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Pull requests: RobotLocomotion/drake

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Pull requests list

TOPPRA Optionally Relax Constraints to Handle Numerically-Challenging Trajectories release notes: feature This pull request contains a new feature
#24798 opened Jul 30, 2026 by cohnt Contributor Loading…
1
1
Fix dropped derivatives in Eigen Cholesky solves of AutoDiff matrices release notes: fix This pull request contains fixes (no new features)
#24796 opened Jul 30, 2026 by bigboateng Loading…
@jwnimmer-tri
1
[multibody] Apply surface velocity in discrete contact release notes: none This pull request should not be mentioned in the release notes
#24794 opened Jul 29, 2026 by SeanCurtis-TRI Contributor Loading…
@sherm1
1
Update dependency rules_rust to v0.72.0 priority: low release notes: fix This pull request contains fixes (no new features) status: do not merge status: single reviewer ok https://drake.mit.edu/reviewable.html
#24793 opened Jul 29, 2026 by renovate Bot Loading…
1 task
@jwnimmer-tri @SeanCurtis-TRI
2
[pydrake] Port the common-init module to nanobind priority: medium release notes: none This pull request should not be mentioned in the release notes
#24783 opened Jul 24, 2026 by jwnimmer-tri Collaborator Loading…
@rpoyner-tri
Assemble hydroelastic contact Jacobians from per-body spatial Jacobians status: do not merge status: do not review
#24780 opened Jul 23, 2026 by xuchenhan-lbm Contributor Loading…
Some large scene profiling work contributed by Xuchen status: do not merge status: do not review
#24777 opened Jul 23, 2026 by rpoyner-tri Contributor • Draft
1
[CENIC] Support distance constraints release notes: feature This pull request contains a new feature status: do not merge
#24776 opened Jul 23, 2026 by joemasterjohn Contributor Loading…
1
@sherm1 @jwnimmer-tri
[multibody] Repro: joint-locking crash on World-body contact status: do not merge status: do not review
#24772 opened Jul 23, 2026 by xuchen-han Contributor Loading…
Nanobind transition status: do not merge status: do not review
#24749 opened Jul 17, 2026 by rpoyner-tri Contributor Loading…
@jwnimmer-tri
3
[multibody] Implement kinematic results for fused links (pos & vel) priority: high release notes: none This pull request should not be mentioned in the release notes
#24746 opened Jul 16, 2026 by sherm1 Member Loading…
@jwnimmer-tri @mitiguy
10
Upgrade RenderEngineGl's image readback release notes: fix This pull request contains fixes (no new features)
#24726 opened Jul 14, 2026 by SeanCurtis-TRI Contributor Loading…
@calderpg-tri
2
Use rules_python uv for python libraries instead of host dependencies release notes: feature This pull request contains a new feature status: defer ci CI will terminate early (saving the expense of unwanted builds) status: do not merge status: do not review
#24719 opened Jul 13, 2026 by jwnimmer-tri Collaborator • Draft
Add a LeafSystem for dragging objects from meshcat release notes: feature This pull request contains a new feature
#24673 opened Jun 25, 2026 by vincekurtz Contributor Loading…
@jwnimmer-tri @SeanCurtis-TRI
1
Drag simulated objects around in Meshcat release notes: feature This pull request contains a new feature
#24642 opened Jun 15, 2026 by vincekurtz Contributor • Draft
@SeanCurtis-TRI
8
(rebased) Implement Constraint Islands in ICF/CENIC status: do not merge status: do not review
#24636 opened Jun 10, 2026 by rpoyner-tri Contributor • Draft
[multibody] Add IcfPartition, toward implementing constraint islands release notes: none This pull request should not be mentioned in the release notes
#24635 opened Jun 10, 2026 by rpoyner-tri Contributor Loading…
@joemasterjohn
Implement Constraint Islands in ICF/CENIC status: do not merge status: do not review
#24629 opened Jun 9, 2026 by vincekurtz Contributor • Draft
@rpoyner-tri
7
Define a contact surface velocity, relative to the body priority: low release notes: feature This pull request contains a new feature status: do not merge
#24566 opened May 19, 2026 by SeanCurtis-TRI Contributor Loading…
@jwnimmer-tri
[setup] Rewrite dpkg_install_from_wget in Python priority: low release notes: none This pull request should not be mentioned in the release notes status: do not merge status: do not review
#24502 opened May 4, 2026 by jwnimmer-tri Collaborator Loading…
5
[multibody] Support fused mobods release notes: feature This pull request contains a new feature status: do not merge status: do not review
#24350 opened Apr 7, 2026 by sherm1 Member • Draft
Test Implib.so macOS porting for MOSEK wheel status: do not merge status: do not review
#24270 opened Mar 24, 2026 by tyler-yankee Contributor • Draft
@mwoehlke-kitware @jwnimmer-tri
28
[ad] Store (scaled) unit vectors inline priority: low release notes: none This pull request should not be mentioned in the release notes status: defer ci CI will terminate early (saving the expense of unwanted builds) status: do not review
#23933 opened Dec 22, 2025 by jwnimmer-tri Collaborator • Draft
1
[math] Add fast pose composition functions for point, vector3, and vector4 status: defer ci CI will terminate early (saving the expense of unwanted builds) status: do not review
#23456 opened Sep 21, 2025 by calderpg-tri Contributor Loading…
@sherm1
18
Add an Approximate Joint Centering Cost to GlobalInerseKinematics release notes: feature This pull request contains a new feature
#23236 opened Jul 29, 2025 by cohnt Contributor Loading…
@SeanCurtis-TRI
27
ProTip! Updated in the last three days: updated:>2026-07-27.