Alessio Quaglino 8ca5887c20 Add two new attributes to weld constraints: ...

- `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

2022-08-22 08:19:22 -07:00

..

mujoco

Add two new attributes to weld constraints:

2022-08-22 08:19:22 -07:00