Update multibody call sites to use RigidTransform (part 3).

[amcastro-tri]

Overarching issue: https://github.com/RobotLocomotion/drake/issues/9865

Continuation of the work started in #10959 and #11064.

As with #11064, feel free to assign your name and address as many of these you'd like.

A brute force search of Isometry3 within drake/multibody and pydrake/multibody revels the following 109 occurrences of Isometry3 across 25 files (number counts how many times in that file):

• [x] ~bindings/pydrake/multibody/plantpy.cc: 5~ (only used in deprecation warnings and compatibility shims)_
• [x] #11215 bindings/pydrake/multibody/test/inverse_kinematics_test.py: 1 @avalenzu
• [x] #11393 bindings/pydrake/multibody/test/plant_test.py: 2 @jwnimmer-tri
• [x] ~bindings/pydrake/multibody/treepy.cc: 3~ (only used in deprecation warnings and compatibility shims)_
• [x] multibody/benchmarks/kuka_iiwa_robot/drake_kuka_iiwa_robot.h: 1 @mitiguy
• [x] multibody/benchmarks/kuka_iiwa_robot/make_kuka_iiwa_model.cc: 1 @mitiguy
• [x] #11215 multibody/inverse_kinematics/test/inverse_kinematics_test_utilities.cc: 2 @avalenzu
• [x] #11215 multibody/inverse_kinematics/test/inverse_kinematics_test_utilities.h: 2 @avalenzu
• [x] #11215 multibody/inverse_kinematics/test/minimum_distance_constraint_test.cc: 2 @avalenzu
• [x] #11394 multibody/multibody_doxygen.h: 2 @amcastro-tri
• [x] #11390 multibody/parsing/detail_urdf_geometry.cc: 5 @jwnimmer-tri
• [x] #11390 multibody/parsing/test/detail_scene_graph_test.cc: 5 @jwnimmer-tri
• [x] #11390 multibody/parsing/test/detail_sdf_parser_test.cc: 9 @jwnimmer-tri
• [x] #11390 multibody/parsing/test/detail_tinyxml_test.cc: 4 @jwnimmer-tri
• [x] #11390 multibody/parsing/test/detail_urdf_geometry_test.cc: 3 @jwnimmer-tri
• [ ] multibody/plant/multibody_plant.cc: 1: here. @SeanCurtis-TRI, does it make sense to provide a GeometryInstance ctor taking a RT?
• [x] multibody/plant/multibody_plant.h: 25: they are all deprecated APIs within #if DRAKE_DOXYGEN_CXX.
• [x] multibody/plant/test/frame_kinematics_test.cc: 7 @mitiguy
• [x] multibody/plant/test/kuka_iiwa_model_tests.h: 1 @mitiguy
• [x] multibody/plant/test/multibody_plant_jacobians_test.cc: 1 @mitiguy
• [x] multibody/plant/test/multibody_plant_test.cc: 11 @mitiguy
• [x] multibody/test_utilities/spatial_kinematics.h: 5 @mitiguy
• [x] multibody/tree/fixed_offset_frame.h: 8 @mitiguy (already seems deprecated)
• [x] ~multibody/tree/multibodytree.cc: 2~ (captured in #10986 separately)_
• [x] multibody/tree/weld_joint.h: 2 @mitiguy

[amcastro-tri]

This has gone a bit stale. I believe @mitiguy is working on some of this, could you confirm @mitiguy? I'll ask for more volunteers in the dynamics channel.

[mitiguy]

Yes @amcastro-tri I am on this. I got side-tracked slightly with numerical integrator test.

[mitiguy]

Monday update: Work to restart after onsite. Started PR# 11414 to remove some additional Isometry and add required friend operator * to SpatialVector class.

[mitiguy]

Progress update Monday May 20th -- background information only All progress last week was on updating the Jacobian interface (Issue in progress #10155), none on this issue. Merged PR#11414 12 days ago which checked off the following boxes in this issue: multibody/benchmarks/kuka_iiwa_robot/drake_kuka_iiwa_robot.h: 1 @mitiguy multibody/benchmarks/kuka_iiwa_robot/make_kuka_iiwa_model.cc: 1 @mitiguy multibody/plant/test/frame_kinematics_test.cc: 7 @mitiguy multibody/plant/test/kuka_iiwa_model_tests.h: 1 @mitiguy multibody/plant/test/multibody_plant_jacobians_test.cc: 1 @mitiguy multibody/plant/test/multibody_plant_test.cc: 11 @mitiguy

[amcastro-tri]

11414 landed. Two drake/multibody bullets remaining, @mitiguy is it a good assumption that you'll address them?

@SeanCurtis-TRI, regarding the last bullet mentioning an additional GeometryInstance ctor, is that a sensible solution?

[mitiguy]

@amcastro-tri Yes - I'll address them this week.

[amcastro-tri]

Excellent! we are only one bullet away from resolving this one! Thanks to everyone who contributed.

[jwnimmer-tri]

FWIW I don't think we should do anything about the last checkbox -- I think we should close this now.

SceneGraph is all-in on Isometry3; we shouldn't try to start shaving that yak under the umbrella of this issue.

[mitiguy]

Closed this issue and opened issue #11549 which deals specifically with SceneGraph.