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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: 470021901
Change-Id: I3faba0e5dcab2e29ee81096f5ff71ff66d99758c
This commit is contained in:
Alessio Quaglino
2022-08-25 10:21:26 -07:00
committed by Copybara-Service
parent e2c3f04097
commit d26501c0f3
20 changed files with 491 additions and 248 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