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similarity index 100%
rename from OndselSolver/ASMTRevoluteJoint.h
rename to GNN/OndselSolver/ASMTRevoluteJoint.h
diff --git a/OndselSolver/ASMTRotationLimit.cpp b/GNN/OndselSolver/ASMTRotationLimit.cpp
similarity index 100%
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rename to GNN/OndselSolver/ASMTRotationLimit.cpp
diff --git a/OndselSolver/ASMTRotationLimit.h b/GNN/OndselSolver/ASMTRotationLimit.h
similarity index 100%
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rename to GNN/OndselSolver/ASMTRotationLimit.h
diff --git a/OndselSolver/ASMTRotationalMotion.cpp b/GNN/OndselSolver/ASMTRotationalMotion.cpp
similarity index 100%
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rename to GNN/OndselSolver/ASMTRotationalMotion.cpp
diff --git a/OndselSolver/ASMTRotationalMotion.h b/GNN/OndselSolver/ASMTRotationalMotion.h
similarity index 100%
rename from OndselSolver/ASMTRotationalMotion.h
rename to GNN/OndselSolver/ASMTRotationalMotion.h
diff --git a/OndselSolver/ASMTScrewJoint.cpp b/GNN/OndselSolver/ASMTScrewJoint.cpp
similarity index 100%
rename from OndselSolver/ASMTScrewJoint.cpp
rename to GNN/OndselSolver/ASMTScrewJoint.cpp
diff --git a/OndselSolver/ASMTScrewJoint.h b/GNN/OndselSolver/ASMTScrewJoint.h
similarity index 100%
rename from OndselSolver/ASMTScrewJoint.h
rename to GNN/OndselSolver/ASMTScrewJoint.h
diff --git a/OndselSolver/ASMTSimulationParameters.cpp b/GNN/OndselSolver/ASMTSimulationParameters.cpp
similarity index 100%
rename from OndselSolver/ASMTSimulationParameters.cpp
rename to GNN/OndselSolver/ASMTSimulationParameters.cpp
diff --git a/OndselSolver/ASMTSimulationParameters.h b/GNN/OndselSolver/ASMTSimulationParameters.h
similarity index 100%
rename from OndselSolver/ASMTSimulationParameters.h
rename to GNN/OndselSolver/ASMTSimulationParameters.h
diff --git a/OndselSolver/ASMTSpatialContainer.cpp b/GNN/OndselSolver/ASMTSpatialContainer.cpp
similarity index 100%
rename from OndselSolver/ASMTSpatialContainer.cpp
rename to GNN/OndselSolver/ASMTSpatialContainer.cpp
diff --git a/OndselSolver/ASMTSpatialContainer.h b/GNN/OndselSolver/ASMTSpatialContainer.h
similarity index 100%
rename from OndselSolver/ASMTSpatialContainer.h
rename to GNN/OndselSolver/ASMTSpatialContainer.h
diff --git a/OndselSolver/ASMTSpatialItem.cpp b/GNN/OndselSolver/ASMTSpatialItem.cpp
similarity index 100%
rename from OndselSolver/ASMTSpatialItem.cpp
rename to GNN/OndselSolver/ASMTSpatialItem.cpp
diff --git a/OndselSolver/ASMTSpatialItem.h b/GNN/OndselSolver/ASMTSpatialItem.h
similarity index 100%
rename from OndselSolver/ASMTSpatialItem.h
rename to GNN/OndselSolver/ASMTSpatialItem.h
diff --git a/OndselSolver/ASMTSphSphJoint.cpp b/GNN/OndselSolver/ASMTSphSphJoint.cpp
similarity index 100%
rename from OndselSolver/ASMTSphSphJoint.cpp
rename to GNN/OndselSolver/ASMTSphSphJoint.cpp
diff --git a/OndselSolver/ASMTSphSphJoint.h b/GNN/OndselSolver/ASMTSphSphJoint.h
similarity index 100%
rename from OndselSolver/ASMTSphSphJoint.h
rename to GNN/OndselSolver/ASMTSphSphJoint.h
diff --git a/OndselSolver/ASMTSphericalJoint.cpp b/GNN/OndselSolver/ASMTSphericalJoint.cpp
similarity index 100%
rename from OndselSolver/ASMTSphericalJoint.cpp
rename to GNN/OndselSolver/ASMTSphericalJoint.cpp
diff --git a/OndselSolver/ASMTSphericalJoint.h b/GNN/OndselSolver/ASMTSphericalJoint.h
similarity index 100%
rename from OndselSolver/ASMTSphericalJoint.h
rename to GNN/OndselSolver/ASMTSphericalJoint.h
diff --git a/OndselSolver/ASMTTime.cpp b/GNN/OndselSolver/ASMTTime.cpp
similarity index 100%
rename from OndselSolver/ASMTTime.cpp
rename to GNN/OndselSolver/ASMTTime.cpp
diff --git a/OndselSolver/ASMTTime.h b/GNN/OndselSolver/ASMTTime.h
similarity index 100%
rename from OndselSolver/ASMTTime.h
rename to GNN/OndselSolver/ASMTTime.h
diff --git a/OndselSolver/ASMTTranslationLimit.cpp b/GNN/OndselSolver/ASMTTranslationLimit.cpp
similarity index 100%
rename from OndselSolver/ASMTTranslationLimit.cpp
rename to GNN/OndselSolver/ASMTTranslationLimit.cpp
diff --git a/OndselSolver/ASMTTranslationLimit.h b/GNN/OndselSolver/ASMTTranslationLimit.h
similarity index 100%
rename from OndselSolver/ASMTTranslationLimit.h
rename to GNN/OndselSolver/ASMTTranslationLimit.h
diff --git a/OndselSolver/ASMTTranslationalJoint.cpp b/GNN/OndselSolver/ASMTTranslationalJoint.cpp
similarity index 100%
rename from OndselSolver/ASMTTranslationalJoint.cpp
rename to GNN/OndselSolver/ASMTTranslationalJoint.cpp
diff --git a/OndselSolver/ASMTTranslationalJoint.h b/GNN/OndselSolver/ASMTTranslationalJoint.h
similarity index 100%
rename from OndselSolver/ASMTTranslationalJoint.h
rename to GNN/OndselSolver/ASMTTranslationalJoint.h
diff --git a/OndselSolver/ASMTTranslationalMotion.cpp b/GNN/OndselSolver/ASMTTranslationalMotion.cpp
similarity index 100%
rename from OndselSolver/ASMTTranslationalMotion.cpp
rename to GNN/OndselSolver/ASMTTranslationalMotion.cpp
diff --git a/OndselSolver/ASMTTranslationalMotion.h b/GNN/OndselSolver/ASMTTranslationalMotion.h
similarity index 100%
rename from OndselSolver/ASMTTranslationalMotion.h
rename to GNN/OndselSolver/ASMTTranslationalMotion.h
diff --git a/OndselSolver/ASMTUniversalJoint.cpp b/GNN/OndselSolver/ASMTUniversalJoint.cpp
similarity index 100%
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rename to GNN/OndselSolver/ASMTUniversalJoint.cpp
diff --git a/OndselSolver/ASMTUniversalJoint.h b/GNN/OndselSolver/ASMTUniversalJoint.h
similarity index 100%
rename from OndselSolver/ASMTUniversalJoint.h
rename to GNN/OndselSolver/ASMTUniversalJoint.h
diff --git a/OndselSolver/Abs.cpp b/GNN/OndselSolver/Abs.cpp
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rename to GNN/OndselSolver/Abs.cpp
diff --git a/OndselSolver/Abs.h b/GNN/OndselSolver/Abs.h
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rename to GNN/OndselSolver/Abs.h
diff --git a/OndselSolver/AbsConstraint.cpp b/GNN/OndselSolver/AbsConstraint.cpp
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rename from OndselSolver/AbsConstraint.cpp
rename to GNN/OndselSolver/AbsConstraint.cpp
diff --git a/OndselSolver/AbsConstraint.h b/GNN/OndselSolver/AbsConstraint.h
similarity index 100%
rename from OndselSolver/AbsConstraint.h
rename to GNN/OndselSolver/AbsConstraint.h
diff --git a/OndselSolver/AccICKineNewtonRaphson.cpp b/GNN/OndselSolver/AccICKineNewtonRaphson.cpp
similarity index 100%
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rename to GNN/OndselSolver/AccICKineNewtonRaphson.cpp
diff --git a/OndselSolver/AccICKineNewtonRaphson.h b/GNN/OndselSolver/AccICKineNewtonRaphson.h
similarity index 100%
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rename to GNN/OndselSolver/AccICKineNewtonRaphson.h
diff --git a/OndselSolver/AccICNewtonRaphson.cpp b/GNN/OndselSolver/AccICNewtonRaphson.cpp
similarity index 100%
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rename to GNN/OndselSolver/AccICNewtonRaphson.cpp
diff --git a/OndselSolver/AccICNewtonRaphson.h b/GNN/OndselSolver/AccICNewtonRaphson.h
similarity index 100%
rename from OndselSolver/AccICNewtonRaphson.h
rename to GNN/OndselSolver/AccICNewtonRaphson.h
diff --git a/OndselSolver/AccKineNewtonRaphson.cpp b/GNN/OndselSolver/AccKineNewtonRaphson.cpp
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diff --git a/OndselSolver/AccKineNewtonRaphson.h b/GNN/OndselSolver/AccKineNewtonRaphson.h
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diff --git a/OndselSolver/AccNewtonRaphson.cpp b/GNN/OndselSolver/AccNewtonRaphson.cpp
similarity index 100%
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rename to GNN/OndselSolver/AccNewtonRaphson.cpp
diff --git a/OndselSolver/AccNewtonRaphson.h b/GNN/OndselSolver/AccNewtonRaphson.h
similarity index 100%
rename from OndselSolver/AccNewtonRaphson.h
rename to GNN/OndselSolver/AccNewtonRaphson.h
diff --git a/OndselSolver/AllowZRotation.cpp b/GNN/OndselSolver/AllowZRotation.cpp
similarity index 100%
rename from OndselSolver/AllowZRotation.cpp
rename to GNN/OndselSolver/AllowZRotation.cpp
diff --git a/OndselSolver/AllowZRotation.h b/GNN/OndselSolver/AllowZRotation.h
similarity index 100%
rename from OndselSolver/AllowZRotation.h
rename to GNN/OndselSolver/AllowZRotation.h
diff --git a/OndselSolver/AllowZRotationConstraintIqctJqc.cpp b/GNN/OndselSolver/AllowZRotationConstraintIqctJqc.cpp
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rename from OndselSolver/AllowZRotationConstraintIqctJqc.cpp
rename to GNN/OndselSolver/AllowZRotationConstraintIqctJqc.cpp
diff --git a/OndselSolver/AllowZRotationConstraintIqctJqc.h b/GNN/OndselSolver/AllowZRotationConstraintIqctJqc.h
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rename from OndselSolver/AllowZRotationConstraintIqctJqc.h
rename to GNN/OndselSolver/AllowZRotationConstraintIqctJqc.h
diff --git a/OndselSolver/AngleJoint.cpp b/GNN/OndselSolver/AngleJoint.cpp
similarity index 100%
rename from OndselSolver/AngleJoint.cpp
rename to GNN/OndselSolver/AngleJoint.cpp
diff --git a/OndselSolver/AngleJoint.h b/GNN/OndselSolver/AngleJoint.h
similarity index 100%
rename from OndselSolver/AngleJoint.h
rename to GNN/OndselSolver/AngleJoint.h
diff --git a/OndselSolver/AngleZConstraintIJ.cpp b/GNN/OndselSolver/AngleZConstraintIJ.cpp
similarity index 100%
rename from OndselSolver/AngleZConstraintIJ.cpp
rename to GNN/OndselSolver/AngleZConstraintIJ.cpp
diff --git a/OndselSolver/AngleZConstraintIJ.h b/GNN/OndselSolver/AngleZConstraintIJ.h
similarity index 100%
rename from OndselSolver/AngleZConstraintIJ.h
rename to GNN/OndselSolver/AngleZConstraintIJ.h
diff --git a/OndselSolver/AngleZConstraintIqcJc.cpp b/GNN/OndselSolver/AngleZConstraintIqcJc.cpp
similarity index 100%
rename from OndselSolver/AngleZConstraintIqcJc.cpp
rename to GNN/OndselSolver/AngleZConstraintIqcJc.cpp
diff --git a/OndselSolver/AngleZConstraintIqcJc.h b/GNN/OndselSolver/AngleZConstraintIqcJc.h
similarity index 100%
rename from OndselSolver/AngleZConstraintIqcJc.h
rename to GNN/OndselSolver/AngleZConstraintIqcJc.h
diff --git a/OndselSolver/AngleZConstraintIqcJqc.cpp b/GNN/OndselSolver/AngleZConstraintIqcJqc.cpp
similarity index 100%
rename from OndselSolver/AngleZConstraintIqcJqc.cpp
rename to GNN/OndselSolver/AngleZConstraintIqcJqc.cpp
diff --git a/OndselSolver/AngleZConstraintIqcJqc.h b/GNN/OndselSolver/AngleZConstraintIqcJqc.h
similarity index 100%
rename from OndselSolver/AngleZConstraintIqcJqc.h
rename to GNN/OndselSolver/AngleZConstraintIqcJqc.h
diff --git a/OndselSolver/AngleZIecJec.cpp b/GNN/OndselSolver/AngleZIecJec.cpp
similarity index 100%
rename from OndselSolver/AngleZIecJec.cpp
rename to GNN/OndselSolver/AngleZIecJec.cpp
diff --git a/OndselSolver/AngleZIecJec.h b/GNN/OndselSolver/AngleZIecJec.h
similarity index 100%
rename from OndselSolver/AngleZIecJec.h
rename to GNN/OndselSolver/AngleZIecJec.h
diff --git a/OndselSolver/AngleZIeqcJec.cpp b/GNN/OndselSolver/AngleZIeqcJec.cpp
similarity index 100%
rename from OndselSolver/AngleZIeqcJec.cpp
rename to GNN/OndselSolver/AngleZIeqcJec.cpp
diff --git a/OndselSolver/AngleZIeqcJec.h b/GNN/OndselSolver/AngleZIeqcJec.h
similarity index 100%
rename from OndselSolver/AngleZIeqcJec.h
rename to GNN/OndselSolver/AngleZIeqcJec.h
diff --git a/OndselSolver/AngleZIeqcJeqc.cpp b/GNN/OndselSolver/AngleZIeqcJeqc.cpp
similarity index 100%
rename from OndselSolver/AngleZIeqcJeqc.cpp
rename to GNN/OndselSolver/AngleZIeqcJeqc.cpp
diff --git a/OndselSolver/AngleZIeqcJeqc.h b/GNN/OndselSolver/AngleZIeqcJeqc.h
similarity index 100%
rename from OndselSolver/AngleZIeqcJeqc.h
rename to GNN/OndselSolver/AngleZIeqcJeqc.h
diff --git a/OndselSolver/AnyGeneralSpline.cpp b/GNN/OndselSolver/AnyGeneralSpline.cpp
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rename to GNN/OndselSolver/AnyGeneralSpline.cpp
diff --git a/OndselSolver/AnyGeneralSpline.h b/GNN/OndselSolver/AnyGeneralSpline.h
similarity index 100%
rename from OndselSolver/AnyGeneralSpline.h
rename to GNN/OndselSolver/AnyGeneralSpline.h
diff --git a/OndselSolver/AnyPosICNewtonRaphson.cpp b/GNN/OndselSolver/AnyPosICNewtonRaphson.cpp
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rename to GNN/OndselSolver/AnyPosICNewtonRaphson.cpp
diff --git a/OndselSolver/AnyPosICNewtonRaphson.h b/GNN/OndselSolver/AnyPosICNewtonRaphson.h
similarity index 100%
rename from OndselSolver/AnyPosICNewtonRaphson.h
rename to GNN/OndselSolver/AnyPosICNewtonRaphson.h
diff --git a/OndselSolver/ArcSine.cpp b/GNN/OndselSolver/ArcSine.cpp
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rename from OndselSolver/ArcSine.cpp
rename to GNN/OndselSolver/ArcSine.cpp
diff --git a/OndselSolver/ArcSine.h b/GNN/OndselSolver/ArcSine.h
similarity index 100%
rename from OndselSolver/ArcSine.h
rename to GNN/OndselSolver/ArcSine.h
diff --git a/OndselSolver/ArcTan.cpp b/GNN/OndselSolver/ArcTan.cpp
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rename to GNN/OndselSolver/ArcTan.cpp
diff --git a/OndselSolver/ArcTan.h b/GNN/OndselSolver/ArcTan.h
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rename from OndselSolver/ArcTan.h
rename to GNN/OndselSolver/ArcTan.h
diff --git a/OndselSolver/ArcTan2.cpp b/GNN/OndselSolver/ArcTan2.cpp
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rename to GNN/OndselSolver/ArcTan2.cpp
diff --git a/OndselSolver/ArcTan2.h b/GNN/OndselSolver/ArcTan2.h
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rename from OndselSolver/ArcTan2.h
rename to GNN/OndselSolver/ArcTan2.h
diff --git a/OndselSolver/Arguments.cpp b/GNN/OndselSolver/Arguments.cpp
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rename from OndselSolver/Arguments.cpp
rename to GNN/OndselSolver/Arguments.cpp
diff --git a/OndselSolver/Arguments.h b/GNN/OndselSolver/Arguments.h
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rename from OndselSolver/Arguments.h
rename to GNN/OndselSolver/Arguments.h
diff --git a/OndselSolver/Array.cpp b/GNN/OndselSolver/Array.cpp
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rename from OndselSolver/Array.cpp
rename to GNN/OndselSolver/Array.cpp
diff --git a/OndselSolver/Array.h b/GNN/OndselSolver/Array.h
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rename from OndselSolver/Array.h
rename to GNN/OndselSolver/Array.h
diff --git a/OndselSolver/AtPointConstraintIJ.cpp b/GNN/OndselSolver/AtPointConstraintIJ.cpp
similarity index 100%
rename from OndselSolver/AtPointConstraintIJ.cpp
rename to GNN/OndselSolver/AtPointConstraintIJ.cpp
diff --git a/OndselSolver/AtPointConstraintIJ.h b/GNN/OndselSolver/AtPointConstraintIJ.h
similarity index 100%
rename from OndselSolver/AtPointConstraintIJ.h
rename to GNN/OndselSolver/AtPointConstraintIJ.h
diff --git a/OndselSolver/AtPointConstraintIqcJc.cpp b/GNN/OndselSolver/AtPointConstraintIqcJc.cpp
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rename from OndselSolver/AtPointConstraintIqcJc.cpp
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diff --git a/OndselSolver/AtPointConstraintIqcJc.h b/GNN/OndselSolver/AtPointConstraintIqcJc.h
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rename from OndselSolver/AtPointConstraintIqcJc.h
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diff --git a/OndselSolver/AtPointConstraintIqcJqc.cpp b/GNN/OndselSolver/AtPointConstraintIqcJqc.cpp
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rename from OndselSolver/AtPointConstraintIqcJqc.cpp
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diff --git a/OndselSolver/AtPointConstraintIqcJqc.h b/GNN/OndselSolver/AtPointConstraintIqcJqc.h
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rename from OndselSolver/AtPointConstraintIqcJqc.h
rename to GNN/OndselSolver/AtPointConstraintIqcJqc.h
diff --git a/OndselSolver/AtPointConstraintIqctJqc.cpp b/GNN/OndselSolver/AtPointConstraintIqctJqc.cpp
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rename from OndselSolver/AtPointConstraintIqctJqc.cpp
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diff --git a/OndselSolver/AtPointConstraintIqctJqc.h b/GNN/OndselSolver/AtPointConstraintIqctJqc.h
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rename from OndselSolver/AtPointConstraintIqctJqc.h
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diff --git a/OndselSolver/AtPointJoint.cpp b/GNN/OndselSolver/AtPointJoint.cpp
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rename to GNN/OndselSolver/AtPointJoint.cpp
diff --git a/OndselSolver/AtPointJoint.h b/GNN/OndselSolver/AtPointJoint.h
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rename from OndselSolver/AtPointJoint.h
rename to GNN/OndselSolver/AtPointJoint.h
diff --git a/OndselSolver/BasicIntegrator.cpp b/GNN/OndselSolver/BasicIntegrator.cpp
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rename to GNN/OndselSolver/BasicIntegrator.cpp
diff --git a/OndselSolver/BasicIntegrator.h b/GNN/OndselSolver/BasicIntegrator.h
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rename to GNN/OndselSolver/BasicIntegrator.h
diff --git a/OndselSolver/BasicQuasiIntegrator.cpp b/GNN/OndselSolver/BasicQuasiIntegrator.cpp
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diff --git a/OndselSolver/BasicQuasiIntegrator.h b/GNN/OndselSolver/BasicQuasiIntegrator.h
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rename to GNN/OndselSolver/BasicQuasiIntegrator.h
diff --git a/OndselSolver/BasicUserFunction.cpp b/GNN/OndselSolver/BasicUserFunction.cpp
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rename to GNN/OndselSolver/BasicUserFunction.cpp
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diff --git a/OndselSolver/CADSystem.cpp b/GNN/OndselSolver/CADSystem.cpp
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diff --git a/OndselSolver/CADSystem.h b/GNN/OndselSolver/CADSystem.h
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diff --git a/OndselSolver/CREATE.cpp b/GNN/OndselSolver/CREATE.cpp
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rename to GNN/OndselSolver/CREATE.cpp
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diff --git a/OndselSolver/CartesianFrame.cpp b/GNN/OndselSolver/CartesianFrame.cpp
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rename to GNN/OndselSolver/CartesianFrame.cpp
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rename to GNN/OndselSolver/CompoundJoint.cpp
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rename from OndselSolver/CompoundJoint.h
rename to GNN/OndselSolver/CompoundJoint.h
diff --git a/OndselSolver/ConstVelConstraintIJ.cpp b/GNN/OndselSolver/ConstVelConstraintIJ.cpp
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rename to GNN/OndselSolver/ConstVelConstraintIJ.cpp
diff --git a/OndselSolver/ConstVelConstraintIJ.h b/GNN/OndselSolver/ConstVelConstraintIJ.h
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rename from OndselSolver/ConstVelConstraintIJ.h
rename to GNN/OndselSolver/ConstVelConstraintIJ.h
diff --git a/OndselSolver/ConstVelConstraintIqcJc.cpp b/GNN/OndselSolver/ConstVelConstraintIqcJc.cpp
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diff --git a/Init.py b/Init.py
new file mode 100644
index 0000000..d604339
--- /dev/null
+++ b/Init.py
@@ -0,0 +1,12 @@
+"""Register the Kindred solver with the KCSolve solver registry."""
+
+import FreeCAD
+
+try:
+    import kcsolve
+    from kindred_solver import KindredSolver
+
+    kcsolve.register_solver("kindred", KindredSolver)
+    FreeCAD.Console.PrintLog("kindred-solver registered\n")
+except Exception as exc:
+    FreeCAD.Console.PrintWarning(f"kindred-solver: registration failed: {exc}\n")
diff --git a/README.md b/README.md
index 17e5095..2599914 100644
--- a/README.md
+++ b/README.md
@@ -1,91 +1,64 @@
 # Kindred Solver
 
-Assembly constraint solver for [Kindred Create](https://git.kindred-systems.com/kindred/create). Combines a numerical multibody dynamics engine (OndselSolver) with a GNN-based constraint prediction layer.
+Assembly constraint solver addon for [Kindred Create](https://git.kindred-systems.com/kindred/create). Implements the `IKCSolver` interface via `kcsolve.register_solver()`.
 
 ## Components
 
-### OndselSolver (C++)
+### Kindred Solver (Phase 1)
 
-Numerical assembly constraint solver using multibody dynamics. Solves joint constraints between rigid bodies using a Newton-Raphson iterative approach. Used by FreeCAD's Assembly workbench as the backend solver.
+Expression-based Newton-Raphson constraint solver. Pure Python, registered as a Create addon.
 
-- Source: `OndselSolver/`
-- Entry point: `OndselSolverMain/`
-- Tests: `tests/`, `testapp/`
-- Build: CMake
+- Expression DAG with eval, symbolic differentiation, simplification: `kindred_solver/expr.py`
+- Parameter table with fixed/free tracking: `kindred_solver/params.py`
+- Quaternion rotation as polynomial Expr trees: `kindred_solver/quat.py`
+- RigidBody entity (7 params: position + unit quaternion): `kindred_solver/entities.py`
+- Constraint residual generators (Coincident, DistancePointPoint, Fixed): `kindred_solver/constraints.py`
+- Newton-Raphson solver with symbolic Jacobian: `kindred_solver/newton.py`
+- Pre-solve passes (substitution, single-equation): `kindred_solver/prepass.py`
+- DOF counting via Jacobian rank: `kindred_solver/dof.py`
+- KCSolve IKCSolver bridge: `kindred_solver/solver.py`
 
-**Theory:** [MbDTheory](https://github.com/Ondsel-Development/MbDTheory)
+### GNN (future phases)
 
-#### Building
+Graph neural network constraint prediction layer. OndselSolver C++ engine and ML training infrastructure. Moved to `GNN/` — will be integrated in later phases.
+
+## Create Addon Integration
+
+This repo is a git submodule at `mods/solver/` in the Create repository. The addon loader discovers `package.xml` and executes `Init.py`, which registers the solver:
+
+```python
+import kcsolve
+from kindred_solver import KindredSolver
+kcsolve.register_solver("kindred", KindredSolver)
+```
+
+## Testing
 
 ```bash
-cmake -B build -DCMAKE_BUILD_TYPE=Release
-cmake --build build
+python3 -m venv .venv && . .venv/bin/activate
+pip install pytest numpy
+PYTHONPATH=. pytest tests/ -v
 ```
 
-### ML Solver Layer (Python)
-
-Graph neural network that predicts constraint independence and per-body degrees of freedom. Trained on synthetic assembly data generated via the pebble game algorithm, with the goal of augmenting or replacing the numerical solver for common assembly patterns.
-
-- Core library: `solver/`
-- Data generation: `solver/datagen/` (pebble game, synthetic assemblies, labeling)
-- Model architectures: `solver/models/` (GIN, GAT, NNConv)
-- Training: `solver/training/`
-- Inference: `solver/inference/`
-- FreeCAD integration: `freecad/`
-- Configuration: `configs/` (Hydra)
-
-#### Setup
-
-```bash
-pip install -e ".[train,dev]"
-pre-commit install
-```
-
-#### Usage
-
-```bash
-make help          # show all targets
-make dev           # install all deps + pre-commit hooks
-make test          # run tests
-make lint          # run ruff linter
-make check         # lint + type-check + test
-make data-gen      # generate synthetic data
-make train         # run training
-make export        # export model
-```
-
-Docker is also supported:
-
-```bash
-docker compose up train       # GPU training
-docker compose up test        # run tests
-docker compose up data-gen    # generate synthetic data
-```
-
-## Repository structure
+## Repository Structure
 
 ```
-kindred-solver/
-├── OndselSolver/       # C++ numerical solver library
-├── OndselSolverMain/   # C++ solver CLI entry point
-├── tests/              # C++ unit tests + Python tests
-├── testapp/            # C++ test application
-├── solver/             # Python ML solver library
-│   ├── datagen/        # Synthetic data generation (pebble game)
-│   ├── datasets/       # PyG dataset adapters
-│   ├── models/         # GNN architectures
-│   ├── training/       # Training loops
-│   ├── evaluation/     # Metrics and visualization
-│   └── inference/      # Runtime prediction API
-├── freecad/            # FreeCAD workbench integration
-├── configs/            # Hydra configs (dataset, model, training, export)
-├── scripts/            # CLI utilities
-├── data/               # Datasets (not committed)
-├── export/             # Model packaging
-└── docs/               # Documentation
+├── package.xml            # Create addon manifest
+├── Init.py                # Solver registration entry point
+├── kindred_solver/        # Phase 1: expression-based Newton solver
+│   ├── expr.py            # Expression DAG
+│   ├── params.py          # Parameter table
+│   ├── quat.py            # Quaternion math as Expr trees
+│   ├── entities.py        # RigidBody entity
+│   ├── constraints.py     # Constraint residual generators
+│   ├── newton.py          # Newton-Raphson solver
+│   ├── prepass.py         # Pre-solve passes
+│   ├── dof.py             # DOF counting
+│   └── solver.py          # IKCSolver bridge
+├── tests/                 # Unit tests (82 tests)
+└── GNN/                   # GNN solver layer (future phases)
 ```
 
 ## License
 
-OndselSolver: LGPL-2.1-or-later (see [LICENSE](LICENSE))
-ML Solver Layer: Apache-2.0
+LGPL-2.1-or-later (see [LICENSE](LICENSE))
diff --git a/kindred_solver/__init__.py b/kindred_solver/__init__.py
new file mode 100644
index 0000000..a03fc32
--- /dev/null
+++ b/kindred_solver/__init__.py
@@ -0,0 +1,12 @@
+__version__ = "0.1.0"
+
+
+def __getattr__(name):
+    if name == "KindredSolver":
+        from .solver import KindredSolver
+
+        return KindredSolver
+    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
+
+
+__all__ = ["KindredSolver"]
diff --git a/kindred_solver/constraints.py b/kindred_solver/constraints.py
new file mode 100644
index 0000000..aeec351
--- /dev/null
+++ b/kindred_solver/constraints.py
@@ -0,0 +1,181 @@
+"""Constraint classes that produce residual Expr lists.
+
+Each constraint takes two RigidBody entities and marker transforms,
+then generates residual expressions that equal zero when satisfied.
+"""
+
+from __future__ import annotations
+
+from typing import List
+
+from .entities import RigidBody
+from .expr import Const, Expr
+
+
+class ConstraintBase:
+    """Abstract constraint producing residual expressions."""
+
+    def residuals(self) -> List[Expr]:
+        raise NotImplementedError
+
+
+class CoincidentConstraint(ConstraintBase):
+    """Point-on-point: marker origin on body_i == marker origin on body_j.
+
+    3 residuals: dx, dy, dz.
+    """
+
+    def __init__(
+        self,
+        body_i: RigidBody,
+        marker_i_pos: tuple[float, float, float],
+        body_j: RigidBody,
+        marker_j_pos: tuple[float, float, float],
+    ):
+        self.body_i = body_i
+        self.body_j = body_j
+        self.marker_i_pos = marker_i_pos
+        self.marker_j_pos = marker_j_pos
+
+    def residuals(self) -> List[Expr]:
+        wx_i, wy_i, wz_i = self.body_i.world_point(*self.marker_i_pos)
+        wx_j, wy_j, wz_j = self.body_j.world_point(*self.marker_j_pos)
+        return [wx_i - wx_j, wy_i - wy_j, wz_i - wz_j]
+
+
+class DistancePointPointConstraint(ConstraintBase):
+    """Point-to-point distance: ||p_i - p_j||^2 = d^2.
+
+    1 residual (squared form avoids sqrt in Jacobian).
+    """
+
+    def __init__(
+        self,
+        body_i: RigidBody,
+        marker_i_pos: tuple[float, float, float],
+        body_j: RigidBody,
+        marker_j_pos: tuple[float, float, float],
+        distance: float,
+    ):
+        self.body_i = body_i
+        self.body_j = body_j
+        self.marker_i_pos = marker_i_pos
+        self.marker_j_pos = marker_j_pos
+        self.distance = distance
+
+    def residuals(self) -> List[Expr]:
+        wx_i, wy_i, wz_i = self.body_i.world_point(*self.marker_i_pos)
+        wx_j, wy_j, wz_j = self.body_j.world_point(*self.marker_j_pos)
+        dx = wx_i - wx_j
+        dy = wy_i - wy_j
+        dz = wz_i - wz_j
+        d2 = dx * dx + dy * dy + dz * dz
+        return [d2 - Const(self.distance * self.distance)]
+
+
+class FixedConstraint(ConstraintBase):
+    """Lock all 6 DOF of body_j relative to body_i.
+
+    Position: 3 residuals (marker origins coincide).
+    Orientation: 3 residuals from relative quaternion (imaginary part == 0
+    when orientations match).  The quaternion normalization constraint
+    handles the 4th equation.
+
+    The reference relative quaternion q_ref = conj(q_i_marker) * q_j_marker
+    is computed from the marker quaternions at constraint creation time.
+    At solve time:  q_rel = conj(q_i_world * q_i_marker) * (q_j_world * q_j_marker)
+    Residual = imaginary part of (conj(q_ref) * q_rel).
+    """
+
+    def __init__(
+        self,
+        body_i: RigidBody,
+        marker_i_pos: tuple[float, float, float],
+        marker_i_quat: tuple[float, float, float, float],
+        body_j: RigidBody,
+        marker_j_pos: tuple[float, float, float],
+        marker_j_quat: tuple[float, float, float, float],
+    ):
+        self.body_i = body_i
+        self.body_j = body_j
+        self.marker_i_pos = marker_i_pos
+        self.marker_i_quat = marker_i_quat
+        self.marker_j_pos = marker_j_pos
+        self.marker_j_quat = marker_j_quat
+
+    def residuals(self) -> List[Expr]:
+        # Position residuals — same as Coincident
+        wx_i, wy_i, wz_i = self.body_i.world_point(*self.marker_i_pos)
+        wx_j, wy_j, wz_j = self.body_j.world_point(*self.marker_j_pos)
+        pos_res = [wx_i - wx_j, wy_i - wy_j, wz_i - wz_j]
+
+        # Orientation residuals via quaternion error
+        # q_i_total = q_body_i * q_marker_i  (as Expr)
+        # q_j_total = q_body_j * q_marker_j
+        # q_error = conj(q_i_total) * q_j_total
+        # We want q_error ≈ identity → imaginary parts ≈ 0
+        qi = _quat_mul_const(
+            self.body_i.qw,
+            self.body_i.qx,
+            self.body_i.qy,
+            self.body_i.qz,
+            *self.marker_i_quat,
+        )
+        qj = _quat_mul_const(
+            self.body_j.qw,
+            self.body_j.qx,
+            self.body_j.qy,
+            self.body_j.qz,
+            *self.marker_j_quat,
+        )
+        # conj(qi) * qj
+        err = _quat_mul_expr(
+            qi[0],
+            -qi[1],
+            -qi[2],
+            -qi[3],  # conjugate
+            qj[0],
+            qj[1],
+            qj[2],
+            qj[3],
+        )
+        # err should be (1, 0, 0, 0) — residuals are the imaginary parts
+        ori_res = [err[1], err[2], err[3]]
+
+        return pos_res + ori_res
+
+
+# -- quaternion multiplication helpers ----------------------------------------
+
+
+def _quat_mul_const(
+    aw: Expr,
+    ax: Expr,
+    ay: Expr,
+    az: Expr,
+    bw: float,
+    bx: float,
+    by: float,
+    bz: float,
+) -> tuple[Expr, Expr, Expr, Expr]:
+    """Multiply Expr quaternion (a) by constant quaternion (b)."""
+    cbw, cbx, cby, cbz = Const(bw), Const(bx), Const(by), Const(bz)
+    return _quat_mul_expr(aw, ax, ay, az, cbw, cbx, cby, cbz)
+
+
+def _quat_mul_expr(
+    aw: Expr,
+    ax: Expr,
+    ay: Expr,
+    az: Expr,
+    bw: Expr,
+    bx: Expr,
+    by: Expr,
+    bz: Expr,
+) -> tuple[Expr, Expr, Expr, Expr]:
+    """Hamilton product of two Expr quaternions."""
+    rw = aw * bw - ax * bx - ay * by - az * bz
+    rx = aw * bx + ax * bw + ay * bz - az * by
+    ry = aw * by - ax * bz + ay * bw + az * bx
+    rz = aw * bz + ax * by - ay * bx + az * bw
+    return rw, rx, ry, rz
diff --git a/kindred_solver/dof.py b/kindred_solver/dof.py
new file mode 100644
index 0000000..6ec5f8d
--- /dev/null
+++ b/kindred_solver/dof.py
@@ -0,0 +1,45 @@
+"""Degrees-of-freedom counting via Jacobian rank."""
+
+from __future__ import annotations
+
+from typing import List
+
+import numpy as np
+
+from .expr import Expr
+from .params import ParamTable
+
+
+def count_dof(
+    residuals: List[Expr],
+    params: ParamTable,
+    rank_tol: float = 1e-8,
+) -> int:
+    """Compute DOF = n_free_params - rank(Jacobian).
+
+    Evaluates the Jacobian numerically at the current parameter values
+    and computes its rank via SVD.
+    """
+    free = params.free_names()
+    n_free = len(free)
+    n_res = len(residuals)
+
+    if n_free == 0:
+        return 0
+    if n_res == 0:
+        return n_free
+
+    env = params.get_env()
+
+    J = np.empty((n_res, n_free))
+    for i, r in enumerate(residuals):
+        for j, name in enumerate(free):
+            J[i, j] = r.diff(name).simplify().eval(env)
+
+    if J.size == 0:
+        return n_free
+
+    sv = np.linalg.svd(J, compute_uv=False)
+    rank = int(np.sum(sv > rank_tol))
+
+    return n_free - rank
diff --git a/kindred_solver/entities.py b/kindred_solver/entities.py
new file mode 100644
index 0000000..2375299
--- /dev/null
+++ b/kindred_solver/entities.py
@@ -0,0 +1,88 @@
+"""Geometric entities that own solver parameters.
+
+Phase 1 provides RigidBody — a 7-DOF entity (position + unit quaternion).
+"""
+
+from __future__ import annotations
+
+from .expr import Const, Expr
+from .params import ParamTable
+from .quat import world_point as _world_point
+
+
+class RigidBody:
+    """A rigid body with 7 parameters: tx, ty, tz, qw, qx, qy, qz.
+
+    Grounded bodies have all parameters marked fixed.
+    """
+
+    def __init__(
+        self,
+        part_id: str,
+        params: ParamTable,
+        position: tuple[float, float, float],
+        quaternion: tuple[float, float, float, float],
+        grounded: bool = False,
+    ):
+        self.part_id = part_id
+        self.grounded = grounded
+
+        pfx = part_id + "/"
+        self.tx = params.add(pfx + "tx", position[0], fixed=grounded)
+        self.ty = params.add(pfx + "ty", position[1], fixed=grounded)
+        self.tz = params.add(pfx + "tz", position[2], fixed=grounded)
+        # quaternion: (w, x, y, z) — matches KCSolve convention
+        self.qw = params.add(pfx + "qw", quaternion[0], fixed=grounded)
+        self.qx = params.add(pfx + "qx", quaternion[1], fixed=grounded)
+        self.qy = params.add(pfx + "qy", quaternion[2], fixed=grounded)
+        self.qz = params.add(pfx + "qz", quaternion[3], fixed=grounded)
+
+        self._param_names = [
+            pfx + "tx",
+            pfx + "ty",
+            pfx + "tz",
+            pfx + "qw",
+            pfx + "qx",
+            pfx + "qy",
+            pfx + "qz",
+        ]
+
+    def world_point(self, lx: float, ly: float, lz: float) -> tuple[Expr, Expr, Expr]:
+        """Transform a local-frame point to world-frame Expr triple."""
+        return _world_point(
+            self.tx,
+            self.ty,
+            self.tz,
+            self.qw,
+            self.qx,
+            self.qy,
+            self.qz,
+            lx,
+            ly,
+            lz,
+        )
+
+    def quat_norm_residual(self) -> Expr:
+        """qw^2 + qx^2 + qy^2 + qz^2 - 1.  Added as a constraint."""
+        return (
+            self.qw * self.qw
+            + self.qx * self.qx
+            + self.qy * self.qy
+            + self.qz * self.qz
+            - Const(1.0)
+        )
+
+    def quat_param_names(self) -> tuple[str, str, str, str]:
+        """Return the 4 quaternion parameter names (for renormalization)."""
+        pfx = self.part_id + "/"
+        return pfx + "qw", pfx + "qx", pfx + "qy", pfx + "qz"
+
+    def extract_position(self, env: dict[str, float]) -> tuple[float, float, float]:
+        pfx = self.part_id + "/"
+        return env[pfx + "tx"], env[pfx + "ty"], env[pfx + "tz"]
+
+    def extract_quaternion(
+        self, env: dict[str, float]
+    ) -> tuple[float, float, float, float]:
+        pfx = self.part_id + "/"
+        return env[pfx + "qw"], env[pfx + "qx"], env[pfx + "qy"], env[pfx + "qz"]
diff --git a/kindred_solver/expr.py b/kindred_solver/expr.py
new file mode 100644
index 0000000..7ed19d1
--- /dev/null
+++ b/kindred_solver/expr.py
@@ -0,0 +1,424 @@
+"""Immutable expression DAG with eval, symbolic differentiation, and simplification."""
+
+from __future__ import annotations
+
+import math
+from typing import Dict
+
+
+class Expr:
+    """Base class for all expression nodes."""
+
+    __slots__ = ()
+
+    def eval(self, env: Dict[str, float]) -> float:
+        raise NotImplementedError
+
+    def diff(self, var: str) -> Expr:
+        raise NotImplementedError
+
+    def simplify(self) -> Expr:
+        return self
+
+    def vars(self) -> set[str]:
+        """Return the set of variable names in this expression."""
+        raise NotImplementedError
+
+    # -- operator overloads --------------------------------------------------
+
+    def __add__(self, other):
+        return Add(self, _wrap(other))
+
+    def __radd__(self, other):
+        return Add(_wrap(other), self)
+
+    def __sub__(self, other):
+        return Sub(self, _wrap(other))
+
+    def __rsub__(self, other):
+        return Sub(_wrap(other), self)
+
+    def __mul__(self, other):
+        return Mul(self, _wrap(other))
+
+    def __rmul__(self, other):
+        return Mul(_wrap(other), self)
+
+    def __truediv__(self, other):
+        return Div(self, _wrap(other))
+
+    def __rtruediv__(self, other):
+        return Div(_wrap(other), self)
+
+    def __neg__(self):
+        return Neg(self)
+
+    def __pow__(self, other):
+        return Pow(self, _wrap(other))
+
+    def __rpow__(self, other):
+        return Pow(_wrap(other), self)
+
+
+def _wrap(x) -> Expr:
+    """Coerce a number to Const."""
+    if isinstance(x, Expr):
+        return x
+    if isinstance(x, (int, float)):
+        return Const(float(x))
+    raise TypeError(f"Cannot coerce {type(x).__name__} to Expr")
+
+
+# -- leaf nodes ---------------------------------------------------------------
+
+
+class Const(Expr):
+    __slots__ = ("value",)
+
+    def __init__(self, value: float):
+        self.value = float(value)
+
+    def eval(self, env):
+        return self.value
+
+    def diff(self, var):
+        return ZERO
+
+    def simplify(self):
+        return self
+
+    def vars(self):
+        return set()
+
+    def __repr__(self):
+        return f"Const({self.value})"
+
+    def __eq__(self, other):
+        return isinstance(other, Const) and self.value == other.value
+
+    def __hash__(self):
+        return hash(("Const", self.value))
+
+
+class Var(Expr):
+    __slots__ = ("name",)
+
+    def __init__(self, name: str):
+        self.name = name
+
+    def eval(self, env):
+        return env[self.name]
+
+    def diff(self, var):
+        return ONE if var == self.name else ZERO
+
+    def simplify(self):
+        return self
+
+    def vars(self):
+        return {self.name}
+
+    def __repr__(self):
+        return f"Var({self.name!r})"
+
+    def __eq__(self, other):
+        return isinstance(other, Var) and self.name == other.name
+
+    def __hash__(self):
+        return hash(("Var", self.name))
+
+
+# -- unary nodes --------------------------------------------------------------
+
+
+class Neg(Expr):
+    __slots__ = ("child",)
+
+    def __init__(self, child: Expr):
+        self.child = child
+
+    def eval(self, env):
+        return -self.child.eval(env)
+
+    def diff(self, var):
+        return Neg(self.child.diff(var))
+
+    def simplify(self):
+        c = self.child.simplify()
+        if isinstance(c, Const):
+            return Const(-c.value)
+        if isinstance(c, Neg):
+            return c.child
+        return Neg(c)
+
+    def vars(self):
+        return self.child.vars()
+
+    def __repr__(self):
+        return f"Neg({self.child!r})"
+
+
+class Sin(Expr):
+    __slots__ = ("child",)
+
+    def __init__(self, child: Expr):
+        self.child = child
+
+    def eval(self, env):
+        return math.sin(self.child.eval(env))
+
+    def diff(self, var):
+        # d/dx sin(f) = cos(f) * f'
+        return Mul(Cos(self.child), self.child.diff(var))
+
+    def simplify(self):
+        c = self.child.simplify()
+        if isinstance(c, Const):
+            return Const(math.sin(c.value))
+        return Sin(c)
+
+    def vars(self):
+        return self.child.vars()
+
+    def __repr__(self):
+        return f"Sin({self.child!r})"
+
+
+class Cos(Expr):
+    __slots__ = ("child",)
+
+    def __init__(self, child: Expr):
+        self.child = child
+
+    def eval(self, env):
+        return math.cos(self.child.eval(env))
+
+    def diff(self, var):
+        # d/dx cos(f) = -sin(f) * f'
+        return Mul(Neg(Sin(self.child)), self.child.diff(var))
+
+    def simplify(self):
+        c = self.child.simplify()
+        if isinstance(c, Const):
+            return Const(math.cos(c.value))
+        return Cos(c)
+
+    def vars(self):
+        return self.child.vars()
+
+    def __repr__(self):
+        return f"Cos({self.child!r})"
+
+
+class Sqrt(Expr):
+    __slots__ = ("child",)
+
+    def __init__(self, child: Expr):
+        self.child = child
+
+    def eval(self, env):
+        return math.sqrt(self.child.eval(env))
+
+    def diff(self, var):
+        # d/dx sqrt(f) = f' / (2 * sqrt(f))
+        return Div(self.child.diff(var), Mul(Const(2.0), Sqrt(self.child)))
+
+    def simplify(self):
+        c = self.child.simplify()
+        if isinstance(c, Const) and c.value >= 0:
+            return Const(math.sqrt(c.value))
+        return Sqrt(c)
+
+    def vars(self):
+        return self.child.vars()
+
+    def __repr__(self):
+        return f"Sqrt({self.child!r})"
+
+
+# -- binary nodes -------------------------------------------------------------
+
+
+class Add(Expr):
+    __slots__ = ("a", "b")
+
+    def __init__(self, a: Expr, b: Expr):
+        self.a = a
+        self.b = b
+
+    def eval(self, env):
+        return self.a.eval(env) + self.b.eval(env)
+
+    def diff(self, var):
+        return Add(self.a.diff(var), self.b.diff(var))
+
+    def simplify(self):
+        a = self.a.simplify()
+        b = self.b.simplify()
+        if isinstance(a, Const) and isinstance(b, Const):
+            return Const(a.value + b.value)
+        if isinstance(a, Const) and a.value == 0.0:
+            return b
+        if isinstance(b, Const) and b.value == 0.0:
+            return a
+        return Add(a, b)
+
+    def vars(self):
+        return self.a.vars() | self.b.vars()
+
+    def __repr__(self):
+        return f"Add({self.a!r}, {self.b!r})"
+
+
+class Sub(Expr):
+    __slots__ = ("a", "b")
+
+    def __init__(self, a: Expr, b: Expr):
+        self.a = a
+        self.b = b
+
+    def eval(self, env):
+        return self.a.eval(env) - self.b.eval(env)
+
+    def diff(self, var):
+        return Sub(self.a.diff(var), self.b.diff(var))
+
+    def simplify(self):
+        a = self.a.simplify()
+        b = self.b.simplify()
+        if isinstance(a, Const) and isinstance(b, Const):
+            return Const(a.value - b.value)
+        if isinstance(b, Const) and b.value == 0.0:
+            return a
+        if isinstance(a, Const) and a.value == 0.0:
+            return Neg(b).simplify()
+        return Sub(a, b)
+
+    def vars(self):
+        return self.a.vars() | self.b.vars()
+
+    def __repr__(self):
+        return f"Sub({self.a!r}, {self.b!r})"
+
+
+class Mul(Expr):
+    __slots__ = ("a", "b")
+
+    def __init__(self, a: Expr, b: Expr):
+        self.a = a
+        self.b = b
+
+    def eval(self, env):
+        return self.a.eval(env) * self.b.eval(env)
+
+    def diff(self, var):
+        # product rule: a'b + ab'
+        return Add(Mul(self.a.diff(var), self.b), Mul(self.a, self.b.diff(var)))
+
+    def simplify(self):
+        a = self.a.simplify()
+        b = self.b.simplify()
+        if isinstance(a, Const) and isinstance(b, Const):
+            return Const(a.value * b.value)
+        if isinstance(a, Const) and a.value == 0.0:
+            return ZERO
+        if isinstance(b, Const) and b.value == 0.0:
+            return ZERO
+        if isinstance(a, Const) and a.value == 1.0:
+            return b
+        if isinstance(b, Const) and b.value == 1.0:
+            return a
+        if isinstance(a, Const) and a.value == -1.0:
+            return Neg(b).simplify()
+        if isinstance(b, Const) and b.value == -1.0:
+            return Neg(a).simplify()
+        return Mul(a, b)
+
+    def vars(self):
+        return self.a.vars() | self.b.vars()
+
+    def __repr__(self):
+        return f"Mul({self.a!r}, {self.b!r})"
+
+
+class Div(Expr):
+    __slots__ = ("a", "b")
+
+    def __init__(self, a: Expr, b: Expr):
+        self.a = a
+        self.b = b
+
+    def eval(self, env):
+        return self.a.eval(env) / self.b.eval(env)
+
+    def diff(self, var):
+        # quotient rule: (a'b - ab') / b^2
+        return Div(
+            Sub(Mul(self.a.diff(var), self.b), Mul(self.a, self.b.diff(var))),
+            Mul(self.b, self.b),
+        )
+
+    def simplify(self):
+        a = self.a.simplify()
+        b = self.b.simplify()
+        if isinstance(a, Const) and isinstance(b, Const) and b.value != 0.0:
+            return Const(a.value / b.value)
+        if isinstance(a, Const) and a.value == 0.0:
+            return ZERO
+        if isinstance(b, Const) and b.value == 1.0:
+            return a
+        return Div(a, b)
+
+    def vars(self):
+        return self.a.vars() | self.b.vars()
+
+    def __repr__(self):
+        return f"Div({self.a!r}, {self.b!r})"
+
+
+class Pow(Expr):
+    __slots__ = ("base", "exp")
+
+    def __init__(self, base: Expr, exp: Expr):
+        self.base = base
+        self.exp = exp
+
+    def eval(self, env):
+        return self.base.eval(env) ** self.exp.eval(env)
+
+    def diff(self, var):
+        # For constant exponent: d/dx f^n = n * f^(n-1) * f'
+        # General case: d/dx f^g = f^g * (g' * ln(f) + g * f'/f)
+        # Phase 1: only support constant exponent
+        if isinstance(self.exp, Const):
+            n = self.exp.value
+            return Mul(
+                Mul(Const(n), Pow(self.base, Const(n - 1.0))), self.base.diff(var)
+            )
+        raise NotImplementedError("diff of Pow with non-constant exponent")
+
+    def simplify(self):
+        base = self.base.simplify()
+        exp = self.exp.simplify()
+        if isinstance(base, Const) and isinstance(exp, Const):
+            return Const(base.value**exp.value)
+        if isinstance(exp, Const):
+            if exp.value == 0.0:
+                return ONE
+            if exp.value == 1.0:
+                return base
+            if exp.value == 2.0:
+                return Mul(base, base).simplify()
+        return Pow(base, exp)
+
+    def vars(self):
+        return self.base.vars() | self.exp.vars()
+
+    def __repr__(self):
+        return f"Pow({self.base!r}, {self.exp!r})"
+
+
+# -- sentinels ----------------------------------------------------------------
+
+ZERO = Const(0.0)
+ONE = Const(1.0)
diff --git a/kindred_solver/newton.py b/kindred_solver/newton.py
new file mode 100644
index 0000000..94f3710
--- /dev/null
+++ b/kindred_solver/newton.py
@@ -0,0 +1,116 @@
+"""Newton-Raphson solver with symbolic Jacobian and numpy linear algebra."""
+
+from __future__ import annotations
+
+import math
+from typing import List
+
+import numpy as np
+
+from .expr import Expr
+from .params import ParamTable
+
+
+def newton_solve(
+    residuals: List[Expr],
+    params: ParamTable,
+    quat_groups: List[tuple[str, str, str, str]] | None = None,
+    max_iter: int = 50,
+    tol: float = 1e-10,
+) -> bool:
+    """Solve ``residuals == 0`` by Newton-Raphson.
+
+    Parameters
+    ----------
+    residuals:
+        List of Expr that should each evaluate to zero.
+    params:
+        Parameter table with current values as initial guess.
+    quat_groups:
+        List of (qw, qx, qy, qz) parameter name tuples.
+        After each Newton step these are re-normalized to unit length.
+    max_iter:
+        Maximum Newton iterations.
+    tol:
+        Convergence threshold on ``||r||``.
+
+    Returns True if converged within *max_iter* iterations.
+    """
+    free = params.free_names()
+    n_free = len(free)
+    n_res = len(residuals)
+
+    if n_free == 0 or n_res == 0:
+        return True
+
+    # Build symbolic Jacobian once (list-of-lists of simplified Expr)
+    jac_exprs: List[List[Expr]] = []
+    for r in residuals:
+        row = []
+        for name in free:
+            row.append(r.diff(name).simplify())
+        jac_exprs.append(row)
+
+    for _it in range(max_iter):
+        env = params.get_env()
+
+        # Evaluate residual vector
+        r_vec = np.array([r.eval(env) for r in residuals])
+        r_norm = np.linalg.norm(r_vec)
+        if r_norm < tol:
+            return True
+
+        # Evaluate Jacobian matrix
+        J = np.empty((n_res, n_free))
+        for i in range(n_res):
+            for j in range(n_free):
+                J[i, j] = jac_exprs[i][j].eval(env)
+
+        # Solve J @ dx = -r  (least-squares handles rank-deficient)
+        dx, _, _, _ = np.linalg.lstsq(J, -r_vec, rcond=None)
+
+        # Update parameters
+        x = params.get_free_vector()
+        x += dx
+        params.set_free_vector(x)
+
+        # Re-normalize quaternions
+        if quat_groups:
+            _renormalize_quats(params, quat_groups)
+
+    # Check final residual
+    env = params.get_env()
+    r_vec = np.array([r.eval(env) for r in residuals])
+    return np.linalg.norm(r_vec) < tol
+
+
+def _renormalize_quats(
+    params: ParamTable,
+    groups: List[tuple[str, str, str, str]],
+):
+    """Project quaternion params back onto the unit sphere."""
+    for qw_name, qx_name, qy_name, qz_name in groups:
+        # Skip if all components are fixed
+        if (
+            params.is_fixed(qw_name)
+            and params.is_fixed(qx_name)
+            and params.is_fixed(qy_name)
+            and params.is_fixed(qz_name)
+        ):
+            continue
+        w = params.get_value(qw_name)
+        x = params.get_value(qx_name)
+        y = params.get_value(qy_name)
+        z = params.get_value(qz_name)
+        norm = math.sqrt(w * w + x * x + y * y + z * z)
+        if norm < 1e-15:
+            # Degenerate — reset to identity
+            params.set_value(qw_name, 1.0)
+            params.set_value(qx_name, 0.0)
+            params.set_value(qy_name, 0.0)
+            params.set_value(qz_name, 0.0)
+        else:
+            params.set_value(qw_name, w / norm)
+            params.set_value(qx_name, x / norm)
+            params.set_value(qy_name, y / norm)
+            params.set_value(qz_name, z / norm)
diff --git a/kindred_solver/params.py b/kindred_solver/params.py
new file mode 100644
index 0000000..40a66a9
--- /dev/null
+++ b/kindred_solver/params.py
@@ -0,0 +1,76 @@
+"""Parameter table mapping named variables to Expr Var nodes and current values."""
+
+from __future__ import annotations
+
+from typing import Dict, List
+
+import numpy as np
+
+from .expr import Var
+
+
+class ParamTable:
+    """Central registry of solver variables.
+
+    Each parameter has a name, a current numeric value, an associated
+    :class:`Var` expression node, and a fixed/free flag.  Grounded
+    body parameters are marked fixed so the pre-pass can substitute
+    them as constants.
+    """
+
+    def __init__(self):
+        self._vars: Dict[str, Var] = {}
+        self._values: Dict[str, float] = {}
+        self._fixed: set[str] = set()
+        self._free_order: List[str] = []  # insertion-ordered free names
+
+    def add(self, name: str, value: float = 0.0, fixed: bool = False) -> Var:
+        """Create a parameter and return its Var node."""
+        if name in self._vars:
+            raise ValueError(f"Duplicate parameter: {name}")
+        v = Var(name)
+        self._vars[name] = v
+        self._values[name] = value
+        if fixed:
+            self._fixed.add(name)
+        else:
+            self._free_order.append(name)
+        return v
+
+    def get_var(self, name: str) -> Var:
+        return self._vars[name]
+
+    def is_fixed(self, name: str) -> bool:
+        return name in self._fixed
+
+    def fix(self, name: str):
+        """Mark a parameter as fixed and remove it from the free list."""
+        self._fixed.add(name)
+        if name in self._free_order:
+            self._free_order.remove(name)
+
+    def get_env(self) -> Dict[str, float]:
+        """Return a snapshot of all current values (for Expr.eval)."""
+        return dict(self._values)
+
+    def free_names(self) -> List[str]:
+        """Return ordered list of free (non-fixed) parameter names."""
+        return list(self._free_order)
+
+    def n_free(self) -> int:
+        return len(self._free_order)
+
+    def get_value(self, name: str) -> float:
+        return self._values[name]
+
+    def set_value(self, name: str, value: float):
+        self._values[name] = value
+
+    def get_free_vector(self) -> np.ndarray:
+        """Current free-parameter values as a 1-D array."""
+        return np.array([self._values[n] for n in self._free_order], dtype=np.float64)
+
+    def set_free_vector(self, vec: np.ndarray):
+        """Bulk-update free parameters from a 1-D array."""
+        for i, name in enumerate(self._free_order):
+            self._values[name] = float(vec[i])
diff --git a/kindred_solver/prepass.py b/kindred_solver/prepass.py
new file mode 100644
index 0000000..0c263d3
--- /dev/null
+++ b/kindred_solver/prepass.py
@@ -0,0 +1,120 @@
+"""Pre-solve passes to reduce the system before Newton-Raphson.
+
+1. Substitution pass — replace fixed-parameter Var nodes with Const values.
+2. Single-equation pass — if a residual mentions exactly one free variable,
+   solve it analytically (when possible) and fix that variable.
+"""
+
+from __future__ import annotations
+
+from typing import List
+
+from .expr import ZERO, Add, Const, Expr, Mul, Neg, Sub, Var
+from .params import ParamTable
+
+
+def substitution_pass(residuals: List[Expr], params: ParamTable) -> List[Expr]:
+    """Replace fixed Var nodes with their constant values.
+
+    Returns a new list of simplified residuals.
+    """
+    env = params.get_env()
+    fixed = {name for name in env if params.is_fixed(name)}
+    if not fixed:
+        return residuals
+    return [_substitute(r, env, fixed).simplify() for r in residuals]
+
+
+def _substitute(expr: Expr, env: dict[str, float], fixed: set[str]) -> Expr:
+    """Recursively replace Var nodes in *fixed* with Const values."""
+    if isinstance(expr, Const):
+        return expr
+    if isinstance(expr, Var):
+        if expr.name in fixed:
+            return Const(env[expr.name])
+        return expr
+    if isinstance(expr, Neg):
+        return Neg(_substitute(expr.child, env, fixed))
+    if isinstance(expr, Add):
+        return Add(_substitute(expr.a, env, fixed), _substitute(expr.b, env, fixed))
+    if isinstance(expr, Sub):
+        return Sub(_substitute(expr.a, env, fixed), _substitute(expr.b, env, fixed))
+    if isinstance(expr, Mul):
+        return Mul(_substitute(expr.a, env, fixed), _substitute(expr.b, env, fixed))
+    # For all other node types, rebuild with substituted children
+    from .expr import Cos, Div, Pow, Sin, Sqrt
+
+    if isinstance(expr, Div):
+        return Div(_substitute(expr.a, env, fixed), _substitute(expr.b, env, fixed))
+    if isinstance(expr, Pow):
+        return Pow(
+            _substitute(expr.base, env, fixed), _substitute(expr.exp, env, fixed)
+        )
+    if isinstance(expr, Sin):
+        return Sin(_substitute(expr.child, env, fixed))
+    if isinstance(expr, Cos):
+        return Cos(_substitute(expr.child, env, fixed))
+    if isinstance(expr, Sqrt):
+        return Sqrt(_substitute(expr.child, env, fixed))
+    return expr
+
+
+def single_equation_pass(residuals: List[Expr], params: ParamTable) -> List[Expr]:
+    """Solve residuals that depend on a single free variable.
+
+    Handles linear cases:  a*x + b = 0  →  x = -b/a.
+    Repeats until no more single-variable residuals can be solved.
+    Returns the remaining unsolved residuals.
+    """
+    changed = True
+    remaining = list(residuals)
+    while changed:
+        changed = False
+        new_remaining = []
+        for r in remaining:
+            free_vars = r.vars() & set(params.free_names())
+            if len(free_vars) == 1:
+                name = next(iter(free_vars))
+                solved = _try_solve_linear(r, name, params)
+                if solved:
+                    params.fix(name)
+                    # Re-substitute newly fixed variable in remaining
+                    remaining_after = []
+                    env = params.get_env()
+                    fixed = {name}
+                    for rem in new_remaining:
+                        remaining_after.append(_substitute(rem, env, fixed).simplify())
+                    new_remaining = remaining_after
+                    changed = True
+                    continue
+            new_remaining.append(r)
+        remaining = new_remaining
+    return remaining
+
+
+def _try_solve_linear(expr: Expr, var_name: str, params: ParamTable) -> bool:
+    """Try to solve expr==0 for var_name assuming linear dependence.
+
+    If expr = a*var + b where a,b are constants, sets var = -b/a.
+    Returns True on success.
+    """
+    env = params.get_env()
+
+    # Evaluate derivative w.r.t. var (should be constant if linear)
+    deriv = expr.diff(var_name).simplify()
+    # Check that derivative has no free variables (i.e. is truly constant)
+    if deriv.vars() & set(params.free_names()):
+        return False
+
+    a = deriv.eval(env)
+    if abs(a) < 1e-15:
+        return False
+
+    # Evaluate expr at current value
+    f = expr.eval(env)
+
+    # x_new = x_current - f/a
+    x_cur = params.get_value(var_name)
+    x_new = x_cur - f / a
+    params.set_value(var_name, x_new)
+    return True
diff --git a/kindred_solver/quat.py b/kindred_solver/quat.py
new file mode 100644
index 0000000..9420fbe
--- /dev/null
+++ b/kindred_solver/quat.py
@@ -0,0 +1,71 @@
+"""Quaternion math expressed as Expr trees.
+
+All functions take Expr nodes (typically Var nodes from a RigidBody's
+parameter set) and return Expr trees.  Quaternion rotation is polynomial
+in the quaternion components — no transcendentals needed.
+
+Convention: quaternion (qw, qx, qy, qz) matches KCSolve's (w, x, y, z).
+"""
+
+from __future__ import annotations
+
+from .expr import Const, Expr
+
+
+def quat_rotate(
+    qw: Expr,
+    qx: Expr,
+    qy: Expr,
+    qz: Expr,
+    px: Expr,
+    py: Expr,
+    pz: Expr,
+) -> tuple[Expr, Expr, Expr]:
+    """Rotate point (px, py, pz) by unit quaternion (qw, qx, qy, qz).
+
+    Uses the standard formula:  p' = q * p * q^{-1}
+    expanded into component form (polynomial in q):
+
+        rx = (1 - 2(qy^2 + qz^2)) * px + 2(qx*qy - qw*qz) * py + 2(qx*qz + qw*qy) * pz
+        ry = 2(qx*qy + qw*qz) * px + (1 - 2(qx^2 + qz^2)) * py + 2(qy*qz - qw*qx) * pz
+        rz = 2(qx*qz - qw*qy) * px + 2(qy*qz + qw*qx) * py + (1 - 2(qx^2 + qy^2)) * pz
+    """
+    two = Const(2.0)
+
+    rx = (
+        (Const(1.0) - two * (qy * qy + qz * qz)) * px
+        + two * (qx * qy - qw * qz) * py
+        + two * (qx * qz + qw * qy) * pz
+    )
+    ry = (
+        two * (qx * qy + qw * qz) * px
+        + (Const(1.0) - two * (qx * qx + qz * qz)) * py
+        + two * (qy * qz - qw * qx) * pz
+    )
+    rz = (
+        two * (qx * qz - qw * qy) * px
+        + two * (qy * qz + qw * qx) * py
+        + (Const(1.0) - two * (qx * qx + qy * qy)) * pz
+    )
+    return rx, ry, rz
+
+
+def world_point(
+    tx: Expr,
+    ty: Expr,
+    tz: Expr,
+    qw: Expr,
+    qx: Expr,
+    qy: Expr,
+    qz: Expr,
+    lx: float,
+    ly: float,
+    lz: float,
+) -> tuple[Expr, Expr, Expr]:
+    """Transform local point (lx, ly, lz) to world coordinates.
+
+    world = rotation(q, local) + translation
+    """
+    clx, cly, clz = Const(lx), Const(ly), Const(lz)
+    rx, ry, rz = quat_rotate(qw, qx, qy, qz, clx, cly, clz)
+    return tx + rx, ty + ry, tz + rz
diff --git a/kindred_solver/solver.py b/kindred_solver/solver.py
new file mode 100644
index 0000000..53d1749
--- /dev/null
+++ b/kindred_solver/solver.py
@@ -0,0 +1,169 @@
+"""KindredSolver — IKCSolver implementation bridging KCSolve to the
+expression-based Newton-Raphson solver."""
+
+from __future__ import annotations
+
+import kcsolve
+
+from .constraints import (
+    CoincidentConstraint,
+    ConstraintBase,
+    DistancePointPointConstraint,
+    FixedConstraint,
+)
+from .dof import count_dof
+from .entities import RigidBody
+from .newton import newton_solve
+from .params import ParamTable
+from .prepass import single_equation_pass, substitution_pass
+
+# Map BaseJointKind enum values to handler names
+_SUPPORTED = {
+    kcsolve.BaseJointKind.Coincident,
+    kcsolve.BaseJointKind.DistancePointPoint,
+    kcsolve.BaseJointKind.Fixed,
+}
+
+
+class KindredSolver(kcsolve.IKCSolver):
+    """Expression-based Newton-Raphson constraint solver."""
+
+    def name(self):
+        return "Kindred (Newton-Raphson)"
+
+    def supported_joints(self):
+        return list(_SUPPORTED)
+
+    def solve(self, ctx):
+        params = ParamTable()
+        bodies = {}  # part_id -> RigidBody
+
+        # 1. Build entities from parts
+        for part in ctx.parts:
+            pos = tuple(part.placement.position)
+            quat = tuple(part.placement.quaternion)  # (w, x, y, z)
+            body = RigidBody(
+                part.id,
+                params,
+                position=pos,
+                quaternion=quat,
+                grounded=part.grounded,
+            )
+            bodies[part.id] = body
+
+        # 2. Build constraint residuals
+        all_residuals = []
+        constraint_objs = []
+
+        for c in ctx.constraints:
+            if not c.activated:
+                continue
+            body_i = bodies.get(c.part_i)
+            body_j = bodies.get(c.part_j)
+            if body_i is None or body_j is None:
+                continue
+
+            marker_i_pos = tuple(c.marker_i.position)
+            marker_j_pos = tuple(c.marker_j.position)
+
+            obj = _build_constraint(
+                c.type,
+                body_i,
+                marker_i_pos,
+                body_j,
+                marker_j_pos,
+                c.marker_i,
+                c.marker_j,
+                c.params,
+            )
+            if obj is None:
+                continue
+            constraint_objs.append(obj)
+            all_residuals.extend(obj.residuals())
+
+        # 3. Add quaternion normalization residuals for non-grounded bodies
+        quat_groups = []
+        for body in bodies.values():
+            if not body.grounded:
+                all_residuals.append(body.quat_norm_residual())
+                quat_groups.append(body.quat_param_names())
+
+        # 4. Pre-passes
+        all_residuals = substitution_pass(all_residuals, params)
+        all_residuals = single_equation_pass(all_residuals, params)
+
+        # 5. Newton-Raphson
+        converged = newton_solve(
+            all_residuals,
+            params,
+            quat_groups=quat_groups,
+            max_iter=100,
+            tol=1e-10,
+        )
+
+        # 6. DOF
+        dof = count_dof(all_residuals, params)
+
+        # 7. Build result
+        result = kcsolve.SolveResult()
+        result.status = (
+            kcsolve.SolveStatus.Success if converged else kcsolve.SolveStatus.Failed
+        )
+        result.dof = dof
+
+        env = params.get_env()
+        placements = []
+        for body in bodies.values():
+            if body.grounded:
+                continue
+            pr = kcsolve.SolveResult.PartResult()
+            pr.id = body.part_id
+            pr.placement = kcsolve.Transform()
+            pr.placement.position = list(body.extract_position(env))
+            pr.placement.quaternion = list(body.extract_quaternion(env))
+            placements.append(pr)
+
+        result.placements = placements
+        return result
+
+    def is_deterministic(self):
+        return True
+
+
+def _build_constraint(
+    kind,
+    body_i,
+    marker_i_pos,
+    body_j,
+    marker_j_pos,
+    marker_i,
+    marker_j,
+    c_params,
+) -> ConstraintBase | None:
+    """Create the appropriate constraint object from a BaseJointKind."""
+    if kind == kcsolve.BaseJointKind.Coincident:
+        return CoincidentConstraint(body_i, marker_i_pos, body_j, marker_j_pos)
+
+    if kind == kcsolve.BaseJointKind.DistancePointPoint:
+        distance = c_params[0] if c_params else 0.0
+        return DistancePointPointConstraint(
+            body_i,
+            marker_i_pos,
+            body_j,
+            marker_j_pos,
+            distance,
+        )
+
+    if kind == kcsolve.BaseJointKind.Fixed:
+        marker_i_quat = tuple(marker_i.quaternion)
+        marker_j_quat = tuple(marker_j.quaternion)
+        return FixedConstraint(
+            body_i,
+            marker_i_pos,
+            marker_i_quat,
+            body_j,
+            marker_j_pos,
+            marker_j_quat,
+        )
+
+    return None
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..c7cc6a4
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<package format="1" xmlns="https://wiki.freecad.org/Package_Metadata">
+
+  <name>solver</name>
+  <description>Kindred constraint solver — expression-based Newton-Raphson</description>
+  <version>0.1.0</version>
+  <maintainer email="info@kindredsystems.io">Kindred Systems</maintainer>
+  <license file="LICENSE">LGPL-2.1-or-later</license>
+
+  <content>
+    <workbench>
+      <classname>KindredSolverBackend</classname>
+      <subdirectory>./</subdirectory>
+    </workbench>
+  </content>
+
+  <kindred>
+    <min_create_version>0.1.0</min_create_version>
+    <load_priority>10</load_priority>
+    <pure_python>true</pure_python>
+  </kindred>
+
+</package>
diff --git a/tests/test_constraints.py b/tests/test_constraints.py
new file mode 100644
index 0000000..fa456ed
--- /dev/null
+++ b/tests/test_constraints.py
@@ -0,0 +1,135 @@
+"""Tests for constraint residual generation."""
+
+import math
+
+import pytest
+from kindred_solver.constraints import (
+    CoincidentConstraint,
+    DistancePointPointConstraint,
+    FixedConstraint,
+)
+from kindred_solver.entities import RigidBody
+from kindred_solver.params import ParamTable
+
+
+class TestCoincident:
+    def test_satisfied(self):
+        """Two bodies at same position → residuals are zero."""
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        b2 = RigidBody("b", pt, (0, 0, 0), (1, 0, 0, 0))
+        c = CoincidentConstraint(b1, (0, 0, 0), b2, (0, 0, 0))
+        env = pt.get_env()
+        for r in c.residuals():
+            assert abs(r.eval(env)) < 1e-10
+
+    def test_unsatisfied(self):
+        """Bodies at different positions → non-zero residuals."""
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        b2 = RigidBody("b", pt, (1, 2, 3), (1, 0, 0, 0))
+        c = CoincidentConstraint(b1, (0, 0, 0), b2, (0, 0, 0))
+        env = pt.get_env()
+        vals = [r.eval(env) for r in c.residuals()]
+        assert abs(vals[0] - (-1.0)) < 1e-10
+        assert abs(vals[1] - (-2.0)) < 1e-10
+        assert abs(vals[2] - (-3.0)) < 1e-10
+
+    def test_with_markers(self):
+        """Marker offsets shift the coincidence point."""
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        b2 = RigidBody("b", pt, (10, 0, 0), (1, 0, 0, 0))
+        # marker on b1 at local (5,0,0), marker on b2 at local (-5,0,0)
+        c = CoincidentConstraint(b1, (5, 0, 0), b2, (-5, 0, 0))
+        env = pt.get_env()
+        # b1 marker world = (5,0,0), b2 marker world = (10-5, 0, 0) = (5,0,0)
+        for r in c.residuals():
+            assert abs(r.eval(env)) < 1e-10
+
+    def test_residual_count(self):
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0))
+        b2 = RigidBody("b", pt, (0, 0, 0), (1, 0, 0, 0))
+        c = CoincidentConstraint(b1, (0, 0, 0), b2, (0, 0, 0))
+        assert len(c.residuals()) == 3
+
+
+class TestDistancePointPoint:
+    def test_satisfied(self):
+        """Bodies at distance 5 apart with d=5 → residual zero."""
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        b2 = RigidBody("b", pt, (3, 4, 0), (1, 0, 0, 0))
+        c = DistancePointPointConstraint(b1, (0, 0, 0), b2, (0, 0, 0), 5.0)
+        env = pt.get_env()
+        # 3^2 + 4^2 - 5^2 = 9+16-25 = 0
+        assert abs(c.residuals()[0].eval(env)) < 1e-10
+
+    def test_unsatisfied(self):
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        b2 = RigidBody("b", pt, (3, 4, 0), (1, 0, 0, 0))
+        c = DistancePointPointConstraint(b1, (0, 0, 0), b2, (0, 0, 0), 3.0)
+        env = pt.get_env()
+        # 9+16-9 = 16
+        assert abs(c.residuals()[0].eval(env) - 16.0) < 1e-10
+
+    def test_residual_count(self):
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0))
+        b2 = RigidBody("b", pt, (0, 0, 0), (1, 0, 0, 0))
+        c = DistancePointPointConstraint(b1, (0, 0, 0), b2, (0, 0, 0), 1.0)
+        assert len(c.residuals()) == 1
+
+
+class TestFixed:
+    def test_satisfied(self):
+        """Identical pose + markers → all residuals zero."""
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        b2 = RigidBody("b", pt, (0, 0, 0), (1, 0, 0, 0))
+        c = FixedConstraint(
+            b1,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+            b2,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+        )
+        env = pt.get_env()
+        for r in c.residuals():
+            assert abs(r.eval(env)) < 1e-10
+
+    def test_residual_count(self):
+        """Fixed constraint: 3 position + 3 orientation = 6 residuals."""
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0))
+        b2 = RigidBody("b", pt, (0, 0, 0), (1, 0, 0, 0))
+        c = FixedConstraint(
+            b1,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+            b2,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+        )
+        assert len(c.residuals()) == 6
+
+    def test_unsatisfied_position(self):
+        """Offset position → non-zero position residuals."""
+        pt = ParamTable()
+        b1 = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        b2 = RigidBody("b", pt, (1, 0, 0), (1, 0, 0, 0))
+        c = FixedConstraint(
+            b1,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+            b2,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+        )
+        env = pt.get_env()
+        vals = [r.eval(env) for r in c.residuals()]
+        # Position residual [0] should be -1 (0 - 1)
+        assert abs(vals[0] - (-1.0)) < 1e-10
diff --git a/tests/test_dof.py b/tests/test_dof.py
new file mode 100644
index 0000000..383672c
--- /dev/null
+++ b/tests/test_dof.py
@@ -0,0 +1,49 @@
+"""Tests for DOF counting."""
+
+import pytest
+from kindred_solver.dof import count_dof
+from kindred_solver.expr import Const, Var
+from kindred_solver.params import ParamTable
+
+
+class TestDOF:
+    def test_unconstrained(self):
+        """2 free params, no residuals → DOF = 2."""
+        pt = ParamTable()
+        pt.add("x", 0.0)
+        pt.add("y", 0.0)
+        assert count_dof([], pt) == 2
+
+    def test_fully_constrained(self):
+        """1 free param, 1 independent residual → DOF = 0."""
+        pt = ParamTable()
+        x = pt.add("x", 1.0)
+        residuals = [x - Const(3.0)]
+        assert count_dof(residuals, pt) == 0
+
+    def test_under_constrained(self):
+        """2 free params, 1 residual → DOF = 1."""
+        pt = ParamTable()
+        x = pt.add("x", 1.0)
+        y = pt.add("y", 1.0)
+        residuals = [x + y - Const(5.0)]
+        assert count_dof(residuals, pt) == 1
+
+    def test_redundant_constraints(self):
+        """2 free params, 3 residuals (2 independent) → DOF = 0."""
+        pt = ParamTable()
+        x = pt.add("x", 1.0)
+        y = pt.add("y", 1.0)
+        residuals = [
+            x - Const(3.0),
+            y - Const(4.0),
+            x + y - Const(7.0),  # redundant (sum of first two)
+        ]
+        assert count_dof(residuals, pt) == 0
+
+    def test_no_free_params(self):
+        """All fixed → DOF = 0."""
+        pt = ParamTable()
+        pt.add("x", 1.0, fixed=True)
+        residuals = [Const(0.0)]
+        assert count_dof(residuals, pt) == 0
diff --git a/tests/test_entities.py b/tests/test_entities.py
new file mode 100644
index 0000000..6d1600f
--- /dev/null
+++ b/tests/test_entities.py
@@ -0,0 +1,77 @@
+"""Tests for RigidBody entities."""
+
+import math
+
+import pytest
+from kindred_solver.entities import RigidBody
+from kindred_solver.params import ParamTable
+
+
+class TestRigidBody:
+    def test_identity_world_point(self):
+        """Body at origin with identity rotation: local == world."""
+        pt = ParamTable()
+        body = RigidBody("p1", pt, (0, 0, 0), (1, 0, 0, 0))
+        wx, wy, wz = body.world_point(1.0, 2.0, 3.0)
+        env = pt.get_env()
+        assert abs(wx.eval(env) - 1.0) < 1e-10
+        assert abs(wy.eval(env) - 2.0) < 1e-10
+        assert abs(wz.eval(env) - 3.0) < 1e-10
+
+    def test_translated(self):
+        """Body translated by (10, 20, 30) with identity rotation."""
+        pt = ParamTable()
+        body = RigidBody("p1", pt, (10, 20, 30), (1, 0, 0, 0))
+        wx, wy, wz = body.world_point(1.0, 2.0, 3.0)
+        env = pt.get_env()
+        assert abs(wx.eval(env) - 11.0) < 1e-10
+        assert abs(wy.eval(env) - 22.0) < 1e-10
+        assert abs(wz.eval(env) - 33.0) < 1e-10
+
+    def test_rotated_90_z(self):
+        """90-degree rotation about Z: (1,0,0) -> (0,1,0)."""
+        pt = ParamTable()
+        # 90-deg about Z: q = (cos(45), 0, 0, sin(45))
+        c = math.cos(math.pi / 4)
+        s = math.sin(math.pi / 4)
+        body = RigidBody("p1", pt, (0, 0, 0), (c, 0, 0, s))
+        wx, wy, wz = body.world_point(1.0, 0.0, 0.0)
+        env = pt.get_env()
+        assert abs(wx.eval(env) - 0.0) < 1e-10
+        assert abs(wy.eval(env) - 1.0) < 1e-10
+        assert abs(wz.eval(env) - 0.0) < 1e-10
+
+    def test_quat_norm_residual(self):
+        """Normalization residual is zero for unit quaternion."""
+        pt = ParamTable()
+        body = RigidBody("p1", pt, (0, 0, 0), (1, 0, 0, 0))
+        r = body.quat_norm_residual()
+        env = pt.get_env()
+        assert abs(r.eval(env)) < 1e-10
+
+    def test_grounded(self):
+        """Grounded body has all params fixed."""
+        pt = ParamTable()
+        body = RigidBody("p1", pt, (1, 2, 3), (1, 0, 0, 0), grounded=True)
+        assert pt.n_free() == 0
+        assert body.grounded
+
+    def test_extract(self):
+        """Extract position and quaternion from env."""
+        pt = ParamTable()
+        body = RigidBody("p1", pt, (1, 2, 3), (0.5, 0.5, 0.5, 0.5))
+        env = pt.get_env()
+        pos = body.extract_position(env)
+        quat = body.extract_quaternion(env)
+        assert pos == (1.0, 2.0, 3.0)
+        assert quat == (0.5, 0.5, 0.5, 0.5)
+
+    def test_differentiation(self):
+        """World point expressions are differentiable w.r.t. body params."""
+        pt = ParamTable()
+        body = RigidBody("p1", pt, (0, 0, 0), (1, 0, 0, 0))
+        wx, wy, wz = body.world_point(1.0, 0.0, 0.0)
+        # d(wx)/d(tx) should be 1
+        dtx = wx.diff("p1/tx").simplify()
+        env = pt.get_env()
+        assert abs(dtx.eval(env) - 1.0) < 1e-10
diff --git a/tests/test_expr.py b/tests/test_expr.py
new file mode 100644
index 0000000..194a364
--- /dev/null
+++ b/tests/test_expr.py
@@ -0,0 +1,195 @@
+"""Tests for the expression DAG."""
+
+import math
+
+import pytest
+from kindred_solver.expr import (
+    ONE,
+    ZERO,
+    Add,
+    Const,
+    Cos,
+    Div,
+    Mul,
+    Neg,
+    Pow,
+    Sin,
+    Sqrt,
+    Sub,
+    Var,
+)
+
+
+class TestConst:
+    def test_eval(self):
+        assert Const(3.0).eval({}) == 3.0
+
+    def test_diff(self):
+        assert Const(5.0).diff("x") == ZERO
+
+    def test_eq(self):
+        assert Const(1.0) == Const(1.0)
+        assert Const(1.0) != Const(2.0)
+
+    def test_vars(self):
+        assert Const(1.0).vars() == set()
+
+
+class TestVar:
+    def test_eval(self):
+        assert Var("x").eval({"x": 7.0}) == 7.0
+
+    def test_diff_self(self):
+        assert Var("x").diff("x") == ONE
+
+    def test_diff_other(self):
+        assert Var("x").diff("y") == ZERO
+
+    def test_vars(self):
+        assert Var("x").vars() == {"x"}
+
+
+class TestOperators:
+    def test_add(self):
+        x = Var("x")
+        e = x + 3.0
+        assert isinstance(e, Add)
+        assert e.eval({"x": 2.0}) == 5.0
+
+    def test_radd(self):
+        x = Var("x")
+        e = 3.0 + x
+        assert e.eval({"x": 2.0}) == 5.0
+
+    def test_sub(self):
+        x = Var("x")
+        e = x - 1.0
+        assert e.eval({"x": 5.0}) == 4.0
+
+    def test_mul(self):
+        x = Var("x")
+        e = x * 2.0
+        assert e.eval({"x": 3.0}) == 6.0
+
+    def test_div(self):
+        x = Var("x")
+        e = x / 2.0
+        assert e.eval({"x": 6.0}) == 3.0
+
+    def test_neg(self):
+        x = Var("x")
+        e = -x
+        assert e.eval({"x": 3.0}) == -3.0
+
+    def test_pow(self):
+        x = Var("x")
+        e = x**2
+        assert e.eval({"x": 3.0}) == 9.0
+
+
+class TestDiff:
+    def test_add(self):
+        x = Var("x")
+        e = x + Const(5.0)
+        d = e.diff("x").simplify()
+        assert d.eval({}) == 1.0
+
+    def test_mul_product_rule(self):
+        x = Var("x")
+        e = x * x  # x^2
+        d = e.diff("x").simplify()
+        # d/dx(x*x) = x + x = 2x
+        assert d.eval({"x": 3.0}) == 6.0
+
+    def test_pow_const_exp(self):
+        x = Var("x")
+        e = Pow(x, Const(3.0))  # x^3
+        d = e.diff("x").simplify()
+        # d/dx(x^3) = 3x^2
+        assert abs(d.eval({"x": 2.0}) - 12.0) < 1e-10
+
+    def test_sin(self):
+        x = Var("x")
+        e = Sin(x)
+        d = e.diff("x").simplify()
+        # d/dx sin(x) = cos(x)
+        assert abs(d.eval({"x": 0.0}) - 1.0) < 1e-10
+
+    def test_cos(self):
+        x = Var("x")
+        e = Cos(x)
+        d = e.diff("x").simplify()
+        # d/dx cos(x) = -sin(x)
+        assert abs(d.eval({"x": 0.0}) - 0.0) < 1e-10
+
+    def test_div_quotient_rule(self):
+        x = Var("x")
+        e = Div(x, x + Const(1.0))  # x / (x+1)
+        d = e.diff("x")
+        # d/dx x/(x+1) = 1/(x+1)^2
+        val = d.eval({"x": 1.0})
+        assert abs(val - 0.25) < 1e-10
+
+    def test_sqrt(self):
+        x = Var("x")
+        e = Sqrt(x)
+        d = e.diff("x")
+        # d/dx sqrt(x) = 1/(2*sqrt(x))
+        val = d.eval({"x": 4.0})
+        assert abs(val - 0.25) < 1e-10
+
+
+class TestSimplify:
+    def test_add_zero(self):
+        x = Var("x")
+        e = Add(ZERO, x).simplify()
+        assert isinstance(e, Var) and e.name == "x"
+
+    def test_mul_one(self):
+        x = Var("x")
+        e = Mul(ONE, x).simplify()
+        assert isinstance(e, Var) and e.name == "x"
+
+    def test_mul_zero(self):
+        x = Var("x")
+        e = Mul(ZERO, x).simplify()
+        assert e == ZERO
+
+    def test_const_fold(self):
+        e = Add(Const(2.0), Const(3.0)).simplify()
+        assert isinstance(e, Const) and e.value == 5.0
+
+    def test_neg_neg(self):
+        x = Var("x")
+        e = Neg(Neg(x)).simplify()
+        assert isinstance(e, Var) and e.name == "x"
+
+    def test_pow_zero(self):
+        x = Var("x")
+        e = Pow(x, ZERO).simplify()
+        assert e == ONE
+
+    def test_pow_one(self):
+        x = Var("x")
+        e = Pow(x, ONE).simplify()
+        assert isinstance(e, Var) and e.name == "x"
+
+    def test_sub_zero(self):
+        x = Var("x")
+        e = Sub(x, ZERO).simplify()
+        assert isinstance(e, Var) and e.name == "x"
+
+
+class TestComplex:
+    def test_polynomial(self):
+        """Test a quadratic: 3x^2 + 2x + 1, derivative = 6x + 2."""
+        x = Var("x")
+        e = Const(3.0) * x * x + Const(2.0) * x + Const(1.0)
+        assert abs(e.eval({"x": 2.0}) - 17.0) < 1e-10
+        d = e.diff("x").simplify()
+        assert abs(d.eval({"x": 2.0}) - 14.0) < 1e-10
+
+    def test_vars_set(self):
+        x, y = Var("x"), Var("y")
+        e = x * y + Sin(x)
+        assert e.vars() == {"x", "y"}
diff --git a/tests/test_newton.py b/tests/test_newton.py
new file mode 100644
index 0000000..4c313c5
--- /dev/null
+++ b/tests/test_newton.py
@@ -0,0 +1,88 @@
+"""Tests for the Newton-Raphson solver."""
+
+import math
+
+import pytest
+from kindred_solver.expr import Const, Var
+from kindred_solver.newton import newton_solve
+from kindred_solver.params import ParamTable
+
+
+class TestNewtonBasic:
+    def test_single_linear(self):
+        """Solve x - 3 = 0 → x = 3."""
+        pt = ParamTable()
+        x = pt.add("x", 0.0)
+        residuals = [x - Const(3.0)]
+        assert newton_solve(residuals, pt) is True
+        assert abs(pt.get_value("x") - 3.0) < 1e-10
+
+    def test_single_quadratic(self):
+        """Solve x^2 - 4 = 0 starting from x=1 → x = 2."""
+        pt = ParamTable()
+        x = pt.add("x", 1.0)
+        residuals = [x * x - Const(4.0)]
+        assert newton_solve(residuals, pt) is True
+        assert abs(pt.get_value("x") - 2.0) < 1e-10
+
+    def test_two_variables(self):
+        """Solve x + y = 5, x - y = 1 → x=3, y=2."""
+        pt = ParamTable()
+        x = pt.add("x", 0.0)
+        y = pt.add("y", 0.0)
+        residuals = [x + y - Const(5.0), x - y - Const(1.0)]
+        assert newton_solve(residuals, pt) is True
+        assert abs(pt.get_value("x") - 3.0) < 1e-10
+        assert abs(pt.get_value("y") - 2.0) < 1e-10
+
+    def test_with_fixed(self):
+        """Fixed parameter is not updated."""
+        pt = ParamTable()
+        x = pt.add("x", 0.0)
+        y = pt.add("y", 5.0, fixed=True)
+        residuals = [x + y - Const(10.0)]
+        assert newton_solve(residuals, pt) is True
+        assert abs(pt.get_value("x") - 5.0) < 1e-10
+        assert pt.get_value("y") == 5.0
+
+    def test_empty_system(self):
+        """Empty residual list converges trivially."""
+        pt = ParamTable()
+        assert newton_solve([], pt) is True
+
+
+class TestNewtonQuat:
+    def test_quat_renorm(self):
+        """Quaternion re-normalization keeps unit length."""
+        pt = ParamTable()
+        qw = pt.add("qw", 0.9)
+        qx = pt.add("qx", 0.1)
+        qy = pt.add("qy", 0.1)
+        qz = pt.add("qz", 0.1)
+        # Residual: qw^2 + qx^2 + qy^2 + qz^2 - 1 = 0
+        r = qw * qw + qx * qx + qy * qy + qz * qz - Const(1.0)
+        quat_groups = [("qw", "qx", "qy", "qz")]
+        assert newton_solve([r], pt, quat_groups=quat_groups) is True
+        # Check unit length
+        w, x, y, z = (pt.get_value(n) for n in ["qw", "qx", "qy", "qz"])
+        norm = math.sqrt(w**2 + x**2 + y**2 + z**2)
+        assert abs(norm - 1.0) < 1e-10
+
+
+class TestNewtonGeometric:
+    def test_point_coincidence(self):
+        """Two points that should meet: (x,0,0) == (3,0,0)."""
+        pt = ParamTable()
+        x = pt.add("x", 0.0)
+        residuals = [x - Const(3.0)]
+        assert newton_solve(residuals, pt) is True
+        assert abs(pt.get_value("x") - 3.0) < 1e-10
+
+    def test_distance_constraint(self):
+        """Point at (x,0,0) should be distance 5 from origin.
+        Squared: x^2 - 25 = 0, starting from x=3 → x=5."""
+        pt = ParamTable()
+        x = pt.add("x", 3.0)
+        residuals = [x * x - Const(25.0)]
+        assert newton_solve(residuals, pt) is True
+        assert abs(pt.get_value("x") - 5.0) < 1e-10
diff --git a/tests/test_params.py b/tests/test_params.py
new file mode 100644
index 0000000..f37912c
--- /dev/null
+++ b/tests/test_params.py
@@ -0,0 +1,67 @@
+"""Tests for the parameter table."""
+
+import numpy as np
+import pytest
+from kindred_solver.expr import Var
+from kindred_solver.params import ParamTable
+
+
+class TestParamTable:
+    def test_add_and_get(self):
+        pt = ParamTable()
+        v = pt.add("x", 3.0)
+        assert isinstance(v, Var)
+        assert v.name == "x"
+        assert pt.get_value("x") == 3.0
+
+    def test_duplicate_raises(self):
+        pt = ParamTable()
+        pt.add("x")
+        with pytest.raises(ValueError, match="Duplicate"):
+            pt.add("x")
+
+    def test_fixed(self):
+        pt = ParamTable()
+        pt.add("x", 1.0, fixed=True)
+        pt.add("y", 2.0, fixed=False)
+        assert pt.is_fixed("x")
+        assert not pt.is_fixed("y")
+        assert pt.free_names() == ["y"]
+
+    def test_fix(self):
+        pt = ParamTable()
+        pt.add("x", 1.0)
+        assert "x" in pt.free_names()
+        pt.fix("x")
+        assert "x" not in pt.free_names()
+        assert pt.is_fixed("x")
+
+    def test_env(self):
+        pt = ParamTable()
+        pt.add("a", 1.0)
+        pt.add("b", 2.0, fixed=True)
+        env = pt.get_env()
+        assert env == {"a": 1.0, "b": 2.0}
+
+    def test_free_vector(self):
+        pt = ParamTable()
+        pt.add("a", 1.0)
+        pt.add("b", 2.0, fixed=True)
+        pt.add("c", 3.0)
+        vec = pt.get_free_vector()
+        np.testing.assert_array_equal(vec, [1.0, 3.0])
+
+    def test_set_free_vector(self):
+        pt = ParamTable()
+        pt.add("a", 0.0)
+        pt.add("b", 0.0)
+        pt.set_free_vector(np.array([5.0, 7.0]))
+        assert pt.get_value("a") == 5.0
+        assert pt.get_value("b") == 7.0
+
+    def test_n_free(self):
+        pt = ParamTable()
+        pt.add("a", 0.0)
+        pt.add("b", 0.0, fixed=True)
+        pt.add("c", 0.0)
+        assert pt.n_free() == 2
diff --git a/tests/test_prepass.py b/tests/test_prepass.py
new file mode 100644
index 0000000..6852ae7
--- /dev/null
+++ b/tests/test_prepass.py
@@ -0,0 +1,58 @@
+"""Tests for pre-solve passes."""
+
+import pytest
+from kindred_solver.expr import Const, Var
+from kindred_solver.params import ParamTable
+from kindred_solver.prepass import single_equation_pass, substitution_pass
+
+
+class TestSubstitutionPass:
+    def test_fixed_replaced(self):
+        pt = ParamTable()
+        x = pt.add("x", 3.0, fixed=True)
+        y = pt.add("y", 0.0)
+        residuals = [x + y - Const(5.0)]
+        result = substitution_pass(residuals, pt)
+        # After substitution, x is replaced with 3.0
+        # So residual becomes 3.0 + y - 5.0 = y - 2.0
+        env = pt.get_env()
+        assert abs(result[0].eval({"y": 2.0}) - 0.0) < 1e-10
+
+    def test_no_fixed(self):
+        pt = ParamTable()
+        x = pt.add("x", 1.0)
+        residuals = [x - Const(1.0)]
+        result = substitution_pass(residuals, pt)
+        assert len(result) == 1
+
+
+class TestSingleEquationPass:
+    def test_solve_linear(self):
+        """x - 3 = 0 with only x free → solves x=3 and removes residual."""
+        pt = ParamTable()
+        x = pt.add("x", 0.0)
+        residuals = [x - Const(3.0)]
+        result = single_equation_pass(residuals, pt)
+        assert len(result) == 0
+        assert abs(pt.get_value("x") - 3.0) < 1e-10
+        assert pt.is_fixed("x")
+
+    def test_two_residuals_chain(self):
+        """x - 3 = 0, y - x = 0 → solves x=3, then y=3."""
+        pt = ParamTable()
+        x = pt.add("x", 0.0)
+        y = pt.add("y", 0.0)
+        residuals = [x - Const(3.0), y - x]
+        result = single_equation_pass(residuals, pt)
+        assert len(result) == 0
+        assert abs(pt.get_value("x") - 3.0) < 1e-10
+        assert abs(pt.get_value("y") - 3.0) < 1e-10
+
+    def test_multi_var_not_solved(self):
+        """x + y - 5 = 0 with both free → not solved."""
+        pt = ParamTable()
+        x = pt.add("x", 0.0)
+        y = pt.add("y", 0.0)
+        residuals = [x + y - Const(5.0)]
+        result = single_equation_pass(residuals, pt)
+        assert len(result) == 1  # still unsolved
diff --git a/tests/test_solver.py b/tests/test_solver.py
new file mode 100644
index 0000000..3d80fef
--- /dev/null
+++ b/tests/test_solver.py
@@ -0,0 +1,183 @@
+"""End-to-end tests for KindredSolver using internal API.
+
+These tests exercise the solver bridge without requiring kcsolve pybind11
+bindings (which need a FreeCAD build). Instead we test the internal
+pipeline directly.
+"""
+
+import math
+
+import pytest
+from kindred_solver.constraints import (
+    CoincidentConstraint,
+    DistancePointPointConstraint,
+    FixedConstraint,
+)
+from kindred_solver.dof import count_dof
+from kindred_solver.entities import RigidBody
+from kindred_solver.newton import newton_solve
+from kindred_solver.params import ParamTable
+from kindred_solver.prepass import single_equation_pass, substitution_pass
+
+
+def _solve_system(bodies, constraint_objs):
+    """Helper: run the full solve pipeline on a list of bodies + constraints."""
+    params = bodies[0].tx  # hack to get the shared ParamTable
+    # Actually, we need the param table. Let's require it as arg.
+    raise NotImplementedError
+
+
+class TestCoincidentSolve:
+    def test_two_bodies_coincident(self):
+        """Ground body A at origin, body B at (10,0,0).
+        Coincident constraint → B moves to origin."""
+        pt = ParamTable()
+        body_a = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        body_b = RigidBody("b", pt, (10, 0, 0), (1, 0, 0, 0))
+
+        c = CoincidentConstraint(body_a, (0, 0, 0), body_b, (0, 0, 0))
+
+        residuals = list(c.residuals())
+        residuals.append(body_b.quat_norm_residual())
+        quat_groups = [body_b.quat_param_names()]
+
+        residuals = substitution_pass(residuals, pt)
+        residuals = single_equation_pass(residuals, pt)
+
+        converged = newton_solve(residuals, pt, quat_groups=quat_groups)
+        assert converged
+
+        env = pt.get_env()
+        pos = body_b.extract_position(env)
+        assert abs(pos[0]) < 1e-8
+        assert abs(pos[1]) < 1e-8
+        assert abs(pos[2]) < 1e-8
+
+    def test_coincident_with_markers(self):
+        """Body A at origin, body B at (10,0,0).
+        Marker on A at local (5,0,0), marker on B at local (-5,0,0).
+        After solve, B should be at (10,0,0) since 5+0 == 10-5."""
+        pt = ParamTable()
+        body_a = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        body_b = RigidBody("b", pt, (20, 0, 0), (1, 0, 0, 0))
+
+        c = CoincidentConstraint(body_a, (5, 0, 0), body_b, (-5, 0, 0))
+
+        residuals = list(c.residuals())
+        residuals.append(body_b.quat_norm_residual())
+        quat_groups = [body_b.quat_param_names()]
+
+        residuals = substitution_pass(residuals, pt)
+        converged = newton_solve(residuals, pt, quat_groups=quat_groups)
+        assert converged
+
+        env = pt.get_env()
+        pos = body_b.extract_position(env)
+        assert abs(pos[0] - 10.0) < 1e-8
+
+
+class TestDistanceSolve:
+    def test_distance_from_origin(self):
+        """Ground A at origin, B starts at (1,0,0).
+        Distance constraint d=5 → B moves to (5,0,0)."""
+        pt = ParamTable()
+        body_a = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        body_b = RigidBody("b", pt, (1, 0, 0), (1, 0, 0, 0))
+
+        c = DistancePointPointConstraint(
+            body_a,
+            (0, 0, 0),
+            body_b,
+            (0, 0, 0),
+            5.0,
+        )
+
+        residuals = list(c.residuals())
+        residuals.append(body_b.quat_norm_residual())
+        quat_groups = [body_b.quat_param_names()]
+
+        residuals = substitution_pass(residuals, pt)
+        converged = newton_solve(residuals, pt, quat_groups=quat_groups)
+        assert converged
+
+        env = pt.get_env()
+        pos = body_b.extract_position(env)
+        dist = math.sqrt(pos[0] ** 2 + pos[1] ** 2 + pos[2] ** 2)
+        assert abs(dist - 5.0) < 1e-8
+
+
+class TestFixedSolve:
+    def test_fixed_weld(self):
+        """Ground A at origin, B at (5,0,0) with identity rotation.
+        Fixed constraint with identity markers → B stays at same pose as A."""
+        pt = ParamTable()
+        body_a = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        body_b = RigidBody("b", pt, (5, 0, 0), (1, 0, 0, 0))
+
+        c = FixedConstraint(
+            body_a,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+            body_b,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+        )
+
+        residuals = list(c.residuals())
+        residuals.append(body_b.quat_norm_residual())
+        quat_groups = [body_b.quat_param_names()]
+
+        residuals = substitution_pass(residuals, pt)
+        converged = newton_solve(residuals, pt, quat_groups=quat_groups)
+        assert converged
+
+        env = pt.get_env()
+        pos = body_b.extract_position(env)
+        assert abs(pos[0]) < 1e-8
+        assert abs(pos[1]) < 1e-8
+        assert abs(pos[2]) < 1e-8
+
+        quat = body_b.extract_quaternion(env)
+        assert abs(quat[0] - 1.0) < 1e-8  # w
+        assert abs(quat[1]) < 1e-8  # x
+        assert abs(quat[2]) < 1e-8  # y
+        assert abs(quat[3]) < 1e-8  # z
+
+
+class TestDOFCounting:
+    def test_single_body_unconstrained(self):
+        """One non-grounded body: 7 params - 1 quat norm = 6 DOF."""
+        pt = ParamTable()
+        body = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0))
+        residuals = [body.quat_norm_residual()]
+        dof = count_dof(residuals, pt)
+        assert dof == 6
+
+    def test_two_bodies_coincident(self):
+        """Grounded A + free B with coincident: 7 - (3 coincident + 1 quat) = 3 DOF."""
+        pt = ParamTable()
+        body_a = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        body_b = RigidBody("b", pt, (0, 0, 0), (1, 0, 0, 0))
+        c = CoincidentConstraint(body_a, (0, 0, 0), body_b, (0, 0, 0))
+        residuals = list(c.residuals()) + [body_b.quat_norm_residual()]
+        residuals = substitution_pass(residuals, pt)
+        dof = count_dof(residuals, pt)
+        assert dof == 3  # 3 rotation DOF remain
+
+    def test_two_bodies_fixed(self):
+        """Grounded A + free B with fixed: 7 - (6 fixed + 1 quat) = 0 DOF."""
+        pt = ParamTable()
+        body_a = RigidBody("a", pt, (0, 0, 0), (1, 0, 0, 0), grounded=True)
+        body_b = RigidBody("b", pt, (0, 0, 0), (1, 0, 0, 0))
+        c = FixedConstraint(
+            body_a,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+            body_b,
+            (0, 0, 0),
+            (1, 0, 0, 0),
+        )
+        residuals = list(c.residuals()) + [body_b.quat_norm_residual()]
+        residuals = substitution_pass(residuals, pt)
+        dof = count_dof(residuals, pt)
+        assert dof == 0