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Commits on Nov 16, 2023

• Implement per model instance net actuation output port (RobotLocomotion#20549)

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Commits on Nov 3, 2023

• Implements actuation output port for MultibodyPlant (RobotLocomotion#20421)

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Commits on Oct 16, 2023

• Bug fix to actuation input ordering (RobotLocomotion#20212)

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Commits on Sep 27, 2023

• Implement APIs to disable gravity at a model instance level (RobotLocomotion#20264)

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• Removes duplicated account of actuation when using PD controllers (RobotLocomotion#20259)

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Commits on Sep 19, 2023

• Disconnected actuation input ports evaluate to zero actuation (RobotLocomotion#20215)

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Commits on Sep 12, 2023

• Actuators with PD control implicilty integrated with SAP (RobotLocomotion#20111)

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Commits on Sep 6, 2023

• Implements SAP constraint to model PD controllers (RobotLocomotion#20110)

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Commits on Aug 15, 2023

• Pipes constraints forces through MbP and fixes the computation of reaction forces. (RobotLocomotion#19920)

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Commits on Aug 1, 2023

• Implements SapDistanceConstraint and incorporates it into SapDriver (RobotLocomotion#19846)

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Commits on Jun 27, 2023

• SapLimitConstraint reports forces (RobotLocomotion#19688)

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Commits on Jun 21, 2023

• SAP contact constraint reporsts multibody forces. (RobotLocomotion#19596)

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Commits on Jun 13, 2023

• SapContactProblem reports multibody forces. (RobotLocomotion#19557)

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Commits on Jun 1, 2023

• JointActuator Python bindings for rotor inertias (RobotLocomotion#19509)

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Commits on May 31, 2023

• Remove unused constraint APIs. Closes RobotLocomotion#19434. (RobotLocomotion#19503)

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Commits on May 30, 2023

• Implement SapHolonomicConstraint in terms of new APIs introduced in RobotLocomotion#19402 (RobotLocomotion#19493)

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• SapFrictionConeConstraint: Move constraint data into abstract value. (RobotLocomotion#19495)

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Commits on May 25, 2023

• Introduce SapConstraintJacobian (RobotLocomotion#19462)

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Commits on May 24, 2023

• Implement SapLimitConstraint in terms of new APIs introduced in RobotLocomotion#19402. (RobotLocomotion#19452)

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Commits on May 23, 2023

• Implement SapFrictionConeConstraint in terms of new APIs introduced in RobotLocomotion#19402 (RobotLocomotion#19429)

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Commits on May 18, 2023

• Introduce new SapConstraint APIs implemented in terms of older APIs. (RobotLocomotion#19402)

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Commits on Apr 20, 2023

• Exposes SAP near rigid threshold (RobotLocomotion#19218)

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Commits on Mar 28, 2023

• Fix the ordering of the Delassus operator approximation (RobotLocomotion#19082)

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Commits on Mar 22, 2023

• Update documentation for DRAKE_MBT_THROW_IF_FINALIZED and DRAKE_MBT_THROW_IF_NOT_FINALIZED to clearly state they are constant-time. (RobotLocomotion#18997)

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Commits on Mar 21, 2023

• Implements non-zero bias for SAP holonomic constraints (RobotLocomotion#18996)

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• Move ExternalGeneralizedForcesComputer out of the header file (RobotLocomotion#19042)

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Commits on Mar 16, 2023

• Removes unnecessary forward declaration from the header file. (RobotLocomotion#19004)

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Commits on Mar 14, 2023

• Implements MultibodyPlants methods to retrieve joint actuators and actuated joints per model istance. (RobotLocomotion#18959)

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Commits on Feb 14, 2023

• Cleanup of the EvalContactResults() workflow. This PR effectively makes it a DiscreteUpdateManager citizen. (RobotLocomotion#18746)

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Commits on Jan 26, 2023

• Consolidate discrete contact into the discrete manager. Removed unused code from MultibodyPlant. (RobotLocomotion#18647)

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Commits on Dec 7, 2022

• Implements support for fixed-distance constraints with SAP (RobotLocomotion#18196)

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• Fixes bug for infinitely stiff SAP holonomic constraints. (RobotLocomotion#18414)

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Commits on Dec 6, 2022

• Fixes typo introduced in 18406 (RobotLocomotion#18413)

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• Implements method to compute the generalized forces that result from a MultibodyForce object. (RobotLocomotion#18406)

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Commits on Nov 28, 2022

• Start using TamsiDriver and remove discrete updates code out of MultibodyPlant (RobotLocomotion#18170)

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