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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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multibody: Support loop joint topology #9566

Open EricCousineau-TRI opened 6 years ago

EricCousineau-TRI commented 6 years ago
sherm1 commented 4 years ago

Drake's bushing element is available as a workaround until this is done.

sherm1 commented 3 years ago

For implementation notes, see #1867.

RussTedrake commented 1 year ago

Bread crumb: The SAP solver now supports closed loop topologies via constraints. See, for instance MultibodyPlant::AddBallConstraint() and/or MultibodyPlant::AddDistanceConstraint()

RussTedrake commented 1 year ago

See also https://github.com/RobotLocomotion/drake/issues/18803 for the parsing. (I actually think we could probably close this issue given the coverage from the other two).