Assemblies
JointUPS
Universal - prismatic - spherical joint aggregation (no constraints, no potential states)
JointUSR
Universal - spherical - revolute joint aggregation (no constraints, no potential states)
JointUSP
Universal - spherical - prismatic joint aggregation (no constraints, no potential states)
JointSSR
Spherical - spherical - revolute joint aggregation with mass (no constraints, no potential states)
JointSSP
Spherical - spherical - prismatic joint aggregation with mass (no constraints, no potential states)
JointRRR
Planar revolute - revolute - revolute joint aggregation (no constraints, no potential states)
JointRRP
Planar revolute - revolute - prismatic joint aggregation (no constraints, no potential states)