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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Unit tests support matrix for discrete MultibodyPlant models #21441

Closed amcastro-tri closed 1 month ago

amcastro-tri commented 1 month ago

Updates the multibody plant scalar conversion tests to reflect the current state of the support matrix for discrete models.

An important conclusion is that for TAMSI (and SAP), we do not support discrete updates when T = Symbolic at all. We (meaning I really) were expecting this to be supported when num_contacts=0, but it turns out that the proximity engine does not even allow queres on symbolic, regardelss the state of the system.

cc'ing @jwnimmer-tri. I know we talked about a Python script instead, but I already had this and it's not an extra large of lines (~150) to put together in C++ if I reuse the code from #21431

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jwnimmer-tri commented 1 month ago

I know we talked about a Python script instead, but I already had this and it's not an extra large of lines ...

Like I said, unit tests to lock in the features are good and this kind of thing makes sense.

My imagined Python tool to create a summary needs a lot more input permutations than anything here so far.