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Commits on Oct 30, 2023

• [multibody] Fix point contact results store incorrect geometry data. (RobotLocomotion#20378)

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  99356ad

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Commits on Oct 5, 2023

• [multibody] Implements MultibodyTreeSystem::SetDefaultParameters (RobotLocomotion#20307)

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Commits on Sep 20, 2023

• [multibody] Implements SapWeldConstraint (RobotLocomotion#19608)

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  amcastro-tri

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Commits on Aug 14, 2023

• [multibody] Add SapBallConstraint (RobotLocomotion#19940)

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  bedd6b8

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Commits on Aug 5, 2023

• [multibody] Implements SapCouplerConstraint and incorporates it into SapDriver (RobotLocomotion#19902)

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Commits on Aug 2, 2023

• [multibody] Adds active/inactive parameter for SAP constraints. (RobotLocomotion#19884)

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Commits on Jul 31, 2023

• [examples] Adds option to model Strandbeest with constraints (RobotLocomotion#19782)

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  e1d255f

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Commits on Jul 17, 2023

• [parsing] Parse custom ball constraint elements. (RobotLocomotion#19780)

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Commits on Jun 29, 2023

• [multibody] Change ConstraintIndex into ConstraintId

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  34c8651

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• [multibody] Rename SAP constraint specification structs

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  bef5e4f

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Commits on Jun 28, 2023

• [multibody] Adds joint locking to SAP (RobotLocomotion#18983)

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  4a224dd

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Commits on Jun 27, 2023

• [multibody] Fix bug in SapContactProblem::velocites_start() (RobotLocomotion#19681)

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  6719656

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Commits on Jun 22, 2023

• [multibody] Expand SapSolver results from reduced problem. (RobotLocomotion#19607)

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  1393138

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Commits on Jun 7, 2023

• [multibody] Reduce SapContactProblem to selected/exluded dofs. (RobotLocomotion#19488)

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  a3d2405

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Commits on May 19, 2023

• [multibody] Including joint locking in forward dynamics computations (RobotLocomotion#19420)

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Commits on May 9, 2023

• Filter contact results for completely locked trees. (RobotLocomotion#19349)

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Commits on Jan 24, 2023

• Add SAP ball constraint (RobotLocomotion#18470)

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  09d3090

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Commits on Dec 19, 2022

• [multibody] Add ContactResults calculation to DiscreteUpdateManager (RobotLocomotion#18402)

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Commits on Dec 6, 2022

• [multibody] Add a QuaternionFloatingJoint for each free body (RobotLocomotion#18390)

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Commits on Dec 1, 2022

• move locking parameter to mobilizer (RobotLocomotion#18389)

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  4948473

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• Adds quaternion floating joint (RobotLocomotion#18279)

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Commits on Nov 2, 2022

• [meshcat] Add capsule support (RobotLocomotion#17319)

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Commits on Oct 18, 2022

• [multibody] Adds hydro forces to continuous mode reaction forces computation (RobotLocomotion#18057)

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  17c80c6

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Commits on Oct 6, 2022

• [multibody] Removes joint locking from reaction forces test (RobotLocomotion#18051)

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  1a802aa

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Commits on Sep 14, 2022

• Bump up tolerance for reflected inertia inverse dynamics test (RobotLocomotion#17911)

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  8994f68

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Commits on Aug 18, 2022

• Update paper references for discrete hydro (RobotLocomotion#17740)

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Commits on Aug 9, 2022

• [multibody] Correct WeldJoint frame notation (RobotLocomotion#17696)

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  42e131c

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Commits on Aug 5, 2022

• [meshcat]: Adds hydroelastic contact surface to meshcat visualization (RobotLocomotion#17599)

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Commits on Apr 30, 2022

• [meshcat] Adds hydroelastic force and moment vector visualization. (RobotLocomotion#16913)

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  ea8a5c3

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Commits on Apr 19, 2022

• [geometry] Updates hydroelastic user guide for compliant convex feature. (RobotLocomotion#16995)

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Commits on Mar 28, 2022

• Make joint locking use correct indices for joint/body velocities (RobotLocomotion#16818)

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  703c40f

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Commits on Mar 24, 2022

• [geometry:drake_visualizer] Fix for disabling/enabling hydro contact plugin (RobotLocomotion#16852)

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Commits on Mar 17, 2022

• Adds compliant convex mesh support (RobotLocomotion#16753)

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Commits on Mar 2, 2022

• [examples: hydroelastic] Adds Spatula Slip Example (RobotLocomotion#16668)

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  jwnimmer-tri

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  13be935

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Commits on Feb 8, 2022

• Add Hydroelastic User Guide Doxygen module (RobotLocomotion#16449)

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  e80c474

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