Russ Tedrake

Now that Drake has purged scipy, we should, too. It is used only by the `shooting_vs_transcription` problem.

they seem to have been copied everywhere, even when they are not needed.

and is currently disabled as a local test. need to using `running_as_notebook` and not make long animations for testing. @dclee131

lazy load embedded youtube videos

1

We are currently paying a heavy price in load time with every youtube video that is included. What's worse, we appear to pay this price even on the chapters that...

implements MultibodyPlant::RemoveJointActuator

5

In order to keep existing actuator indices valid, MultibodyTree replaces the actuator in the list with nullptr. As a result, we must also introduce new supporting api: for checking if...

MeshcatVisualizer should display the convex hull for the proximity role if ProximityEngine is using the convex hull for collision queries

20

I've been seeing _many_ students confused by the fact that proximity engine often uses the convex hull of the geometry. Here are two recent examples:   Everyone loves being...

Implements FunctionHandleTrajectory

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Resolves #20699. I still need to write more tests, but I hope this gets you unstuck @cohnt and @shrutigarg914 . - - - This change is [](https://reviewable.io/reviews/RobotLocomotion/drake/21093)

Support contact results visualization in PlanarSceneGraphVisualizer

4

This is one simple feature that we're missing in the jupyter (e.g. colab/binder) workflow. We have it for `meldis` (with `ConnectContactResultsToDrakeVisualizer`) and for `meshcat`.

can't compile with --config=apple_debug

2

### What happened? ``` % bazel build --config=apple_debug //solvers/... ``` fails with ``` ERROR: /private/var/tmp/_bazel_russt/9c100c86c1cc4c543d01c45f7a63d5c6/external/nlopt_internal/BUILD.bazel:197:11: Compiling src/algs/stogo/stogo.cc failed: undeclared inclusion(s) in rule '@nlopt_internal//:stogo': this rule is missing dependency declarations for...

Fixup InverseDynamics to use the actuation matrix.

3

Clarifies that the output of the inverse dynamics controller is actuation input, not generalized forces, and uses the actuation matrix to achieve this. Previously, by connecting the output of the...