Fixed joint - #50
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Have been validated against simulink
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The fixed joint implementaion have been check against a simple 3 DOF robot in simulink + the reaction forces aswell |
Prier
approved these changes
Aug 13, 2026
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Reverted to have fixed joints NOT be a state.
Removed check for DOF == number of links, due to fixed joints not adding to DOF.
Added getter function for reaction forces for each link/frame in the model.