Update drake requirement from ~=1.40 to ~=1.31 in /drake_pip

Updates the requirements on [drake](https://github.com/RobotLocomotion/drake) to permit the latest version.
- [Release notes](https://github.com/RobotLocomotion/drake/releases)
- [Commits](RobotLocomotion/drake@v1.40.0...v1.31.0)

---
updated-dependencies:
- dependency-name: drake
  dependency-version: 1.31.0
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>

Author: dependabot[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~=1.40
+drake~=1.31