[multibody] Remove all temporal setup limitations on PD gains #22715
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jwnimmer-tri
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+@amcastro-tri for design review, please. Obviously this needs more work on tests & etc, but is it moving in a good direction? |
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As long as the plant is discrete, changing the PD gains (even back to zero, to remove the controller) should be allowed. This makes simulator setup code even simpler, and no longer requires users to type drake-specific XML gains into all of their robot files.
This change is