Re: [sympy] Buggy kinematics for serial chain manipulators

Ashwin, The Joints module was added recently and may very well have bugs. The Joint formulation should produce the same results as https://pydy.readthedocs.io/en/latest/examples/multidof-holonomic.html. I don't remember precisely but it should have generated the same results when we merged in the

[sympy] Buggy kinematics for serial chain manipulators

I am trying out the serial chain manipulator example in the sympy mechanics docs but am finding out that the kinematics sympy computes in the backend are buggy. I am attaching the file