98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
298 lines
13 KiB
Plaintext
298 lines
13 KiB
Plaintext
#-----------------------------------------------------------------------------
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# [Data Block]
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begin: data;
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problem: initial value;
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end: data;
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#-----------------------------------------------------------------------------
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# [Problem Block]
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begin: initial value;
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initial time: 0.0;
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final time: 3.0;
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time step: 0.01;
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max iterations: 100;
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tolerance: 1e-06;
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derivatives tolerance: 0.0001;
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derivatives max iterations: 100;
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derivatives coefficient: auto;
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end: initial value;
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#-----------------------------------------------------------------------------
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# [Control Data Block]
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begin: control data;
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max iterations: 1000;
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default orientation: euler321;
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omega rotates: no;
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print: none;
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initial stiffness: 1.0, 1.0;
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structural nodes: 4;
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rigid bodies: 3;
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joints: 6;
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end: control data;
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#-----------------------------------------------------------------------------
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# [Design Variables]
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#Generic bodies
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#body: 2
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set: integer body_2 = 2; #body label
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set: real mass_2 = 1.448636188351172; #mass [kg]
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set: real volume_2 = 0.00018337166941154076; #volume [m^3]
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#body: 3
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set: integer body_3 = 3; #body label
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set: real mass_3 = 2.8529486557067685; #mass [kg]
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set: real volume_3 = 0.0003611327412287049; #volume [m^3]
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#body: 4
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set: integer body_4 = 4; #body label
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set: real mass_4 = 10.859427202622141; #mass [kg]
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set: real volume_4 = 0.0013746110383066003; #volume [m^3]
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#Nodes
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#node: 1
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set: integer structural_node_1 = 1; #node label
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#node: 2
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set: integer structural_node_2 = 2; #node label
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#node: 3
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set: integer structural_node_3 = 3; #node label
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#node: 4
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set: integer structural_node_4 = 4; #node label
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#Joints
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#joint: 1
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set: integer joint_1 = 1; #joint label
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#joint: 2
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set: integer joint_2 = 2; #joint label
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#joint: 3
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set: integer joint_3 = 3; #joint label
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#joint: 4
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set: integer joint_4 = 4; #joint label
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#joint: 5
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set: integer joint_5 = 5; #joint label
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#joint: 6
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set: integer joint_6 = 6; #joint label
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#Nodes: initial conditions
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#node: 1
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set: real Px_1 = -0.121; #X component of the absolute position [m]
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set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
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set: real Pz_1 = -0.08; #Z component of the absolute position [m]
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set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 2
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set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
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set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
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set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
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set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 3
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set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
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set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
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set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
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set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 4
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set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
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set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
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set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
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set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#-----------------------------------------------------------------------------
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# [Intermediate Variables]
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#Moments of inertia and relative center of mass
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#body 2:
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set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
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set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
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set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
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set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
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set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
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set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
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#body 3:
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set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
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set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
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set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
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set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
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set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
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set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
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#body 4:
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set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
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set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
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set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
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set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
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set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
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set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
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#-----------------------------------------------------------------------------
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# [Nodes Block]
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begin: nodes;
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structural: structural_node_1,
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static,
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Px_1, Py_1, Pz_1, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
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Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_2,
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dynamic,
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Px_2, Py_2, Pz_2, #<absolute_position> [m]
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3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
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Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
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Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_3,
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dynamic,
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Px_3, Py_3, Pz_3, #<absolute_position> [m]
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3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
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Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
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Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_4,
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dynamic,
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Px_4, Py_4, Pz_4, #<absolute_position> [m]
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3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
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Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
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end: nodes;
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#-----------------------------------------------------------------------------
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# [Elements Block]
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begin: elements;
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#-----------------------------------------------------------------------------
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# [Bodies]
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body: body_2,
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structural_node_2, #<node_label>
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mass_2, #<mass> [kg]
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Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
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diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
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orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005;
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body: body_3,
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structural_node_3, #<node_label>
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mass_3, #<mass> [kg]
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Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
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diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
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orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283;
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body: body_4,
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structural_node_4, #<node_label>
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mass_4, #<mass> [kg]
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Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
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diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
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orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0;
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#-----------------------------------------------------------------------------
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# [Joints]
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joint: joint_1,
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clamp,
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structural_node_1, #<node_label>
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-0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
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joint: joint_2,
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axial rotation,
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structural_node_1, #<node_1_label>
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0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
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structural_node_2, #<node_2_label>
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-0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
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orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
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string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
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joint: joint_3,
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revolute hinge,
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structural_node_2, #<node_1_label>
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0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
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orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
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structural_node_3, #<node_2_label>
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-0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
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orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
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joint: joint_4,
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in line,
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structural_node_3, #<node_1_label>
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0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
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3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
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structural_node_4, #<node_2_label>
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offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
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joint: joint_5,
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in line,
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structural_node_1, #<node_1_label>
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0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
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3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
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structural_node_4, #<node_2_label>
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offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
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joint: joint_6,
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prismatic,
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structural_node_1, #<node_1_label>
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orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
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structural_node_4, #<node_2_label>
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orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
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#-----------------------------------------------------------------------------
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# [Drive callers]
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drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
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end: elements;
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