Jul 9, 2024 • 2 new comments

• [WIP] Implements margin for hydroelastics

  #21528 commented on Jul 9, 2024 • 2 new comments

• [MuJoCo parser] Support parsing models from mujoco menagerie

  #20444 commented on Jul 4, 2024 • 1 new comment

• [wheel] Add an option for --snopt-path

  #21647 commented on Jul 2, 2024 • 1 new comment

• Implement SamplePaths for GraphOfConvexSets

  #21402 commented on Jul 5, 2024 • 1 new comment

• Implement support for slack variables on edges in GraphOfConvexSets

  #21403 commented on Jul 8, 2024 • 1 new comment

• Adds support for sparse A,B,C,D matrices in AffineSystem.

  #21591 commented on Jul 3, 2024 • 1 new comment

• Implements margin for convex hulls

  #21655 commented on Jul 9, 2024 • 0 new comments

• [multibody] Discrete MultibodyPlant uses sampled output ports

  #21623 commented on Jul 9, 2024 • 0 new comments

• [multibody] Use per-scalar translation units

  #21605 commented on Jul 5, 2024 • 0 new comments

• Convex hulls of multiple convex sets

  #21594 commented on Jul 3, 2024 • 0 new comments

• Option to Leverage Axis-Aligned Bounding Boxes when Computing Pairwise Intersections for GCS

  #21593 commented on Jul 8, 2024 • 0 new comments

• Reduce the noise in meshcat visualizer realtime rate reports

  #21534 commented on Jul 8, 2024 • 0 new comments

• [WIP] Add MultibodyPlant::CalcCenterOfMassTranslationalAccelerationInWorld()

  #21519 commented on Jul 9, 2024 • 0 new comments

• [parsing] Working PR for Schema checking of URDF

  #20824 commented on Jul 8, 2024 • 0 new comments

• [multibody] Working PR for new Multibody graphing code

  #20225 commented on Jul 8, 2024 • 0 new comments

• Reuse ContactSolverResults for performance

  #20545 commented on Jul 9, 2024 • 0 new comments

• Toppra Fails when Given Smooth-by-Construction Trajectory

  #20619 commented on Jul 6, 2024 • 0 new comments

• Remove X server requirement from OpenGL and VTK renderers

  #21050 commented on Jul 6, 2024 • 0 new comments