Update dependency drake to ~=1.51 (#513)

Author: renovate[bot]

drake_pip/requirements.txt

@@ -4,4 +4,4 @@
 # use 'drake~=x.y' instead of 'drake~=x.y.z'. See
 # https://packaging.python.org/en/latest/specifications/version-specifiers/#compatible-release
 # for more details.
-drake~=1.50
+drake~=1.51

drake_poetry/pyproject.toml

@@ -15,4 +15,4 @@ dynamic = ["dependencies"]
 package-mode = false
 
 [tool.poetry.dependencies]
-drake = "~=1.50"
+drake = "~=1.51"