Added joint, wireframe, COM, Inertia overlay

[rohit-kumar-j]

Joint overlay added with "J"

[rohit-kumar-j]

Added Wireframe rendering with "W"

[rohit-kumar-j]

COM:

INERTIA:

[rohanpsingh]

Looks good, thanks for the PR!

[rohanpsingh]

Assuming, mjVIS_CONTACTFORCE was removed inadvertently, I'll add that line again manually.

[rohit-kumar-j]

mjVIS_CONTACTFORCE was written twice, so I reduced it

[rohit-kumar-j]

I wanted to add convex hull as well, but didn't really know how to work with the documentation in C. The mjVIS_CONVEXHULL is equal to 0. I saw the vopt.frame and tried the same but didn't work. Do you have any pointers to example python bindings examples like the Pybullet Quickstart Guide

[rohanpsingh]

mjVIS_CONTACTFORCE was written twice, so I reduced it

The first line was for mjVIS_CONTACTPOINT followed by the line for mjVIS_CONTACTFORCE. Their purpose is different.

I wanted to add convex hull as well, but didn't really know how to work with the documentation in C.

Let me see if I can get it working.

[rohit-kumar-j]

The first line was for mjVIS_CONTACTPOINT followed by the line for mjVIS_CONTACTFORCE. Their purpose is different.

Ah. I missed that

[rohit-kumar-j]

PR #7 with Convex Hull