Support contact results visualization in PlanarSceneGraphVisualizer

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Support contact results visualization in PlanarSceneGraphVisualizer #13214

Open RussTedrake opened 4 years ago

RussTedrake commented 4 years ago

This is one simple feature that we're missing in the jupyter (e.g. colab/binder) workflow. We have it for meldis (with ConnectContactResultsToDrakeVisualizer) and for meshcat.

kamiradi commented 8 months ago

Hi, I have modified the intial PlanarSceneGraphVisualizer to now display contact points and forces. As per our discussion here, I wanted to see if I could contribute this to the code base after getting your feedback.

RussTedrake commented 8 months ago

That sounds fantastic. Please do open a PR. I think @bernhardpg might be particular interested in seeing it land.

bernhardpg commented 8 months ago

Yes I'd be very excited to see this land. Happy to help out with the review! @RussTedrake @kamiradi

kamiradi commented 8 months ago

See #21074.