Inside the Mind dives into animating constraints at the SOP-Level and how that might be problematic.
This continuation from Inside The Mind’s look into Rigid Body Dynamic Constraints shows how to create groups in a VOP for animation and why animating on a SOP-Level might is not viable in some cases.
Visit the previous tutorial that covered how constraints work in Houdini and how to manipulate them inside the solver using Wrangles.
Also, check out this tutorial from Rohan Dalvi shows how you can help guide rigid body simulations in Side FX Houdini using the Guide Geometry Node if you want even more control over RBD sims.
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