Tianjian Chen

Increase the number of quadrature points used to sample external forces in FEM deformable simulation

1

**Is your feature request related to a problem? Please describe.** We (Amazon) are leveraging the external force field for FEM to simulate picking deformables with suction cups. However, we are...

**Is your feature request related to a problem? Please describe.** Since Drake does not support dynamically adding and removing objects, we (Amazon) play the trick by [locking](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_rigid_body.html#a50c7f850050d4a94641ed72dd2d1968f) the objects outside...

Please remove personal/user-specific code

1

Assembly 4 is now a widely used open source project by the FreeCAD community around the world. Please keep the codebase clean and remove the user-specific code like https://github.com/Zolko-123/FreeCAD_Assembly4/blob/224d9e2de4e3b43ed9f07b635537dea7159f9fec/infoKeys.py#L48-L50 Users...

Allow updating multibody constraints in the context with new specs values after Finalize()

1

**Is your feature request related to a problem? Please describe.** We are attempting to model an item in a soft bag as a runtime-mutable pendulum, and we wish to leverage...