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For a fixed joint between two components, you need to fully define the joint type and the joint coordinate system through the drop-down menus. Yes it would be able to infer that it's a fixed joint, but it would not be able to infer your desired joint origin transform.

The automatic joint inference doesn't work for fixed joints because the tool would not be able to generate reasonable joint origin candidates without some notion of the axis of movement that it can for single-DOF joints. For revolute/prismatic joints, the tool calculates the axis of the DOF and then projects that axis onto the parent's joint reference frame to find the simplest transform from the parent to the child, for most people it creates sensible choices. Without that axis, it would be difficult to suggest a transform that the user would agree with.

For a fixed joint between two components, you need to fully define the joint type and the joint coordinate system through the drop-down menus. Yes it would be able to infer that it's a fixed joint, but it would not be able to infer your desired joint origin transform.transform, which is why the UI requirement exists.

The automatic joint inference doesn't work for fixed joints because the tool would not be able to generate reasonable joint origin candidates without some notion of the axis of movement that it can for single-DOF joints. For revolute/prismatic joints, the tool calculates the axis of the DOF and then projects that axis onto the parent's joint reference frame to find the simplest transform from the parent to the child, for most people it creates sensible choices. Without that axis, it would be difficult to suggest a transform that the user would agree with. with.