Top drake issues

Extract dual variables from MathematicalProgramResult

mathematical program medium manipulation feature request

`Unable to cast Python instance to C++ type`

pydrake python medium manipulation cleanup user assistance

Meshcat slower than Drake Visualizer

robot locomotion group

Compute UnitInertia from Volume and Surface meshes

geometry general dynamics feature request

tutorials: Need to add tutorial for MultibodyPlant

multibody plant low dynamics documentation

mbp: Computation of joint limit stiffness may not be conservative enough?

multibody plant medium dynamics bug

tutorials: Support meshcat running in a jupyter cell (as iframe) on Google Colab

jupyter kitware

Hydroelastic contact surface broken for thin rigid object -- needs to use normals

medium dynamics bug

Use vtkCapsuleSource directly from VTK

geometry externals low kitware cleanup

Add a generalized acceleration port to MultibodyPlant

medium dynamics feature request user assistance