[py visualization] Add model visualizer option for hydro type

[jwnimmer-tri]

Towards #19709.

This offers a way for model authors to understand the pressure field of their model (by moving it around on/in a ground plane), even if the model's native properties default to point contact.

bazel run //tools:model_visualizer -- \
    --compliance_type=compliant \
    package://drake_models/ycb/004_sugar_box.sdf \
    planning/test_utilities/collision_ground_plane.sdf

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This change is 

[jwnimmer-tri]

+@rpoyner-tri for feature review, please.

[jwnimmer-tri]

Previously, SeanCurtis-TRI (Sean Curtis) wrote…

My difficulty may be exacerbated by the way we visualize force vectors -- double-headed, anti-parallel vector pairs really mask the origins (which means being able to tell where the force is actually applied. I didn't care enough about this to capture images.

That was a response to ... topic number 2 (of 4)? That's fine.

I'm most interested in feedback on topic number 1.

[SeanCurtis-TRI]

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

That was a response to ... topic number 2 (of 4)? That's fine. I'm most interested in feedback on topic number 1.

Oh, sorry, I left my feedback to (1) as tacit. I read the changes, had no recommendation for improvement. :)

[jwnimmer-tri]

Bueno.