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multibody: Support loop joint topology #9566

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EricCousineau-TRI opened this issue Oct 1, 2018 · 4 comments
Open
2 tasks

multibody: Support loop joint topology #9566

EricCousineau-TRI opened this issue Oct 1, 2018 · 4 comments
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@amcastro-tri
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component: multibody plant MultibodyPlant and supporting code priority: medium type: feature request

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@EricCousineau-TRI
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  • Support for loop joint topology in MBT / MBP API
  • Support for loop joint specification in SDF parsing
@sherm1 sherm1 mentioned this issue Jul 25, 2019
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@sherm1 sherm1 added component: multibody plant MultibodyPlant and supporting code priority: medium labels May 12, 2020
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sherm1 commented May 12, 2020

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

@EricCousineau-TRI EricCousineau-TRI mentioned this issue Aug 12, 2020
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@RussTedrake RussTedrake mentioned this issue Apr 17, 2021
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sherm1 commented Apr 18, 2021

For implementation notes, see #1867.

@jwnimmer-tri jwnimmer-tri mentioned this issue Nov 2, 2021
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@RussTedrake
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Bread crumb: The SAP solver now supports closed loop topologies via constraints. See, for instance MultibodyPlant::AddBallConstraint() and/or MultibodyPlant::AddDistanceConstraint()

@RussTedrake
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See also #18803 for the parsing. (I actually think we could probably close this issue given the coverage from the other two).

@sherm1 sherm1 mentioned this issue Jan 24, 2024
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component: multibody plant MultibodyPlant and supporting code priority: medium type: feature request
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@sherm1 @RussTedrake @jwnimmer-tri @amcastro-tri @EricCousineau-TRI