Week 32
Just before I went on vacation the documentation PRs, i.e. PR about adding a four bar linkage example and the PR explaining the joints framework using figures were merged. Also the PR, which improves the Point.acc
method, was merged. However, after my holiday I heard the request of making these figures a bit smaller in filesize. So, this last week I converted them to SVGs in this already merged PR. After this I mainly did some reading up and investigating how we could introduce a Mobilizer
joint as described in this paper by Seth, A., Sherman, M., Eastman, P., & Delp, S.
This lead to raising this issue. But the main thing I started working on is this draft PR, which changes the definition of a Joint
to be a bit more general. Where we were first using a parent_axis
and child_axis
to describe an intermediate frame and the joint axis. It is now changed to use a given intermediate frame for the parent as well as the child. And for the joint axis we use a separate argument joint_axis
. I would love to write and explain a lot more about this PR, but if you are interested you’d better just visit it.
Issues and PRs I’m working on:
- this draft PR which switches the
Joint
definition to use intermediate frames. - Raised issue about a problem that defining a new joint in a certain way can lead to a deletion of a previous joint.
- Raised issue about the inconsistency in storing velocity and acceleration data in the
Point
class. - My comment on how we could make the
Body
class more analogous to aReferenceFrame
.
Some other opened issues an PRs, which I have open, but am not currently working on:
- PR I reviewed
- Issue about image readability in the new dark theme.
- Issue about using a recursive calculation of the velocity in the
Point.vel
method - Draft PR which adds a check on the velocity and acceleration theories as mentioned in the old PR
- Needs a decision as mentioned in this comment
- An issue I’m participating in, which is about making the
KanesMethod
compatible with theBody
class.
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