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Pull requests: RobotLocomotion/drake

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Pull requests list

[doc] Update supported Xcode to 26.6 on Tahoe release notes: fix This pull request contains fixes (no new features) status: single reviewer ok https://drake.mit.edu/reviewable.html
#24692 opened Jul 3, 2026 by tyler-yankee Contributor Loading…
Upgrades July 2026 release notes: fix This pull request contains fixes (no new features) status: commits are properly curated https://drake.mit.edu/reviewable.html#curated-commits
#24691 opened Jul 2, 2026 by tom-osika Contributor • Draft
Add a LeafSystem for dragging objects from meshcat
#24673 opened Jun 25, 2026 by vincekurtz Contributor Loading…
@SeanCurtis-TRI
1
[multibody] Add body surface velocity API release notes: none This pull request should not be mentioned in the release notes
#24667 opened Jun 24, 2026 by SeanCurtis-TRI Contributor Loading…
@jwnimmer-tri
2
[WIP] Calc composite mass properties (branching from Sherm) priority: medium release notes: none This pull request should not be mentioned in the release notes status: do not review
#24654 opened Jun 22, 2026 by mitiguy Contributor Loading…
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
[multibody] Compute composite mass properties priority: low release notes: none This pull request should not be mentioned in the release notes
#24630 opened Jun 9, 2026 by sherm1 Member Loading…
@mitiguy
11
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
5
Introduce concept of "inactive" proximity geometry in collision filters release notes: feature This pull request contains a new feature
#24614 opened Jun 5, 2026 by xuchenhan-lbm Contributor Loading…
@jwnimmer-tri @SeanCurtis-TRI
21
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
Nanobind-only porting exploration status: defer ci CI will terminate early (saving the expense of unwanted builds) status: do not merge status: do not review
#24513 opened May 6, 2026 by rpoyner-tri Contributor • Draft
@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 composite 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
27
[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
[multibody] Adds python bindings for MultibodyPlant::AddTendonConstraint() release notes: feature This pull request contains a new feature
#22813 opened Mar 25, 2025 by joemasterjohn Contributor Loading…
@rpoyner-tri @SeanCurtis-TRI
11
[planning] Add Anzu planning tools to planning/sampling_based/dev status: defer ci CI will terminate early (saving the expense of unwanted builds) status: do not review
#22598 opened Feb 6, 2025 by calderpg-tri Contributor • Draft
3
[setup] Rewrite Ubuntu install_prereqs from the ground up priority: low status: defer ci CI will terminate early (saving the expense of unwanted builds) status: do not review
#22055 opened Oct 17, 2024 by jwnimmer-tri Collaborator • Draft
7
Reimplement AutoDiff from the ground up release notes: feature This pull request contains a new feature status: do not merge status: do not review
#17492 opened Jul 4, 2022 by jwnimmer-tri Collaborator • Draft
40 of 42 tasks
12
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