[pull] master from RobotLocomotion:master#447
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pull[bot] merged 9 commits intomcx:masterfrom Nov 9, 2022
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The config file is "last one wins" so pydrake's dotfile should be appending to the root settings, not prepending. This hasn't mattered in the past because we had not yet overridden any settings in pydrake that were also set in the root; that might be changing soon, so we'll preemptively correct the order here now.
…8251) Improve documentation for RigidBody::SetCenterOfMassInBodyFrame() and related methods. Co-authored-by: mitiguy <paul.mitiguy@tri.global>
…operties (#18153) While running forward dynamics in continuous mode, throw an exception if invalid mass/inertia properties are detected in Articulated Body Algorithm. Make progress towards a more general solution for detecting near-singular mass/inertia properties during dynamic simulation (to be addressed in a future PR). PR# 18153 is progress towards resolution of issue #17081. Co-Authored-By: mitiguy <paul.mitiguy@tri.global> Co-Authored-By: Sean Curtis <sean.curtis@tri.global>
The meshcat javascript reads the gamepad info and sends it to the meshcat server whenever a change is detected. The c++ meshcat interface provides access to the most recent gamepad status. This feature is provided primarily to support applications where Drake is running on a remote machine (e.g. in the cloud), and the Meshcat javascript in the browser is the only code running on the local machine which has access to the gamepad.
Co-authored-by: Zach Fang <zach.fang@tri.global>
- Add debian staging and logic to download and verify. - Add macOS arm wheel staging and download. - Drake will begin publishing `.deb` and `.whl` artifacts to GitHub releases. Co-Authored-By: Jeremy Nimmer <jeremy.nimmer@tri.global>
…ing the TAMSI solver (#18265) Once #18170 merges: - MultibodyPlant will use CompliantContactManger to computing discrete updates. - CompliantContactManager will use TamsiDriver to solve the discrete contact problem using TAMSI. - CompliantContactManager will use SapDriver to solve the discrete contact problem using SAP.
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