WIP [multibody] Adds AddFixedTendonConstraint #22717
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rpoyner-tri
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Mar 11, 2025
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Good day, @joemasterjohn . This PR does not yet have a reviewer assigned. Is it ready for review yet? If yes, then please assign a feature reviewer. If not, then please label it “status: do not review”.
Reviewable status: needs platform reviewer assigned, needs at least two assigned reviewers, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits), missing label for release notes (waiting on @joemasterjohn)
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release notes: feature
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Creates the API
MultibodyPlant::AddFixedTendonConstraint()and all of its relatives.Hooks up constraints specified by the plant to the SAP problem through
SapDriver.The first commit in this PR contains the content from #22711, and will be dropped once that has merged.
cc: @RussTedrake @amcastro-tri
This change is