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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
This commit is contained in:
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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include/mujoco/mjmodel.h
+1 -1
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@@ -30,7 +30,7 @@
//---------------------------------- sizes ---------------------------------------------------------
#define mjNEQDATA 7 // number of eq_data fields
#define mjNEQDATA 11 // number of eq_data fields
#define mjNDYN 10 // number of actuator dynamics parameters
#define mjNGAIN 10 // number of actuator gain parameters
#define mjNBIAS 10 // number of actuator bias parameters