Week 36
Decided to make my posts on Friday, so it is more of a reflection of past week (in this case a little more). Besides that I’m also gonna try to keep using the format of my midterm overview. So what has happened:
- Merged PR #23981 adding an optional frame argument to
RigidBody.parallel_axis
and implementingBody.parallel_axis
. - Merged PR #23982 changing
Body
to always have an inertia, also when representing aParticle
. This will partially solve issue #23269. - Merged PR #23920 changing the definition of a
Joint
to use intermediate frames. Something that was specifically added last week was the support for supplying an axis with which the interframe should align its X axis. Something which surprisingly gives the exact same results asparent_axis
andchild_axis
did (means that those rotations were actually chosen more logical than I thought). - Closed issue #23913 on the problem that the use of temporary relationships between
ReferenceFrame
s in theJoint
class can lead to deleting correct relations. Was also fixed in #23920. - Raised issue #1929 in the
symengine
on the problem of stackability of null Matrices. - Raised and closed issue #24005 on the problem that a CI slow test 2 failed due to a timeout. However due to irreproducibility this issue was also closed.
- Opened PR #24028 implementing a generic coordinate generation helper, which is ready for merging.
- Opened draft PR #24037 implementing the
CylindricalJoint
, which will be ready for review as soon as #24028 is merged.
As you can see from the list above, quite a few things have happened and I’m happy with the progress. A lot of this progress is also due to the help in reviewing and conceptual problem solving I got from Sam Brockie, who is now also able to work full time on SymPy. Next week I also hope to publish the PRs of the PlanarJoint
and SphericalJoint
. And probably also finish of that state saving issue #23741 by just going for the easy solution, namely leaving almost everything as is and just removing the to aggressive relation deletion of ReferenceFrame._dcm
(#23913).
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