WIP: [multibody] Adds SapFixedTendonConstraint #22711
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joemasterjohn
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Mar 6, 2025
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Reviewable status: 1 unresolved discussion, LGTM missing from assignee amcastro-tri, needs platform reviewer assigned, needs at least two assigned reviewers, missing label for release notes (waiting on @joemasterjohn)
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+@amcastro-tri just so this appears in your reviewable dashboard, no rush.
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Adds the necessary SAP constraint to implement MuJoCo's fixed tendon.
@amcastro-tri I'm pushing this as a draft for now since I've yet to finish the tests. But I just wanted to get your eyes on it for a design review. The tests will probably be ready by the time you take a pass.
cc: @RussTedrake
This change is