[pull] master from RobotLocomotion:master #1101
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Also moves the joint limits / joint locking logic from the IK constructor to AddMultibodyPlantConstraints. Towards #18917.
For release engineers, this includes: - Convex::Convex(points) - VPolytope::ToShapeConvex()
The Cassie model in the menagerie sets the default positions of some joints using this element. The default positions define the loop joints. The loop joints were visibly incorrect without this implementation.
…n to specifically call out that it can handle logarithm constraints as well. (#22449)
Move our PDM version pin to a separate file. This both makes it easier to manage updates to the same and also allows the pinned version to be usable outside of the venv_sync script. Teach venv_upgrade to use PDM itself to generate this file, which accomplishes the outstanding goal of being able to pin both PDM and its dependencies. Also, modify venv_sync to tell PDM to not complain about newer versions.
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