Add coupled-joint support for mimic joints#8
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Introduces ``CoupledJoint`` in ``fkcc_gen.cc`` so slave joints (e.g. ``finger_joint2 = 1.0 * finger_joint1``) are eliminated from the virtual configuration space used by FK / CC codegen. Robot JSONs can now declare ``coupled_joints`` to drive an arbitrary mimic. Originally bundled with autolife body resources; this commit carries only the C++ generator change so the feature is reusable for any robot with mimic joints (the FR3 gripper is a typical case). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Introduces
CoupledJointinfkcc_gen.ccso slave joints (e.g.finger_joint2 = 1.0 * finger_joint1) are eliminated from the virtual configuration space used by FK / CC codegen. Robot JSONs can now declarecoupled_jointsto drive an arbitrary mimic.Originally bundled with autolife body resources; this commit carries only the C++ generator change so the feature is reusable for any robot with mimic joints (the FR3 gripper is a typical case).