Need to document the MultibodyPlant generalized_contact_forces output port

RobotLocomotion / drake

Model-based design and verification for robotics.

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Need to document the MultibodyPlant generalized_contact_forces output port #21484

Open RussTedrake opened 1 month ago

RussTedrake commented 1 month ago

What happened?

Follow-up from this SO post, I was also unable to find any documentation describing the values available on this output port.

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jwnimmer-tri commented 2 weeks ago

One related question -- is there any reason we have a per-model output port for this, but not a whole-plant output port? Maybe that nobody asked for one?

It's an outlier as the only per-model output that doesn't have a whole-plant neighbor. In the current Calc function, we are already computing the whole-plant vector and then throwing way the part we didn't need.