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Commits on Jun 28, 2021

• Switch to sparse solver for CubicWithContinuousSecondDerivatives

  mpetersen94

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• Switch to LU solver

  mpetersen94

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• Reduce number of variables in solve for coefficients of Cubic PiecewisePolynomial

  mpetersen94

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• update sdf to 11.1.0, enforcement policy and tests (RobotLocomotion#15075)

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  marcoag

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Commits on Jun 25, 2021

• Establish geometry/optimization to facilitate optimization with and for SceneGraph geometries (RobotLocomotion#15194)

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  RussTedrake

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• add screw joint (RobotLocomotion#15105)

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  wf34

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• add screw mobilizer (RobotLocomotion#15104)

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  wf34

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Commits on Jun 24, 2021

• Change the name of the Kitware contact (RobotLocomotion#15239)

  jamiesnape

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Commits on Jun 23, 2021

• release_playbook: Minor formatting fixes for URLs (RobotLocomotion#15236)

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  EricCousineau-TRI

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• [geometry] New queries for hydroelastics in internal::ProximityEngine. (RobotLocomotion#15204)

  DamrongGuoy

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• documentation_instructions: Fix incorrect build target (RobotLocomotion#15237)

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  EricCousineau-TRI

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• Add discrete contact pairs cache entry (RobotLocomotion#15225)

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  xuchenhan-tri

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• doc: Add release notes v0.31.0 (RobotLocomotion#15207)

  EricCousineau-TRI

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• Provide simple smoke test on hydro *forces* derivatives (RobotLocomotion#15219)

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  SeanCurtis-TRI

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Commits on Jun 22, 2021

• parsing: Remove implicit frames created for nested models. (RobotLocomotion#15208)

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  azeey

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• [pydrake] Add test case for PythonMessageSource (RobotLocomotion#15220)

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  jwnimmer-tri

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• Buildcop: Disable tests failing due to RobotLocomotion#15229 (RobotLocomotion#15230)

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  ggould-tri

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• [common] Add AbstractValue::Make overload for default construction (RobotLocomotion#15209)

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  jwnimmer-tri

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• Add DeformableContactData (RobotLocomotion#15201)

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  xuchenhan-tri

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• [geometry] Parameter to choose output format in hydroelastic_callback. (RobotLocomotion#15200)

  DamrongGuoy

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Commits on Jun 21, 2021

• Stop using EIGEN_MAKE_ALIGNED_OPERATOR_NEW (RobotLocomotion#15222)

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  jwnimmer-tri

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• [framework] Drop SystemScalarConverter::Remove<T> method (RobotLocomotion#15211)

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  jwnimmer-tri

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Commits on Jun 20, 2021

• solvers: Add python bindings for DrealSolver (RobotLocomotion#15215)

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  RussTedrake

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• [solvers] Remove uses of SolverType (RobotLocomotion#15214)

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  jwnimmer-tri

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• workspace: Upgrade dreal to latest release 4.21.06.2 (RobotLocomotion#15212)

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  soonho-tri

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Commits on Jun 17, 2021

• Fix the Jaco example to work on real hardware (not just sim) (RobotLocomotion#15203)

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  sammy-tri

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Commits on Jun 16, 2021

• Allow robotlocomotion/director to change default branch name to main (RobotLocomotion#15202)

  jamiesnape

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• Document Drake's dependence on AVX2 and FMA instructions. (RobotLocomotion#15165)

  sherm1

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• [framework] Enable context validation for ports in Release builds (RobotLocomotion#15181)

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  jwnimmer-tri

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• Fix bug in ComputeTetMeshTriMeshContact() (RobotLocomotion#15199)

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  xuchenhan-tri

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• Remove compiled Python files when building VTK binaries (RobotLocomotion#15171)

  jamiesnape

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• [framework] Remove manipulation_station dependency from test (RobotLocomotion#15196)

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  jwnimmer-tri

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Commits on Jun 15, 2021

• Deprecate ComputeBasisFromAxis() in C++ and Python. (RobotLocomotion#15154)

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  mitiguy

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• [framework] Document that DeclareCacheEntry will become protected (RobotLocomotion#15197)

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  jwnimmer-tri

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• Add an output for density in LinearTransformDensity. (RobotLocomotion#15189)

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  hongkai-dai

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