gazebosim / gazebosim/sdf_tutorials
tutorials: improve joint mobilization visuals
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Description
# Make joint mobilization diagrams clearer for concrete joints
Ensure the prismatic initial conditions are specified for joint kinematics; make Drake agree
Came about when debugging: https://github.com/RobotLocomotion/drake/issues/12775
In kinematics tutorial: http://sdformat.org/tutorials?tut=spec_model_kinematics&cat=specification&
Would be nice to have concrete rendering of each joint, with pose offsets and small mobilization (with zero offset)
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