Drake: tutorials: Need to add tutorial for MultibodyPlant

[EricCousineau-TRI]

At present, we have tutorials for formulating IK / MP problems and doing rendering with MBP.
However, we don't have any succinct tutorials covering how MBP works.

Some things to do (which could be done in stages):

• Intro (kinematics, dynamics, topology, etc). Mostly, this should point to Doxygen / Underactuated textbook, and not repeat too much?
• Parsing models. Should also cover parsing multiple models, and model instances.
• Querying joints, bodies, etc. Should cover model instances (e.g. errors you get when you have multiple of the same name).
• Minimal coordinates (positions, velocities). Read/write. Talk about floating-body base coordinates?
• Maximal coordinates (pose). Read/write. CalcRelativeTransform, etc.
• Visualization (relates #12645, though perhaps we could do 2D projections?), first w/o sim.
• Dynamics.
• Basic geometry, collision. (We may want to save complex bits for a separate tutorial?)
• Simulation. Sensors, force
  
  
  
  • Also cover purely kinematic simulations? (e.g. driving kinematics by input ports to position / velocity).
  
  

After reviewing Zhaoyuan's tutorials, I see some minor inaccuracies. Once we have the tutorial in Drake, perhaps we should try to get him to link to ours?

EDIT(2020/04/22): Zero recollection of what the "inaccuracies" might be... mayhaps I just didn't read the tutorial closely enough.

FYI @sherm1 @huihuaTRI @RussTedrake

[RussTedrake]

I've had this on my list for a long time, too. Here was the notes I had jotted down before thinking about what to include (sorry for the duplication with your list):

• Creating your multibody system from urdf/sdf. Simple geometry inspector interface with jupyter joint sliders and an embedded meshcat visualizer
• Core design: MBP + SceneGraph
• Simulation.
  
  
  
  • Visualizers. Playback.
  
  
  • Simulator as a ROS node
  
  
• Kinematics and dynamics. Show symbolic.
• (Inverse) kinematics. Mention global IK
• Call out to the existence many other advanced algorithms (for motion planning, etc)

[hongkai-dai]

I am modifying IK API as mentioned in https://github.com/RobotLocomotion/drake/issues/12849#issuecomment-598848762, I will add the IK tutorial after the API is stabilized.

[EricCousineau-TRI]

FYI @IanTheEngineer Relates #13084