search

RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
Other
3.29k stars 1.26k forks source link

Allow updating multibody constraints in the context with new specs values after Finalize() #22007

Open chen-tianjian opened 1 week ago

chen-tianjian commented 1 week ago

Is your feature request related to a problem? Please describe. We are attempting to model an item in a soft bag as a runtime-mutable pendulum, and we wish to leverage the multibody distance constraints. However, currently Drake does not allow updating the constraints specs after Finalize().

Describe the solution you'd like Allow updating multibody constraints in the context with new specs values. Currently we only care about updating distance, but we are glad to see other specs becoming mutable too.

Describe alternatives you've considered We can also use bushing for this purpose, but (we heard that) constraints are better for numerics in SAP.

Additional context The slack discussion is here

sherm1 commented 1 week ago

Assigned to @amcastro-tri for disposition.