Feature/contact parameters and reduce virtual links#32
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Chuanfang-Neptune wants to merge 2 commits intofarmsim:amphibious_v0.2from
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Allow solref/solimp to be defined as a property per link of morphology.links in animat file.
This is now optional argument. If not defined, solref takes the value from animat.mujoco.solref
Skip virtual links with small inertia in mjcf generation if they are not tracked in control.sensors.links.
This will avoid the case of large inertia bodies coupled with tiny inertia links to reduce potential instability.
This also resolves the visualisation issue of overlapping boxes of inertias.