How to add anchored models?

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When building a robot with environments, I would like to mark those objects in the env as anchored. Using Parser(plant).AddModelsXXX, it seems there is no options to mark the added geometries as anchored. I also use WeldFrames to fix those geometries. But that does not automatically mark geometries attached to the welded frame as anchored.

How can I mark geometries as anchored?

Thanks.



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