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4dd8b3f247
The restraints generate either joint-local (tau) or global (fx) forces. At the moment they all generate the latter. This change corrects three of the four restraints so that the forces are in the gobal coordinate system and not the local coordinate system of the body. The problem with this is that the forward dynamics code then transforms most of the forces back to the body local coordinate system. A better solution would be to associate restraints which are more sensibly defined in a local frame with the joints instead of the bodies, and return the forces as part of the tau variable.