Forces from Weld constraints

[Balint-H]

Intro

Hi!

I am using MJX/MJWarp and the python API.

My setup

I'm using Mj 3.6, on Windows and Linux

My question

If I want to get the linear forces and torques applied by a specific weld, what is my best bet? Would the 6D forces from the corresponding fields in efc_forces provide this? If so, how can I get the address of an equality constraint of a given ID? For contacts there is efc_address but unless I missed it, this doesn't exist for equality constraints. Should I simply iterate through efc_type until I find the equality constraints, check that they are welds, and then assume they are in order?

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.