Alessio Quaglino d26501c0f3 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: 470021901
Change-Id: I3faba0e5dcab2e29ee81096f5ff71ff66d99758c

2022-08-25 10:22:15 -07:00

..

mujoco

Add two new attributes to weld constraints:

2022-08-25 10:22:15 -07:00