Enhance multibody_plant_kinematics_test.cc for subsequent PRs.

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Enhance multibody_plant_kinematics_test.cc for subsequent PRs. #21570

Closed mitiguy closed 1 week ago

mitiguy commented 2 weeks ago

Consolidate and enhance tests in multibody_plant_kinematics_test.cc to facilitate testing for subsequent PRs associated with issue #13662 and issue #14269. To see how this PR fits into bigger plan, see PR #21519.

This change is