问更改焊接接头姿势

EN

// Weld body B to body A and move body B.

// Original transform for the weld between body_A and body_B
math::RigidTransform<double> X_AB(...);

const FixedOffsetFrame<double>& frame_on_A = plant->AddFrame(
    std::make_unique<FixedOffsetFrame<double>>(body_A.body_frame(), X_AB));

plant->WeldFrames(frame_on_A, body_B.body_frame());

// ... create a context and simulate ...

// New transform for the weld between body_A and body_B
math::RigidTransform<double> X_AB_new(...)

frame_on_A.SetPoseInBodyFrame(context, X_AB_new);