Here is a short overview of the PRs merged and the ones opened:

  • Merged PR #24028 implementing a generic coordinate generation helper, which is ready for merging.
  • merged PR #24037 implementing the CylindricalJoint, which will be ready for review as soon as #24028 is merged.
  • Opened PR #24046 implementing the PlanarJoint, which is almost ready for merging. Currently a decision should be made what inputs for defining the rotation_axis and planar_vectors will be supported
  • Opened draft PR #24053 implementing the SphericalJoint, which will be ready for review as soon as #24046 is merged.

As for what is next, I am almost finished with what is in my GSoC proposal. So now, I’m researching what I will focus on during my thesis, which I’d like to couple to SymPy.