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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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unity/Runtime/Bindings/MujocoBindings.cs
+1 -1
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@@ -40,7 +40,7 @@ public const double mjMAXIMP = 0.9999;
public const int mjMAXCONPAIR = 50;
public const int mjMAXVFS = 2000;
public const int mjMAXVFSNAME = 1000;
public const int mjNEQDATA = 7;
public const int mjNEQDATA = 11;
public const int mjNDYN = 10;
public const int mjNGAIN = 10;
public const int mjNBIAS = 10;