Bind DeformableModel::AddFixedConstraint (RobotLocomotion#21930)

sankhesh · Sep 20, 2024 · 1a680ab · 1a680ab
1 parent c90ff5d
commit 1a680ab
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diff --git a/bindings/pydrake/multibody/plant_py.cc b/bindings/pydrake/multibody/plant_py.cc
@@ -1697,6 +1697,9 @@ PYBIND11_MODULE(plant, m) {
         .def("SetWallBoundaryCondition", &Class::SetWallBoundaryCondition,
             py::arg("id"), py::arg("p_WQ"), py::arg("n_W"),
             cls_doc.SetWallBoundaryCondition.doc)
+        .def("AddFixedConstraint", &Class::AddFixedConstraint,
+            py::arg("body_A_id"), py::arg("body_B"), py::arg("X_BA"),
+            py::arg("shape"), py::arg("X_BG"), cls_doc.AddFixedConstraint.doc)
         .def("GetDiscreteStateIndex", &Class::GetDiscreteStateIndex,
             py::arg("id"), cls_doc.GetDiscreteStateIndex.doc)
         .def("GetReferencePositions", &Class::GetReferencePositions,

diff --git a/bindings/pydrake/multibody/test/plant_test.py b/bindings/pydrake/multibody/test/plant_test.py
@@ -3351,6 +3351,13 @@ def test_deformable_model(self):
         self.assertEqual(dut.GetBodyId(geometry_id), body_id)
         dut.SetWallBoundaryCondition(body_id, [1, 1, -1], [0, 0, 1])
 
+        spatial_inertia = SpatialInertia_[float].SolidCubeWithDensity(1, 1)
+        rigid_body = plant.AddRigidBody("rigid_body", spatial_inertia)
+        dut.AddFixedConstraint(body_A_id=body_id,
+                               body_B=rigid_body,
+                               X_BA=RigidTransform(), shape=Box(1, 1, 1),
+                               X_BG=RigidTransform())
+
         # Verify that a body has been added to the model.
         self.assertEqual(dut.num_bodies(), 1)
         self.assertIsInstance(dut.GetReferencePositions(body_id), np.ndarray)