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Commits on Jan 7, 2025

• [geometry] Adds new compliant mesh intersection code (RobotLocomotion#22069)

  joemasterjohn

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  374c45b

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Commits on Dec 19, 2024

• [geometry] Remove ultra-fine resolution testing from cylinder mesh test (RobotLocomotion#22337)

  joemasterjohn

  authored
  490033e

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Commits on Dec 9, 2024

• [multibody] Change resolution hint to speed up joint_locking_test (RobotLocomotion#22284)

  joemasterjohn

  authored
  0a6efd0

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Commits on Nov 13, 2024

• [geometry] Adds surface mesh, bvh, and volume mesh topology to SoftMesh. (RobotLocomotion#22098)

  joemasterjohn

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  f745c9c

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Commits on Nov 7, 2024

• [geometry] Add precomputed values to VolumeMesh and MeshFieldLinear (RobotLocomotion#22097)

  joemasterjohn

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  2702a84

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Commits on Aug 7, 2024

• [geometry] Split infeasible vertices in MakeInflatedMesh() (RobotLocomotion#21780)

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Commits on Aug 6, 2024

• [proximity] Adds VolumeMeshTopology (RobotLocomotion#21746)

  joemasterjohn

  authored
  f2425f6

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Commits on Jul 25, 2024

• [geometry] Introduce CompliantCompliant intersection benchmark. (RobotLocomotion#21742)

  joemasterjohn

  authored
  81989f7

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Commits on Jun 10, 2024

• [multibody] Use ContactResults for hydro forces in discrete plant unit test. (RobotLocomotion#21539)

  joemasterjohn

  authored
  32c9077

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Commits on May 13, 2024

• [multibody] Add MultibodyPlant::RemoveJoint() (RobotLocomotion#21397)

  joemasterjohn

  authored
  7366866

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Commits on Apr 9, 2024

• [multibody] Move out-of-class tree topology default comparisons into class definitions. (RobotLocomotion#21283)

  joemasterjohn

  authored
  84d519b

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Commits on Apr 8, 2024

• [multibody] Refactor multibody_tree_topology.h (RobotLocomotion#21158)

  joemasterjohn

  authored
  30acaa2

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Commits on Feb 29, 2024

• [multibody] Make joint damping a system parameter (RobotLocomotion#20947)

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  918ac02

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Commits on Nov 16, 2023

• [parsing] Fix urdf mimic parsing of same joint names in different model instances. (RobotLocomotion#20551)

  joemasterjohn

  authored
  c2dd813

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Commits on Nov 13, 2023

• [multibody] Make weld constraint use active status. (RobotLocomotion#20530)

  joemasterjohn

  authored
  41df3f4

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Commits on Nov 9, 2023

• [parsing] Add parsing of custom drake:mimic tag for SDFormat (RobotLocomotion#20503)

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  joemasterjohn

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  b0dea61

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• [parsing] Add parsing of JointActuator PD controller gains. (RobotLocomotion#20497)

  joemasterjohn

  authored
  5f6be73

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Commits on Oct 30, 2023

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

  joemasterjohn

  authored
  99356ad

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Commits on Oct 5, 2023

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

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  3981211

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Commits on Sep 20, 2023

• [multibody] Implements SapWeldConstraint (RobotLocomotion#19608)

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  amcastro-tri

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  8f3e03f

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Commits on Aug 14, 2023

• [multibody] Add SapBallConstraint (RobotLocomotion#19940)

  joemasterjohn

  authored
  bedd6b8

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Commits on Aug 5, 2023

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

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  b076de7

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Commits on Aug 2, 2023

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

  joemasterjohn

  authored
  c6c2bb2

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Commits on Jul 31, 2023

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

  joemasterjohn

  authored
  e1d255f

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Commits on Jul 17, 2023

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

  joemasterjohn

  authored
  fff6085

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Commits on Jun 29, 2023

• [multibody] Change ConstraintIndex into ConstraintId

  joemasterjohn

  committed
  34c8651

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• [multibody] Rename SAP constraint specification structs

  joemasterjohn

  committed
  bef5e4f

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Commits on Jun 28, 2023

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

  joemasterjohn

  authored
  4a224dd

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Commits on Jun 27, 2023

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

  joemasterjohn

  authored
  6719656

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Commits on Jun 22, 2023

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

  joemasterjohn

  authored
  1393138

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Commits on Jun 7, 2023

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

  joemasterjohn

  authored
  a3d2405

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Commits on May 19, 2023

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

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  joemasterjohn

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  eb28bf1

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Commits on May 9, 2023

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

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  joemasterjohn

  authored
  3d4fe99

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Commits on Jan 24, 2023

• Add SAP ball constraint (RobotLocomotion#18470)

  joemasterjohn

  authored
  09d3090

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Commits on Dec 19, 2022

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

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  a162531

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