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[multibody] Adds python bindings for MultibodyPlant::AddTendonConstraint() #22813

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[multibody] Adds python bindings for MultibodyPlant::AddTendonConstraint() #22813

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7 changes: 7 additions & 0 deletions bindings/pydrake/multibody/plant_py.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -299,6 +299,13 @@ void DoScalarDependentDefinitions(py::module m, T) {
.def("AddWeldConstraint", &Class::AddWeldConstraint, py::arg("body_A"),
py::arg("X_AP"), py::arg("body_B"), py::arg("X_BQ"),
py_rvp::reference_internal, cls_doc.AddWeldConstraint.doc)
.def("AddTendonConstraint", &Class::AddTendonConstraint,
py::arg("joints"), py::arg("a"), py::arg("offset") = std::nullopt,
py::arg("lower_limit") = std::nullopt,
py::arg("upper_limit") = std::nullopt,
py::arg("stiffness") = std::nullopt,
py::arg("damping") = std::nullopt, py_rvp::reference_internal,
cls_doc.AddTendonConstraint.doc)
.def("RemoveConstraint", &Class::RemoveConstraint, py::arg("id"),
cls_doc.RemoveConstraint.doc);
// Mathy bits
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29 changes: 29 additions & 0 deletions bindings/pydrake/multibody/test/plant_test.py
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Expand Up @@ -2746,6 +2746,35 @@ def test_weld_constraint_api(self, T):
# Verify the constraint was added.
self.assertEqual(plant.num_constraints(), 1)

@numpy_compare.check_all_types
def test_tendon_constraint_api(self, T):
plant = MultibodyPlant_[T](0.01)
plant.set_discrete_contact_approximation(
DiscreteContactApproximation.kSap)

# Add weld constraint.
body_A = plant.AddRigidBody(name="A")
body_B = plant.AddRigidBody(name="B")
revolute_joint = plant.AddJoint(RevoluteJoint_[T](
name="revolute_joint", frame_on_parent=plant.world_frame(),
frame_on_child=body_A.body_frame(), axis=[0, 0, 1],
damping=0.))
prismatic_joint = plant.AddJoint(PrismaticJoint_[T](
name="prismatic_joint", frame_on_parent=plant.world_frame(),
frame_on_child=body_B.body_frame(), axis=[0, 0, 1],
damping=0.))

plant.AddTendonConstraint(
joints=[revolute_joint.index(), prismatic_joint.index()],
a=[0.1, 0.2], offset=0.3, lower_limit=-1.2, upper_limit=3.4,
stiffness=5.6, damping=7.8)

# We are done creating the model.
plant.Finalize()

# Verify the constraint was added.
self.assertEqual(plant.num_constraints(), 1)

@numpy_compare.check_all_types
def test_remove_constraint(self, T):
plant = MultibodyPlant_[T](0.01)
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