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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[examples] Add bell pepper to hardware_sim #21558

Closed jwnimmer-tri closed 2 weeks ago

jwnimmer-tri commented 3 weeks ago

This is a nice example of the syntax for posing a free body, towards #19651.

(It also serves as a more useful test case for #21512.)

image

(Note that due to https://github.com/RobotLocomotion/drake/issues/16538#issuecomment-2019190414 you can't see the contact force arrow unless you look under the table.)

This change is Reviewable

jwnimmer-tri commented 3 weeks ago

+@SeanCurtis-TRI FYI about something I'm considering. Happy to take your thoughts.

Possibly we wait to land this until we are further on the RTR exploration, but having our demo show a free body seems like a nice win on its own, even without any RTR-demo implications.

jwnimmer-tri commented 3 weeks ago

To help play with RTR feedback, we might choose to use a different body (e.g. plate instead of pepper), or have more than one body, or etc. We can always circle back and open a new PR, but possibly we could just keep this one open and tweak it in concert with RTR debugging. There's no great rush on improving this syntax demo.

Anyway, I'll plan to add some more comment(s) and then probably land this sooner than later.

jwnimmer-tri commented 2 weeks ago

+@ggould-tri for platform review per schedule, please.