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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[meshcat] port "PoseSliders" from underactuated/manipulation course notes #17784

Closed RussTedrake closed 1 year ago

RussTedrake commented 2 years ago

Earlier this year, @jwnimmer-tri ported the python meshcat JointSliders from my course repos into Drake in order to support the multibody tutorial. I also have a meshcat PoseSliders class which is almost identical (but outputs a RigidTransform instead of a VectorXd of joint positions).

We already have one version of this implemented in //examples/manipulation_station:end_effector_teleop.py. But it deserves to be a first-class citizen, alongside JointSliders. In the initial PR, it would simply replace the ManipulationStation implementation, but down the line it would be useful to have a differential IK tutorial, like the "intro" notebook from my manipulation notes.

rpoyner-tri commented 2 years ago

I'll let @jwnimmer-tri be the task gatekeeper, but this sounds like something that @trowell-tri might be interested in.

jwnimmer-tri commented 1 year ago

See also #19153.

We'd probably want this to be pydrake.visualization.PoseSliders even though JointSliders is somewhere else for now.