Michael Sherman comments

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                                            Michael Sherman

Parse closed kinematic chains from SDF (and perhaps also URDF)

Current graph processing draft is #20225

Parse closed kinematic chains from SDF (and perhaps also URDF)

BTW breaking a loop at a ball joint is the one case where using a constraint-based loop joint is arguably harmless. We delete 3 differential equations and add 3 constraint...

Capability to compute the Coriolis matrix

cc @Brian-Acosta

Capability to compute the Coriolis matrix

cc @mitiguy

Capability to compute the Coriolis matrix

Thanks, Patrick! cc @mitiguy

Need sensible exception message when spatial inertia has a NAN or INF center of mass.

Can you explain why we need this particular check, Paul? NaNs anywhere cause problems, but in most cases we just depend on them propagating per the IEEE standard. There are...

pydrake: Memory Leak While Generating Training Images (leaking Diagrams w/ MultibodyPlant, SceneGraph, etc)

This is likely related to PR #14375 or #14376 which merged on 11/20. cc @SeanCurtis-TRI @rpoyner-tri

[WIP] Support polygonalmesh normals

@aymanhab I have no attachment to any particular version of Doxygen -- feel free to change. Re #801 just waiting for @halleysfifthinc to make a minor fix

Calculating moment arms in `CableSpan`

Looks correct (I think), but would be worth it to see if we can calculate without having to do the state perturbation (although that is probably acceptable in practice). I'm...

Calculating moment arms in `CableSpan`

Here's [a link](http://nmbl.stanford.edu/wp-content/uploads/ShermanSethDelp-2013-WhatIsMuscleMomentArm-Final2-DETC2013-13633.pdf) to the paper, Paul.