doc: Update Markdown to ensure Jekyll preview can work (RobotLocomoti…

…on#14659)

Fix some minor styling

doc/_pages/clion.md

@@ -2,16 +2,15 @@
 title: CLion IDE setup
 ---
 
-{% include post-components/note.html
-  content = "EVERY SETUP STEP IN THIS DOCUMENT IS CRITICAL TO GET CLION WORKING
-  PROPERLY.  Read carefully, and do not skip anything."
-%}
-
-{% include post-components/note.html
-  content = 'The Bazel plugin for CLion does not support macOS, per
-  <a href="https://github.com/bazelbuild/intellij/issues/109">
-    https://github.com/bazelbuild/intellij/issues/109</a>.'
-%}
+<div class="note" markdown="1">
+EVERY SETUP STEP IN THIS DOCUMENT IS CRITICAL TO GET CLION WORKING PROPERLY.
+Read carefully, and do not skip anything.
+</div>
+
+<div class="note" markdown="1">
+The Bazel plugin for CLion does not support macOS, per
+<https://github.com/bazelbuild/intellij/issues/109>
+</div>
 
 This guide describes how to set up Drake in the JetBrains CLion IDE on Ubuntu.
 

doc/_pages/gallery.md

@@ -25,12 +25,12 @@ The Robotics team at TRI is working hard to close the gap between simulation and
 reality.  For manipulation, one important piece is accurate simulation of
 rigid-body contact.
 
-{% include post-components/video.html
+{% include video.html
   url = "https://www.youtube.com/embed/X9QuMrx-psk"
   full_width = true
 %}
 
-{% include post-components/video.html
+{% include video.html
   url = "https://www.youtube.com/embed/b_HfjGCa0jU"
   full_width = true
 %}
@@ -47,7 +47,7 @@ perception, planning, and control.  Here is a highlight video of the class
 "manipulation station" (the three views are rendered from the RGB-D cameras
 mounted on the station):
 
-{% include post-components/video.html
+{% include video.html
   url = "https://www.youtube.com/embed/zUS33rvbRsc"
   full_width = true
 %}
@@ -88,7 +88,7 @@ used. For maintenance reasons, it has been removed. If, in the future, users
 feel they'd like to have it back, please post an issue and we can investigate
 its restoration and completion.
 
-{% include post-components/video.html
+{% include video.html
   url = "https://www.youtube.com/embed/UKxytyIJmq8"
   full_width = true
 %}
@@ -109,12 +109,12 @@ task-and-motion-planning framework.
 Drake has examples of combining its rigid body kinematic tree dynamics with
 penalty forces to model a closed loop topology, such as a four bar linkage.
 
-{% include post-components/video.html
+{% include video.html
   url = "https://www.youtube.com/embed/X34hCwJ_iq8"
   full_width = true
 %}
 
-{% include post-components/video.html
+{% include video.html
   url = "https://www.youtube.com/embed/MGdETFQVqMg"
   full_width = true
 %}
@@ -131,7 +131,7 @@ Greg Izatt put together a nice tutorial demonstrating how to put together a
 pretty complete simulation of kuka iiwa picking up a block with dynamics,
 planning, control, and depth sensing, all through the pydrake interface.
 
-{% include post-components/video.html
+{% include video.html
   url = "https://www.youtube.com/embed/JS5l5lrEhJw"
   full_width = true
 %}

doc/_pages/python_bindings.md

@@ -9,12 +9,11 @@ class which is exposed to C++ has been explicitly enumerated in one of the
 source files inside the ``bindings/pydrake`` folder. These bindings are
 installed as a single package called ``pydrake``.
 
-{% include post-components/warning.html
-  content = "The Python environment supplied by Anaconda is neither tested nor supported
-   for building and using the Drake Python bindings."
-%}
-
-#### Installation
+<div class="warning" markdown="1">
+Drake is incompatible with the Python environment supplied by Anaconda. Please
+uninstall Anaconda or remove the Anaconda bin directory from the `PATH` before
+building or using the Drake Python bindings.
+</div>
 
 Before attempting installation, please review the
 [supported configurations](/developers.html#supported-configurations) to know what
@@ -82,13 +81,9 @@ tar -xvzf drake.tar.gz -C <venv_path> --strip-components=1
 python3 -m virtualenv -p python3 <venv_path> --system-site-packages
 ```
 
-{% include post-components/note.html
-    content="You can extract Drake into an existing ``virtualenv`` tree if you have
-    already run ``install_prereqs``; however, you should ensure that you have
-    run ``install_prereqs``. Before you do this, you should capture / freeze
-    your current requirements to reproduce your environment if there are
-    conflicts."
-%}
+<div class="note" markdown="1">
+You can extract Drake into an existing `virtualenv` tree if you have already run `install_prereqs`; however, you should ensure that you have run `install_prereqs`. Before you do this, you should capture / freeze your current requirements to reproduce your environment if there are conflicts.
+</div>
 
 To check if this worked, follow the instructions as
 [shown below](#using-the-python-bindings), but either:
@@ -156,14 +151,9 @@ After following the above install steps, check to ensure you can import
 python3 -c 'import pydrake; print(pydrake.__file__)'
 ```
 
-{% include post-components/note.html
-    content='If you are using Gurobi, you must either have it installed in
-    the suggested location under <code class="highlighter-rouge">/opt/...</code>
-    mentioned in <a class="reference internal" href="bazel.html#gurobi">
-    <span class="std std-ref">Gurobi 9.0.2</span></a>, or you must ensure
-    that you define the <code class="highlighter-rouge">${GUROBI_HOME}</code>
-    environment variable, or specify
-    <code class="highlighter-rouge">${GUROBI_INCLUDE_DIR}</code> via CMake.'}
+<div class="note" markdown="1">
+If you are using Gurobi, you must either have it installed in the suggested location under `/opt/...`> mentioned in Gurobi 9.0.2, or you must ensure that you define the `${GUROBI_HOME}` environment variable, or specify `${GUROBI_INCLUDE_DIR}` via CMake.
+</div>
 
 
 ## What's Available from Python
@@ -430,11 +420,9 @@ if __name__ == "__main__":
     main()
 ```
 
-
-{% include post-components/note.html
-    content='If you are developing in Drake and are using the
-    `drake_py_unittest` macro, you can specify the argument `--trace=user`
-    to get the same behavior.'}
+<div class="note" markdown="1">
+If you are developing in Drake and are using the `drake_py_unittest` macro, you can specify the argument `--trace=user` to get the same behavior.
+</div>
 
 This generally should help you trace where the code is dying. However, if you
 still need to dig in, you can build the bindings in debug mode, without symbol
@@ -444,9 +432,9 @@ stripping, so you can debug with ``gdb`` or ``lldb``:
 cmake -DCMAKE_BUILD_TYPE=Debug ../drake
 ```
 
-{% include post-components/note.html
-  content='If you have SNOPT enabled (either ``-DWITH_SNOPT=ON`` or
-    ``-DWITH_ROBOTLOCOMOTION_SNOPT=ON``), symbols will *still* be stripped.'}
+<div class="warning" markdown="1">
+If you have SNOPT enabled (either `-DWITH_SNOPT=ON` or `-DWITH_ROBOTLOCOMOTION_SNOPT=ON`), symbols will *still* be stripped.
+</div>
 
 ## For Developers
 

doc/_release-notes/v0.17.0.md

@@ -5,16 +5,16 @@ title: Drake v0.17.0
 # Announcements
 
 
-{% include post-components/warning.html
-  content = "On macOS, Drake now only supports Python 3.8.  Users **must** read [#13097][_#13097]
-  for upgrade instructions.
+<div class="warning" markdown="1">
+On macOS, Drake now only supports Python 3.8.  Users **must** read
+[#13097][_#13097] for upgrade instructions.
 
-  When paths are set incorrectly, you will see an error such as this:
+When paths are set incorrectly, you will see an error such as this:
 
 ```
 ImportError: Python version mismatch: module was compiled for Python 3.8, but the interpreter version is incompatible: 3.7.7
 ```
-"%}
+</div>
 
 * We've made substantial enhancements to Drake's integrators (including
   documentation, configuration, dense output, and symbolic expressions) as well
@@ -251,7 +251,7 @@ Fixes
   * Use drake::trajectories::PiecewisePolynomial::CubicWithContinuousSecondDerivatives or drake::trajectories::PiecewisePolynomial::CubicHermite.
 * drake::trajectories::PiecewisePolynomial::Pchip ([#12939][_#12939])
   * Use drake::trajectories::PiecewisePolynomial::CubicShapePreserving.
-* drake::trajectories::PiecewisePolynomial<T>::PolynomialType ([#12991][_#12991])
+* `drake::trajectories::PiecewisePolynomial<T>::PolynomialType` ([#12991][_#12991])
   * Use drake::trajectories::Polynomial<T>.
 * drake::trajectories::PiecewiseQuaternionSlerp::get_quaternion_knots ([#12939][_#12939])
   * Use drake::trajectories::PiecewiseQuaternionSlerp::get_quaternion_samples.

doc/_release-notes/v0.18.0.md

@@ -4,16 +4,17 @@ title: Drake v0.18.0
 
 # Announcements
 
+<div class="warning" markdown="1">
+On macOS, Drake only supports Python 3.8.  Users **must** read
+[#13097][_#13097] for upgrade instructions.
 
-{% include post-components/warning.html
-  content = " On macOS, Drake only supports Python 3.8.  Users **must** read [#13097][_#13097] for
-  upgrade instructions.
+When paths are set incorrectly, you will see an error such as this:
 
-  When paths are set incorrectly, you will see an error such as this:
 ```
-      ImportError: Python version mismatch: module was compiled for Python 3.8, but the interpreter version is incompatible: 3.7.7
+ImportError: Python version mismatch: module was compiled for Python 3.8,
+but the interpreter version is incompatible: 3.7.7
 ```
-"%}
+</div>
 
 * RigidBodyPlant and all of the drake "attic" is scheduled for removal on
   2020-09-01 ([#12158][_#12158], [#13030][_#13030]).

doc/_release-notes/v0.19.0.md

@@ -4,15 +4,17 @@ title: Drake v0.19.0
 
 # Announcements
 
-{% include post-components/warning.html
-  content = " On macOS, Drake only supports Python 3.8.  Users **must** read [#13097][_#13097] for
-  upgrade instructions.
+<div class="warning" markdown="1">
+On macOS, Drake only supports Python 3.8.  Users **must** read
+[#13097][_#13097] for upgrade instructions.
+
+When paths are set incorrectly, you will see an error such as this:
 
-  When paths are set incorrectly, you will see an error such as this:
 ```
-      ImportError: Python version mismatch: module was compiled for Python 3.8, but the interpreter version is incompatible: 3.7.7
+ImportError: Python version mismatch: module was compiled for Python 3.8,
+but the interpreter version is incompatible: 3.7.7
 ```
-"%}
+</div>
 
 * This release adds support for Ubuntu 20.04 ("Focal Fossa").
   * Drake binary packages are available for 20.04, but Docker images are not.

doc/_release-notes/v0.20.0.md

@@ -8,14 +8,14 @@ On macOS, Homebrew now symlinks Drake's compatible version of Python 3 (3.8)
 into ``/usr/local/bin/``, so it is on the ``$PATH`` by default.  There is no
 longer any need to add ``/usr/local/opt/[email protected]/bin`` to your ``$PATH``.
 
-{% include post-components/warning.html
-  content = "The newly-added feature for JavaScript system diagram visualization
-  ([#13644][_#13644]) with function name ``drake::systems::GenerateHtml`` in C++ and
-  ``pydrake.systems.framework.GenerateHtml`` in Python fetches the GoJS graph
-  library in your browser with only an evaluation license.  We recommend
-  avoiding this new feature while we sort out the licensing question
-  ([#13705][_#13705])."
-%}
+<div class="warning" markdown="1">
+The newly-added feature for JavaScript system diagram visualization
+([#13644][_#13644]) with function name ``drake::systems::GenerateHtml`` in C++ and
+``pydrake.systems.framework.GenerateHtml`` in Python fetches the GoJS graph
+library in your browser with only an evaluation license.  We recommend
+avoiding this new feature while we sort out the licensing question
+([#13705][_#13705]).
+</div>
 
 # Breaking changes since v0.19.0
 
@@ -168,13 +168,13 @@ Newly bound
 * drake::systems::ScalarInitialValueProblem::SpecifiedValues ([#13610][_#13610])
 * drake::trajectories::PiecewisePolynomial::Cubic ([#13610][_#13610])
 * drake::trajectories::PiecewisePolynomial::Pchip ([#13610][_#13610])
-* drake::trajectories::PiecewisePolynomial<T>::PolynomialType ([#13610][_#13610])
+* `drake::trajectories::PiecewisePolynomial<T>::PolynomialType` ([#13610][_#13610])
 * drake::trajectories::PiecewiseQuaternionSlerp::get_quaternion_knots ([#13610][_#13610])
 
 # Notes
 
 This release provides
-[pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.20.0
+[pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.20.0)
 named ``drake-20200717-{bionic|focal|mac}.tar.gz``. See
 [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
 

doc/_release-notes/v0.22.0.md

@@ -122,7 +122,7 @@ Newly bound
 
 * drake::Polynomial::IsApprox ([#13785][_#13785])
 * drake::systems::Simulator::reset_integrator ([#13785][_#13785])
-* drake::trajectories::PiecewisePolynomial<T>::PolynomialType ([#13785][_#13785])
+* `drake::trajectories::PiecewisePolynomial<T>::PolynomialType` ([#13785][_#13785])
 * pydrake.polynomial.Polynomial.IsApprox ([#13785][_#13785])
 * pydrake.systems.analysis.Simulator.reset_integrator ([#13785][_#13785])
 * pydrake.systems.framework.AbstractValue ([#13785][_#13785])

doc/_release-notes/v0.26.0.md

@@ -94,9 +94,9 @@ Newly bound
 
 Changes specific to macOS:
 
-* Use fmt and spdlog from homebrew ([#14517][_]#14517, [#14427][_#14427])
+* Use fmt and spdlog from homebrew ([#14517][_#14517], [#14427][_#14427])
 * Allow brew to be found in the PATH ([#14496][_#14496])
-* Use the new Homebrew install shell script when necessary ([#14496][_]#14496)
+* Use the new Homebrew install shell script when necessary ([#14496][_#14496])
 * Do not auto-cleanup or auto-update during Homebrew setup ([#14496][_#14496])
 
 Changes specific to Ubuntu:
@@ -121,7 +121,7 @@ Changes specific to Ubuntu:
 
 * The numpy external ([#14116][_#14116], [#14486][_#14486])
 * drake/multibody/math/spatial_acceleration.h include path ([#14117][_#14117], [#14486][_#14486])
-* drake/multibody/math/spatial_force.h include path ([#14117][_#14117], [#14486][_]#14486)
+* drake/multibody/math/spatial_force.h include path ([#14117][_#14117], [#14486][_#14486])
 * drake/multibody/math/spatial_momentum.h include path ([#14117][_#14117], [#14486][_#14486])
 * drake/multibody/math/spatial_vector.h include path ([#14117][_#14117], [#14486][_#14486])
 * drake/multibody/math/spatial_velocity.h include path ([#14117][_#14117], [#14486][_#14486])
@@ -130,7 +130,7 @@ Changes specific to Ubuntu:
 * drake::math::expmap2quat ([#14099][_#14099], [#14486][_#14486])
 * drake::math::quat2expmap ([#14099][_#14099], [#14486][_#14486])
 * drake::math::quat2expmapSequence ([#14099][_#14099], [#14486][_#14486])
-* drake::systems::Context::FixInputPort() ([#14093][_#14093], [#14486][#14486_])
+* drake::systems::Context::FixInputPort() ([#14093][_#14093], [#14486][_#14486])
 * tools/vector_gen/vector_gen.bzl:drake_cc_vector_gen ([#14092][_#14092], [#14486][_#14486])
 * tools/vector_gen/vector_gen.bzl:drake_vector_gen_lcm_sources ([#14092][_#14092], [#14486][_#14486])