For fixed joints, axis error checking was skipped.

[ft-lab]

Description

There was a URDF file that specified axis (0, 0, 0) when using a fixed joint.
In previous implementations, this axis (0, 0, 0) was implemented to return an error.

For fixed joints, the axis is not used, so we have skipped this error check.
For other joint types, this axis(0, 0, 0) will result in an error.

Verification File

https://github.com/Daniella1/urdf_files_dataset/blob/main/urdf_files/robotics-toolbox/kuka_description/kuka_lbr_iiwa/urdf/lbr_iiwa_14_r820.urdf

Unit test

• URDF: tests/data/fixed_joint_axis_0.urdf
• unit test: tests/test_parser.py - test_fixed_joint_axis_0

Checklist

• I am familiar with the Contributing Guidelines.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

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