What feature or enhancement are you proposing?

Hello,
There are two functions to add rigid (weld) constraints as per #961. However, there seems to be no "get_weld_constraint", in my case (where there are a number of such constraints). This makes it more complex to add e.g. sanity checks when removing two constraints between such bodies.

Motivation

It would be useful to find out which bodies have the constraints for tests and assertions.

As a RL researcher working with fasteners,
I want to assert that my code behaves as expected (and debug)
This enables me to write the code that works.

Potential Benefit

Improved tests of user code. Additionally, it currently is challenging to remove all such weld constraints in case of custom scene reset - we don't really know which lines constrain what unless we store it explicitly (or there is a method, but it is undocumented)

What is the expected outcome of the implementation work?

• A function/property in scene.rigid_solver outputting a tensor (?) of connected links. e.g - a tensor of shape (5,2) outputting two links for 5 bodies.

Additional information

No response