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.
161 lines
6.1 KiB
Plaintext
161 lines
6.1 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: orientation matrix;
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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: 2;
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rigid bodies: 1;
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joints: 2;
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gravity;
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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 = 0.0064701741006665; #mass [kg]
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set: real volume_2 = 8.190093798311967e-07; #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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#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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#Nodes: initial conditions
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#node: 1
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set: real Px_1 = 1.7274205242444082e-18; #X component of the absolute position [m]
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set: real Py_1 = 0.0030550458715596384; #Y component of the absolute position [m]
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set: real Pz_1 = 0.025; #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 = 0.008191520442889925; #X component of the absolute position [m]
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set: real Py_2 = -0.012625912750389287; #Y component of the absolute position [m]
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set: real Pz_2 = 0.04303463608057351; #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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#-----------------------------------------------------------------------------
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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 = 4.27187049e-07; #moment of inertia [kg*m^2]
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set: real Iyy_2 = 4.10064115e-07; #moment of inertia [kg*m^2]
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set: real Izz_2 = 6.3235945e-08; #moment of inertia [kg*m^2]
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set: real Rx_2 = -3.2034828123528313e-12; #X component of the relative center of mass [m]
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set: real Ry_2 = 0.012814824256866551; #Y component of the relative center of mass [m]
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set: real Rz_2 = -0.009255846159930699; #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, 0.819152044288992, 0.4698463103929543, 0.32898992833716545, 2, -5.551115123125783e-17, 0.573576436351046, -0.819152044288992, #<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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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, -0.0006449901910526301, -0.9879789679799248, 0.1835678153080647, 2, -0.0024511632742001133, 0.17949120074807742, 0.9905437398987571;
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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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1.7274205242444082e-18, 0.0030550458715596384, 0.025, #<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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spherical hinge,
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structural_node_2, #<node_1_label>
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-3.552713678800501e-18, 0.018000000000000006, -0.010000000000000007, #<relative_pin_position_1> [m]
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structural_node_1, #<node_2_label>
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-1.7274205242444082e-18, -0.0030550458715596384, 0.0; #<relative_pin_position_2> [m]
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gravity: uniform, 0.0, -1.0, 0.0, string, "9.807"; #<gravity_acceleration> [m/s^2]
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end: elements;
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