dartsim: support non-tree kinematics in AttachFixedJoint#352

Merged

scpeters merged 8 commits intoign-physics5from scpeters/dart_kinematic_loops

Jun 29, 2022

+423-9

Commits on Jun 5, 2022

Commits on Jun 6, 2022

Add unit tests
arjo129
committed

Commits on Jun 9, 2022

Fix test by resetting constraint transform
scpeters
committed

Commits on Jun 10, 2022

Expect falling velocity to be linear in time
scpeters
committed

Commits on Jun 13, 2022

Fix detaching welded nodes
scpeters
committed

Commits on Jun 28, 2022

Suggestions to #352 (#367 )
azeey
authored