GSoC 2021 - Week 2

Key highlights of this week’s work are:

• Implement PinJoint and Joint class

  • Implemented the _orient_frame() to orient frames in arbitrary axes to align child and parent axes. Added proper tests for this functionality. Finally this PR seems almost done and is in review phase.
    
    

• Implement SlidingJoint

  • The SlidingJoint class is the practical implementation of a Pin Joint. This class inherits Joint class and forms KDEs, orient frames, set linear and angular velocities all by itself, according to the SlidingJoint. Implemented the entire class along with docstring and some unit tests.