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Revise suspension model

Christopher Wipf requested to merge sus-update-fixmes into master

Re-implement corrections to the model from !61 (closed).

  • Upper joint temperature comes from the stage above
  • Drop support for BQuad suspension type
  • Use the fiber end cross-section consistently in wireTELoss()
  • Remove the "questionable approximation" in continuumWireKh
  • Correct the spring constant calculation in continuumWireKv
Edited by Jameson Rollins

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