Is your feature request related to a problem? Please describe.
Since Drake does not support dynamically adding and removing objects, we (Amazon) play the trick by locking the objects outside the scene and unlock and teleport when we need to "add" them to the scene. When objects are locked, they are also excluded from SAP solver so we can save computation. This works well with rigid bodies, but this is not supported for deformables yet.
Describe the solution you'd like
We appreciate it if we can have the feature to to lock (and unlock) the floating deformables, basically freeze the body in space, and exclude it from the solver. The user-facing behaviors should be similar to rigid body counterpart.
Is your feature request related to a problem? Please describe. Since Drake does not support dynamically adding and removing objects, we (Amazon) play the trick by locking the objects outside the scene and unlock and teleport when we need to "add" them to the scene. When objects are locked, they are also excluded from SAP solver so we can save computation. This works well with rigid bodies, but this is not supported for deformables yet.
Describe the solution you'd like We appreciate it if we can have the feature to to lock (and unlock) the floating deformables, basically freeze the body in space, and exclude it from the solver. The user-facing behaviors should be similar to rigid body counterpart.