Document other than add_weld_constraint constraints

[MRiabov]

Hello,
This is to say that all other constraints (1-5 dofs) are missing from documentation. It seems they are present in the code (from "🕹️ Control Your Robot"):

The suction pad is modelled as an ideal weld — no compliance or force limit is enforced. If you need a more physical behaviour you can instead create a gs.constraints.DampedSpring or control the gripper fingers.

This doesn't say how to add them though.
In particular, I'm looking for a (combination of) constraint on all XYZ axes and 2 dofs (e.g. a bearing).

Thank you.