This week I finally set this PR on intermediate frames as ready to review. Besides that I have also created a PR, which adds the optional frame argument to RigidBody.parallel_axis and also implements the parallel_axis method for the Body class. As well as a PR which partially fixes the issue of KanesMethod not being compatible with Body objects, which represents a Particle. This is done by changing the inertia of a Body representing a Particle to zero. Besides that this PR also adds a central inertia setter to RigidBody. As a last thing I have been working on is the implementation of new joint types, mainly the SphericalJoint. However I have not yet published a PR for this, since my implementation is currently dependent on the PR on intermediate frames.

Issues and PRs I’m working on:

  • This PR which switches the Joint definition to use intermediate frames.
  • This PR which implements the parallel_axis method for the Body class.
  • This PR which changes the inertia of a Body representing a Particle to zero.
  • Raised issue about the dependency between test_pinjoin_arbitrary_axis and test_functions.py.
  • 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 a ReferenceFrame.

Some other opened issues an PRs, which I have open, but am not currently working on:

  • PR I reviewed (awaiting changes)
  • 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 the Body class.