Restricting "active" joints in RigidBodyDynamics.jl

Hi there,

I have been using RigidBodyDynamics.jl to do some simulations with robotics for about a month or so. I’m finding performance for some of my simulations really suffers when I use the full collection of joints in the robot, while everything works quite well when I use an URDF that has most joints set to fixed. It seems like it should be possible to “switch off” joints from my state so they will be treated as a fixed joint (and also to create linear/affine relationships between pairs of states, in the case of a mimic joint).

Does anyone know if this is supported by the library (or if it would take less than a couple of days to implement)?