how to create a prmasitc joint?

[wei1224hf]

Your project is great, thanks for your sharing,

but is this project only support revloute joint ? how about the prmasitc joint?
I want to build a truss structure based robot, find it hard to create.

[glumb]

Thanks!☺️
Yes it's only focused on revolute joints as the kinematic is not generic but tailored to a typical 6 axis industrial robot arm.