Fixed joint

include/sdu_controllers/math/rnea.hpp

@@ -29,6 +29,10 @@ namespace sdu_controllers::math
       Eigen::MatrixXd coriolis(const Eigen::VectorXd &q, const Eigen::VectorXd &dq);
       Eigen::VectorXd velocity_product(const Eigen::VectorXd &q, const Eigen::VectorXd &dq);
       Eigen::VectorXd gravity(const Eigen::VectorXd &q);
+
+      // Get complete reaction dynamics of every joint/frame
+      const Eigen::Matrix3Xd& get_reaction_forces_frames() const { return f_; }
+      const Eigen::Matrix3Xd& get_reaction_moments_frames() const { return mu_; }
 
       /**
        * @brief Classical joint friction torque \f$ \tau_{f} \f$.

python/sdu_controllers/_math.cpp

@@ -171,7 +171,17 @@ namespace sdu_controllers
             "set_z0",
             &math::RecursiveNewtonEuler::set_z0,
             "Set the z-axis of the base frame",
-            nb::arg("z0"));
+            nb::arg("z0"))
+        .def(
+            "get_reaction_forces_frames",
+            &math::RecursiveNewtonEuler::get_reaction_forces_frames,
+            "Get reaction forces from the most recent inverse dynamics call"
+        )
+        .def(
+            "get_reaction_moments_frames",
+            &math::RecursiveNewtonEuler::get_reaction_moments_frames,
+            "Get reaction moments from the most recent inverse dynamics call"
+        );
 
     // Linear algebra utilities
     m.def(

src/models/parameter_robot_model.cpp

@@ -289,13 +289,6 @@ namespace sdu_controllers::models
         params.g0 = Eigen::Vector3d(0.0, 0.0, -9.81);
       }
 
-      // Basic validation: sizes must match dof if provided
-      if (params.dof != 0 && params.dof != static_cast<uint16_t>(n_links))
-      {
-        std::cerr << "YAML validation error: declared dof (" << params.dof << ") "
-                  << "does not match number of inertial entries (" << n_links << ") in " << filepath << std::endl;
-        return std::nullopt;
-      }
       // set dof if not set
       if (params.dof == 0)
         params.dof = static_cast<uint16_t>(n_links);