Russ Tedrake

IrisInConfigurationSpaceFromCliqueCover can call IrisInConfigurationSpace with infeasible sample points

2

### What happened? Reported by @AlexandreAmice on slack; I'm capturing it here to track. Currently `IrisInConfigurationSpace` throws an error if the seed point is within `configuration_space_margin` of the obstacle. This...

The well-known facial reduction LP (described beautifully in [@frankpermenter 's thesis](https://dspace.mit.edu/handle/1721.1/114005)) can be used to remove vertices and edges from a GCS instance which cannot appear on in the optimal...

Related to #21341. Given a stronger pre-processor, it will be important that SolveShortestPath does everything it can to take advantage of the preprocessing results. - For any vertex that has...

This is one of the most common action servers, used by MoveIt! I have a WIP branch [here](https://github.com/RussTedrake/drake-ros/tree/follow_joint_trajectory_server). I want to make a few more improvements: - [ ] Publish...

Need to document the MultibodyPlant generalized_contact_forces output port

2

### What happened? Follow-up from [this SO post](https://stackoverflow.com/questions/78525271/how-to-use-generalized-contact-forces-in-drake-multibodyplant), I was also unable to find any documentation describing the values available on this output port. ### Version _No response_ ### What...

Resolves #21482. At minimum, this enables one to remove constraints from the plant that might have been added during parsing, without using internal methods (which are not bound in pydrake)....

**Is your feature request related to a problem? Please describe.** #21397 added `MultibodyPlant::RemoveJoint`, but throws if there are _any_ constraints registered with the plant. We have `MultibodyPlant::RemoveConstraint(MultibodyConstraintId)`, but if constraints...

[Mujoco parser] Don't call CalcSpatialInertia unless needed

1

Resolves #21648. This defers the call to CalcSpatialInertia until/unless it is actually needed. If inertia values are specified for the body in the xml file, then we don't call CalcSpatialInertia....

CalcSpatialInertia fails on this Hello Robot obj

26

### What happened? Following #20444, I've put a simple failure reproduction here: https://github.com/RobotLocomotion/drake/commit/2fe7f248091a93e20fbb471f8a27502ba9caee73 This attempts to compute the spatial inertia from the hello robot model in mujoco menagerie but fails...

Adds support for sparse A,B,C,D matrices in AffineSystem.

5

Towards properly supporting MatrixGain for sparse matrix multiplicatoin of the actuation matrix in #20971. This PR relocates sparse_and_dense_matrix from solvers into math with no changes (apart from the namespace), and...