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Add two new attributes to weld constraints:

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- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.

PiperOrigin-RevId: 469190483
Change-Id: I20f6da85b09cd2c4c0b5d29eb8003eabb524e55e
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Alessio Quaglino
2022-08-22 08:18:43 -07:00
committed by Copybara-Service
parent f16a6e513d
commit 8ca5887c20
20 changed files with 491 additions and 249 deletions
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doc/APIreference.rst
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@@ -3162,7 +3162,7 @@ Numeric constants
+------------------+--------+----------------------------------------------------------------------------------------+
| mjMAXVFSNAME | 100 | The maximal number of characters in the name of each file in the virtual file system. |
+------------------+--------+----------------------------------------------------------------------------------------+
| mjNEQDATA | 7 | The maximal number of real-valued parameters used to define each equality constraint. |
| mjNEQDATA | 11 | The maximal number of real-valued parameters used to define each equality constraint. |
| | | Determines the size of mjModel.eq_data. This and the next five constants correspond to |
| | | array sizes which we have not fully settled. There may be reasons to increase them in |
| | | the future, so as to accommodate extra parameters needed for more elaborate |