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tutorials: improve joint mobilization visuals #23

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scpeters opened this issue May 19, 2020 · 0 comments

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scpeters commented May 19, 2020

Make joint mobilization diagrams clearer for concrete joints

Ensure the prismatic initial conditions are specified for joint kinematics; make Drake agree
Came about when debugging: RobotLocomotion/drake#12775

In kinematics tutorial: http://sdformat.org/tutorials?tut=spec_model_kinematics&cat=specification&

Would be nice to have concrete rendering of each joint, with pose offsets and small mobilization (with zero offset)

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