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solver/GNN/testapp/fourbot.asmt
forbes-0023 98051ba0c9 feat: add Phase 1 constraint solver addon, move prior content to GNN/ 
- 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.
2026-02-20 20:35:47 -06:00

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1.3010426069826e-17 1.0 9.5409791178724e-18
5.5511151231258e-17 -9.5409791178724e-18 1.0
1.0 -1.3010426069826e-17 -5.5511151231258e-17
Mass
3.7502976371779
MomentOfInertias
0.008955091776772 0.024010346082021 0.024010346082021
Density
1000.0
RefPoints
RefPoint
Position3D
0.0 0.0 0.0
RotationMatrix
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Markers
Marker
Name
Marker1
Position3D
1.3873212687117e-16 -1.3877787807814e-17 0.1
RotationMatrix
1.0 -7.1343322287725e-17 -1.2449024060204e-16
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RefPoint
Position3D
0.0 0.0 0.0
RotationMatrix
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Markers
Marker
Name
Marker2
Position3D
-4.7289706322601e-17 -1.2490009027033e-16 0.23
RotationMatrix
1.0 3.2089564967392e-17 2.7102671192067e-16
-3.2962565381739e-17 1.0 -1.1102230246252e-16
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RefCurves
RefSurfaces
Part
Name
wrist_twist2
Position3D
-0.875 1.4300326300749 0.68360221273321
RotationMatrix
1.0 -9.5409791178725e-18 -3.0791341698588e-16
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Velocity3D
-4.4820676912489e-18 0.081881478726679 -0.0065541369925133
Omega3D
0.1 3.1983964088322e-17 1.7347234759768e-17
FeatureOrder
Extrusion
zStart
0.0
zEnd
0.25
Sketch
Name
Sketch1
Position3D
0.0 0.0 0.0
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
Graphics
Circle
Position2D
0.0 0.0
Angle
0.0
Radius
0.07
PrincipalMassMarker
Name
MassMarker
Position3D
4.336808689942e-18 9.0205620750794e-17 0.125
RotationMatrix
1.3010426069826e-17 1.0 9.5409791178724e-18
5.5511151231258e-17 -9.5409791178724e-18 1.0
1.0 -1.3010426069826e-17 -5.5511151231258e-17
Mass
3.7502976371779
MomentOfInertias
0.008955091776772 0.024010346082021 0.024010346082021
Density
1000.0
RefPoints
RefPoint
Position3D
0.0 0.0 0.0
RotationMatrix
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-1.7347234759768e-18 1.0 0.0
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Markers
Marker
Name
Marker1
Position3D
1.3903659948562e-16 -1.1102230246252e-16 0.1
RotationMatrix
1.0 -7.5603110298931e-17 -1.1797606750565e-16
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RefPoint
Position3D
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RotationMatrix
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Markers
Marker
Name
Marker2
Position3D
-4.658941930938e-17 -5.5511151231258e-17 0.23
RotationMatrix
1.0 2.7829776956186e-17 2.7754088501706e-16
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RefCurves
RefSurfaces
Part
Name
wrist_twist3
Position3D
-1.125 1.4300326300749 0.68360221273321
RotationMatrix
1.0 -9.5409791178725e-18 -3.1138286393784e-16
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Velocity3D
-5.5502944986557e-18 0.081881478726679 -0.0065541369925133
Omega3D
0.1 2.1141942363467e-17 1.0842021724855e-17
FeatureOrder
Extrusion
zStart
0.0
zEnd
0.25
Sketch
Name
Sketch1
Position3D
0.0 0.0 0.0
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
Graphics
Circle
Position2D
0.0 0.0
Angle
0.0
Radius
0.07
PrincipalMassMarker
Name
MassMarker
Position3D
4.336808689942e-18 9.0205620750794e-17 0.125
RotationMatrix
1.3010426069826e-17 1.0 9.5409791178724e-18
5.5511151231258e-17 -9.5409791178724e-18 1.0
1.0 -1.3010426069826e-17 -5.5511151231258e-17
Mass
3.7502976371779
MomentOfInertias
0.008955091776772 0.024010346082021 0.024010346082021
Density
1000.0
RefPoints
RefPoint
Position3D
0.0 0.0 0.0
RotationMatrix
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-1.7347234759768e-18 1.0 0.0
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Markers
Marker
Name
Marker1
Position3D
2.9040497587538e-17 -1.1102230246252e-16 0.1
RotationMatrix
1.0 -4.9581959669827e-17 -1.1118350881325e-16
9.2231684491277e-17 1.0 5.5511151231258e-17
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RefPoint
Position3D
0.0 0.0 0.0
RotationMatrix
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Markers
Marker
Name
Marker2
Position3D
6.6793144451337e-17 -4.1633363423443e-17 0.23
RotationMatrix
1.0 5.385092758529e-17 2.8433344370946e-16
-1.120120276384e-17 1.0 -5.5511151231258e-17
-3.2628921983438e-16 5.5511151231258e-17 1.0
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
fix3
MarkerI
/UP165/Marker3
MarkerJ
/UP165/fixture/Marker1
FixedJoint
Name
Joint26
MarkerI
/UP165/toolbase/Marker5
MarkerJ
/UP165/deburrer/Marker2
FixedJoint
Name
Joint27
MarkerI
/UP165/wrist_twist/Marker2
MarkerJ
/UP165/toolbase/Marker1
FixedJoint
Name
Joint28
MarkerI
/UP165/toolbase/Marker3
MarkerJ
/UP165/wrist_twist3/Marker2
FixedJoint
Name
Joint29
MarkerI
/UP165/wrist_twist2/Marker2
MarkerJ
/UP165/toolbase/Marker4
FixedJoint
Name
Joint30
MarkerI
/UP165/wrist_twist1/Marker2
MarkerJ
/UP165/toolbase/Marker2
RevoluteJoint
Name
rev1
MarkerI
/UP165/Marker1
MarkerJ
/UP165/base/Marker1
RevoluteJoint
Name
rev11
MarkerI
/UP165/Marker11
MarkerJ
/UP165/base1/Marker1
RevoluteJoint
Name
rev12
MarkerI
/UP165/Marker12
MarkerJ
/UP165/base2/Marker1
RevoluteJoint
Name
rev13
MarkerI
/UP165/Marker13
MarkerJ
/UP165/base3/Marker1
RevoluteJoint
Name
rev2
MarkerI
/UP165/base/Marker2
MarkerJ
/UP165/lowerarm/Marker1
RevoluteJoint
Name
rev21
MarkerI
/UP165/base1/Marker2
MarkerJ
/UP165/lowerarm1/Marker1
RevoluteJoint
Name
rev22
MarkerI
/UP165/base2/Marker2
MarkerJ
/UP165/lowerarm2/Marker1
RevoluteJoint
Name
rev23
MarkerI
/UP165/base3/Marker2
MarkerJ
/UP165/lowerarm3/Marker1
RevoluteJoint
Name
rev3
MarkerI
/UP165/lowerarm/Marker2
MarkerJ
/UP165/upperarm/Marker1
RevoluteJoint
Name
rev31
MarkerI
/UP165/lowerarm1/Marker2
MarkerJ
/UP165/upperarm1/Marker1
RevoluteJoint
Name
rev32
MarkerI
/UP165/lowerarm2/Marker2
MarkerJ
/UP165/upperarm2/Marker1
RevoluteJoint
Name
rev33
MarkerI
/UP165/lowerarm3/Marker2
MarkerJ
/UP165/upperarm3/Marker1
RevoluteJoint
Name
rev4
MarkerI
/UP165/upperarm/Marker2
MarkerJ
/UP165/wrist_roll/Marker1
RevoluteJoint
Name
rev41
MarkerI
/UP165/upperarm1/Marker2
MarkerJ
/UP165/wrist_roll1/Marker1
RevoluteJoint
Name
rev42
MarkerI
/UP165/upperarm2/Marker2
MarkerJ
/UP165/wrist_roll2/Marker1
RevoluteJoint
Name
rev43
MarkerI
/UP165/upperarm3/Marker2
MarkerJ
/UP165/wrist_roll3/Marker1
RevoluteJoint
Name
rev5
MarkerI
/UP165/wrist_roll/Marker2
MarkerJ
/UP165/wrist_pitch/Marker1
RevoluteJoint
Name
rev51
MarkerI
/UP165/wrist_roll1/Marker2
MarkerJ
/UP165/wrist_pitch1/Marker1
RevoluteJoint
Name
rev52
MarkerI
/UP165/wrist_roll2/Marker2
MarkerJ
/UP165/wrist_pitch2/Marker1
RevoluteJoint
Name
rev53
MarkerI
/UP165/wrist_roll3/Marker2
MarkerJ
/UP165/wrist_pitch3/Marker1
RevoluteJoint
Name
rev6
MarkerI
/UP165/wrist_pitch/Marker2
MarkerJ
/UP165/wrist_twist/Marker1
RevoluteJoint
Name
rev61
MarkerI
/UP165/wrist_pitch1/Marker2
MarkerJ
/UP165/wrist_twist1/Marker1
RevoluteJoint
Name
rev62
MarkerI
/UP165/wrist_pitch2/Marker2
MarkerJ
/UP165/wrist_twist2/Marker1
RevoluteJoint
Name
rev63
MarkerI
/UP165/wrist_pitch3/Marker2
MarkerJ
/UP165/wrist_twist3/Marker1
Motions
GeneralMotion
Name
Motion1
MarkerI
/UP165/Marker2
MarkerJ
/UP165/deburrer/Marker1
rIJI1
spline(time, 1, <n>0, -1.0,<n>10, -1.0,<n>12, 0,<n>22, 0,<n>24, 1.0,<n>34, 1.0,<n>36, -1.0<n>)
rIJI2
spline(time, 1, <n>0, -4.79426E-01,<n>0.1, -4.70626E-01,<n>0.2, -4.61779E-01,<n>0.3, -4.52886E-01,<n>0.4, -4.43948E-01,<n>0.5, -4.34966E-01,<n>0.6, -4.25939E-01,<n>0.7, -4.16871E-01,<n>0.8, -4.07760E-01,<n>0.9, -3.98609E-01,<n>1, -3.89418E-01,<n>1.1, -3.80188E-01,<n>1.2, -3.70920E-01,<n>1.3, -3.61615E-01,<n>1.4, -3.52274E-01,<n>1.5, -3.42898E-01,<n>1.6, -3.33487E-01,<n>1.7, -3.24043E-01,<n>1.8, -3.14567E-01,<n>1.9, -3.05059E-01,<n>2, -2.95520E-01,<n>2.1, -2.85952E-01,<n>2.2, -2.76356E-01,<n>2.3, -2.66731E-01,<n>2.4, -2.57081E-01,<n>2.5, -2.47404E-01,<n>2.6, -2.37703E-01,<n>2.7, -2.27978E-01,<n>2.8, -2.18230E-01,<n>2.9, -2.08460E-01,<n>3, -1.98669E-01,<n>3.1, -1.88859E-01,<n>3.2, -1.79030E-01,<n>3.3, -1.69182E-01,<n>3.4, -1.59318E-01,<n>3.5, -1.49438E-01,<n>3.6, -1.39543E-01,<n>3.7, -1.29634E-01,<n>3.8, -1.19712E-01,<n>3.9, -1.09778E-01,<n>4, -9.98334E-02,<n>4.1, -8.98785E-02,<n>4.2, -7.99147E-02,<n>4.3, -6.99428E-02,<n>4.4, -5.99640E-02,<n>4.5, -4.99792E-02,<n>4.6, -3.99893E-02,<n>4.7, -2.99955E-02,<n>4.8, -1.99987E-02,<n>4.9, -9.99983E-03,<n>5, 3.08781E-16,<n>5.1, 9.99983E-03,<n>5.2, 1.99987E-02,<n>5.3, 2.99955E-02,<n>5.4, 3.99893E-02,<n>5.5, 4.99792E-02,<n>5.6, 5.99640E-02,<n>5.7, 6.99428E-02,<n>5.8, 7.99147E-02,<n>5.9, 8.98785E-02,<n>6, 9.98334E-02,<n>6.1, 1.09778E-01,<n>6.2, 1.19712E-01,<n>6.3, 1.29634E-01,<n>6.4, 1.39543E-01,<n>6.5, 1.49438E-01,<n>6.6, 1.59318E-01,<n>6.7, 1.69182E-01,<n>6.8, 1.79030E-01,<n>6.9, 1.88859E-01,<n>7, 1.98669E-01,<n>7.1, 2.08460E-01,<n>7.2, 2.18230E-01,<n>7.3, 2.27978E-01,<n>7.4, 2.37703E-01,<n>7.5, 2.47404E-01,<n>7.6, 2.57081E-01,<n>7.7, 2.66731E-01,<n>7.8, 2.76356E-01,<n>7.9, 2.85952E-01,<n>8, 2.95520E-01,<n>8.1, 3.05059E-01,<n>8.2, 3.14567E-01,<n>8.3, 3.24043E-01,<n>8.4, 3.33487E-01,<n>8.5, 3.42898E-01,<n>8.6, 3.52274E-01,<n>8.7, 3.61615E-01,<n>8.8, 3.70920E-01,<n>8.9, 3.80188E-01,<n>9, 3.89418E-01,<n>9.1, 3.98609E-01,<n>9.2, 4.07760E-01,<n>9.3, 4.16871E-01,<n>9.4, 4.25939E-01,<n>9.5, 4.34966E-01,<n>9.6, 4.43948E-01,<n>9.7, 4.52886E-01,<n>9.8, 4.61779E-01,<n>9.9, 4.70626E-01,<n>10, 4.79426E-01,<n>12, -4.79426E-01)
rIJI3
spline(time, 1, <n>0, 6.22417E-01,<n>0.1, 6.17667E-01,<n>0.2, 6.13005E-01,<n>0.3, 6.08432E-01,<n>0.4, 6.03948E-01,<n>0.5, 5.99553E-01,<n>0.6, 5.95248E-01,<n>0.7, 5.91034E-01,<n>0.8, 5.86911E-01,<n>0.9, 5.82879E-01,<n>1, 5.78939E-01,<n>1.1, 5.75091E-01,<n>1.2, 5.71335E-01,<n>1.3, 5.67673E-01,<n>1.4, 5.64103E-01,<n>1.5, 5.60627E-01,<n>1.6, 5.57245E-01,<n>1.7, 5.53958E-01,<n>1.8, 5.50765E-01,<n>1.9, 5.47666E-01,<n>2, 5.44664E-01,<n>2.1, 5.41756E-01,<n>2.2, 5.38945E-01,<n>2.3, 5.36229E-01,<n>2.4, 5.33610E-01,<n>2.5, 5.31088E-01,<n>2.6, 5.28662E-01,<n>2.7, 5.26334E-01,<n>2.8, 5.24103E-01,<n>2.9, 5.21969E-01,<n>3, 5.19933E-01,<n>3.1, 5.17996E-01,<n>3.2, 5.16156E-01,<n>3.3, 5.14415E-01,<n>3.4, 5.12773E-01,<n>3.5, 5.11229E-01,<n>3.6, 5.09784E-01,<n>3.7, 5.08438E-01,<n>3.8, 5.07191E-01,<n>3.9, 5.06044E-01,<n>4, 5.04996E-01,<n>4.1, 5.04047E-01,<n>4.2, 5.03198E-01,<n>4.3, 5.02449E-01,<n>4.4, 5.01799E-01,<n>4.5, 5.01250E-01,<n>4.6, 5.00800E-01,<n>4.7, 5.00450E-01,<n>4.8, 5.00200E-01,<n>4.9, 5.00050E-01,<n>5, 5.00000E-01,<n>5.1, 5.00050E-01,<n>5.2, 5.00200E-01,<n>5.3, 5.00450E-01,<n>5.4, 5.00800E-01,<n>5.5, 5.01250E-01,<n>5.6, 5.01799E-01,<n>5.7, 5.02449E-01,<n>5.8, 5.03198E-01,<n>5.9, 5.04047E-01,<n>6, 5.04996E-01,<n>6.1, 5.06044E-01,<n>6.2, 5.07191E-01,<n>6.3, 5.08438E-01,<n>6.4, 5.09784E-01,<n>6.5, 5.11229E-01,<n>6.6, 5.12773E-01,<n>6.7, 5.14415E-01,<n>6.8, 5.16156E-01,<n>6.9, 5.17996E-01,<n>7, 5.19933E-01,<n>7.1, 5.21969E-01,<n>7.2, 5.24103E-01,<n>7.3, 5.26334E-01,<n>7.4, 5.28662E-01,<n>7.5, 5.31088E-01,<n>7.6, 5.33610E-01,<n>7.7, 5.36229E-01,<n>7.8, 5.38945E-01,<n>7.9, 5.41756E-01,<n>8, 5.44664E-01,<n>8.1, 5.47666E-01,<n>8.2, 5.50765E-01,<n>8.3, 5.53958E-01,<n>8.4, 5.57245E-01,<n>8.5, 5.60627E-01,<n>8.6, 5.64103E-01,<n>8.7, 5.67673E-01,<n>8.8, 5.71335E-01,<n>8.9, 5.75091E-01,<n>9, 5.78939E-01,<n>9.1, 5.82879E-01,<n>9.2, 5.86911E-01,<n>9.3, 5.91034E-01,<n>9.4, 5.95248E-01,<n>9.5, 5.99553E-01,<n>9.6, 6.03948E-01,<n>9.7, 6.08432E-01,<n>9.8, 6.13005E-01,<n>9.9, 6.17667E-01,<n>10, 6.22417E-01,<n>12, 6.22417E-01)
angIJJ1
spline(time, 1, <n>0, -5.00000E-01,<n>0.1, -4.90000E-01,<n>0.2, -4.80000E-01,<n>0.3, -4.70000E-01,<n>0.4, -4.60000E-01,<n>0.5, -4.50000E-01,<n>0.6, -4.40000E-01,<n>0.7, -4.30000E-01,<n>0.8, -4.20000E-01,<n>0.9, -4.10000E-01,<n>1, -4.00000E-01,<n>1.1, -3.90000E-01,<n>1.2, -3.80000E-01,<n>1.3, -3.70000E-01,<n>1.4, -3.60000E-01,<n>1.5, -3.50000E-01,<n>1.6, -3.40000E-01,<n>1.7, -3.30000E-01,<n>1.8, -3.20000E-01,<n>1.9, -3.10000E-01,<n>2, -3.00000E-01,<n>2.1, -2.90000E-01,<n>2.2, -2.80000E-01,<n>2.3, -2.70000E-01,<n>2.4, -2.60000E-01,<n>2.5, -2.50000E-01,<n>2.6, -2.40000E-01,<n>2.7, -2.30000E-01,<n>2.8, -2.20000E-01,<n>2.9, -2.10000E-01,<n>3, -2.00000E-01,<n>3.1, -1.90000E-01,<n>3.2, -1.80000E-01,<n>3.3, -1.70000E-01,<n>3.4, -1.60000E-01,<n>3.5, -1.50000E-01,<n>3.6, -1.40000E-01,<n>3.7, -1.30000E-01,<n>3.8, -1.20000E-01,<n>3.9, -1.10000E-01,<n>4, -1.00000E-01,<n>4.1, -9.00000E-02,<n>4.2, -8.00000E-02,<n>4.3, -7.00000E-02,<n>4.4, -6.00000E-02,<n>4.5, -5.00000E-02,<n>4.6, -4.00000E-02,<n>4.7, -3.00000E-02,<n>4.8, -2.00000E-02,<n>4.9, -1.00000E-02,<n>5, 3.08781E-16,<n>5.1, 1.00000E-02,<n>5.2, 2.00000E-02,<n>5.3, 3.00000E-02,<n>5.4, 4.00000E-02,<n>5.5, 5.00000E-02,<n>5.6, 6.00000E-02,<n>5.7, 7.00000E-02,<n>5.8, 8.00000E-02,<n>5.9, 9.00000E-02,<n>6, 1.00000E-01,<n>6.1, 1.10000E-01,<n>6.2, 1.20000E-01,<n>6.3, 1.30000E-01,<n>6.4, 1.40000E-01,<n>6.5, 1.50000E-01,<n>6.6, 1.60000E-01,<n>6.7, 1.70000E-01,<n>6.8, 1.80000E-01,<n>6.9, 1.90000E-01,<n>7, 2.00000E-01,<n>7.1, 2.10000E-01,<n>7.2, 2.20000E-01,<n>7.3, 2.30000E-01,<n>7.4, 2.40000E-01,<n>7.5, 2.50000E-01,<n>7.6, 2.60000E-01,<n>7.7, 2.70000E-01,<n>7.8, 2.80000E-01,<n>7.9, 2.90000E-01,<n>8, 3.00000E-01,<n>8.1, 3.10000E-01,<n>8.2, 3.20000E-01,<n>8.3, 3.30000E-01,<n>8.4, 3.40000E-01,<n>8.5, 3.50000E-01,<n>8.6, 3.60000E-01,<n>8.7, 3.70000E-01,<n>8.8, 3.80000E-01,<n>8.9, 3.90000E-01,<n>9, 4.00000E-01,<n>9.1, 4.10000E-01,<n>9.2, 4.20000E-01,<n>9.3, 4.30000E-01,<n>9.4, 4.40000E-01,<n>9.5, 4.50000E-01,<n>9.6, 4.60000E-01,<n>9.7, 4.70000E-01,<n>9.8, 4.80000E-01,<n>9.9, 4.90000E-01,<n>10, 5.00000E-01,<n>12, -5.00000E-01)
angIJJ2
0
angIJJ3
0
RotationOrder
1 2 3
GeneralConstraintSets
ForceTorques
ConstantGravity
0.0 0.0 -9.81
SimulationParameters
tstart
0.0
tend
36.0
hmin
1.0e-9
hmax
1.0
hout
0.1
errorTol
1.0e-6
AnimationParameters
nframe
361
icurrent
1
istart
1
iend
361
isForward
true
framesPerSecond
30
TimeSeries
Number Input 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361
Time Input 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2.0 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 3.0 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 4.0 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 5.0 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 6.0 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 7.0 7.1 7.2 7.3 7.4 7.5 7.6 7.7 7.8 7.9 8.0 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 9.0 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 9.9 10.0 10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8 10.9 11.0 11.1 11.2 11.3 11.4 11.5 11.6 11.7 11.8 11.9 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 12.8 12.9 13.0 13.1 13.2 13.3 13.4 13.5 13.6 13.7 13.8 13.9 14.0 14.1 14.2 14.3 14.4 14.5 14.6 14.7 14.8 14.9 15.0 15.1 15.2 15.3 15.4 15.5 15.6 15.7 15.8 15.9 16.0 16.1 16.2 16.3 16.4 16.5 16.6 16.7 16.8 16.9 17.0 17.1 17.2 17.3 17.4 17.5 17.6 17.7 17.8 17.9 18.0 18.1 18.2 18.3 18.4 18.5 18.6 18.7 18.8 18.9 19.0 19.1 19.2 19.3 19.4 19.5 19.6 19.7 19.8 19.9 20.0 20.1 20.2 20.3 20.4 20.5 20.6 20.7 20.8 20.9 21.0 21.1 21.2 21.3 21.4 21.5 21.6 21.7 21.8 21.9 22.0 22.1 22.2 22.3 22.4 22.5 22.6 22.7 22.8 22.9 23.0 23.1 23.2 23.3 23.4 23.5 23.6 23.7 23.8 23.9 24.0 24.1 24.2 24.3 24.4 24.5 24.6 24.7 24.8 24.9 25.0 25.1 25.2 25.3 25.4 25.5 25.6 25.7 25.8 25.9 26.0 26.1 26.2 26.3 26.4 26.5 26.6 26.7 26.8 26.9 27.0 27.1 27.2 27.3 27.4 27.5 27.6 27.7 27.8 27.9 28.0 28.1 28.2 28.3 28.4 28.5 28.6 28.7 28.8 28.9 29.0 29.1 29.2 29.3 29.4 29.5 29.6 29.7 29.8 29.9 30.0 30.1 30.2 30.3 30.4 30.5 30.6 30.7 30.8 30.9 31.0 31.1 31.2 31.3 31.4 31.5 31.6 31.7 31.8 31.9 32.0 32.1 32.2 32.3 32.4 32.5 32.6 32.7 32.8 32.9 33.0 33.1 33.2 33.3 33.4 33.5 33.6 33.7 33.8 33.9 34.0 34.1 34.2 34.3 34.4 34.5 34.6 34.7 34.8 34.9 35.0 35.1 35.2 35.3 35.4 35.5 35.6 35.7 35.8 35.9 36.0
AssemblySeries /UP165
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Bryantx -0.5 -0.5 -0.49 -0.48 -0.47 -0.46 -0.45 -0.44 -0.43 -0.42 -0.41 -0.4 -0.39 -0.38 -0.37 -0.36 -0.35 -0.34 -0.33 -0.32 -0.31 -0.3 -0.29 -0.28 -0.27 -0.26 -0.25 -0.24 -0.23 -0.22 -0.21 -0.2 -0.19 -0.18 -0.17 -0.16 -0.15 -0.14 -0.13 -0.12 -0.11 -0.1 -0.09 -0.08 -0.07 -0.06 -0.05 -0.04 -0.03 -0.02 -0.01 3.3306690738755e-16 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.4 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.5 0.45 0.4 0.35 0.3 0.25 0.2 0.15 0.099999999999999 0.049999999999999 -4.4408920985006e-16 -0.050000000000001 -0.1 -0.15 -0.2 -0.25 -0.3 -0.35 -0.4 -0.45 -0.5 -0.49 -0.48 -0.47 -0.46 -0.45 -0.44 -0.43 -0.42 -0.41 -0.4 -0.39 -0.38 -0.37 -0.36 -0.35 -0.34 -0.33 -0.32 -0.31 -0.3 -0.29 -0.28 -0.27 -0.26 -0.25 -0.24 -0.23 -0.22 -0.21 -0.2 -0.19 -0.18 -0.17 -0.16 -0.15 -0.14 -0.13 -0.12 -0.11 -0.1 -0.09 -0.08 -0.07 -0.06 -0.05 -0.04 -0.03 -0.02 -0.0099999999999999 3.3306690738755e-16 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.4 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.5 0.45 0.4 0.35 0.3 0.25 0.2 0.15 0.099999999999999 0.049999999999999 -4.4408920985006e-16 -0.050000000000001 -0.1 -0.15 -0.2 -0.25 -0.3 -0.35 -0.4 -0.45 -0.5 -0.49 -0.48 -0.47 -0.46 -0.45 -0.44 -0.43 -0.42 -0.41 -0.4 -0.39 -0.38 -0.37 -0.36 -0.35 -0.34 -0.33 -0.32 -0.31 -0.3 -0.29 -0.28 -0.27 -0.26 -0.25 -0.24 -0.23 -0.22 -0.21 -0.2 -0.19 -0.18 -0.17 -0.16 -0.15 -0.14 -0.13 -0.12 -0.11 -0.1 -0.09 -0.08 -0.07 -0.06 -0.05 -0.04 -0.03 -0.02 -0.0099999999999999 3.3306690738755e-16 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.4 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.5 0.45 0.4 0.35 0.3 0.25 0.2 0.15 0.099999999999998 0.050000000000001 9.8607613152626e-32 -0.050000000000001 -0.1 -0.15 -0.2 -0.25 -0.3 -0.35 -0.4 -0.45 -0.5
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VX 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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PartSeries /UP165/lowerarm
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PartSeries /UP165/lowerarm3
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PartSeries /UP165/wrist_pitch
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RevoluteJointSeries /UP165/rev11
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RevoluteJointSeries /UP165/rev12
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RevoluteJointSeries /UP165/rev13
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RevoluteJointSeries /UP165/rev2
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TZonI 0 -6.7197508741042 -6.7484666025024 -6.7773504901181 -6.8064123721269 -6.835658935034 -6.865064932662 -6.8947142589465 -6.9245219238846 -6.9545804342025 -6.9848421944521 -7.0153389949587 -7.0460807344479 -7.0770688574638 -7.1083299967327 -7.1398595181767 -7.1716587210299 -7.203774015955 -7.2362041551641 -7.2689401561115 -7.3020048351721 -7.3354535336431 -7.3692547415113 -7.4034019301475 -7.4380021079453 -7.4729443583011 -7.5083623877504 -7.5441906261769 -7.5804808792428 -7.6172465723907 -7.6545009698683 -7.6922829857298 -7.7305720007655 -7.7693769083358 -7.8087956505697 -7.8487722820845 -7.8893475068876 -7.9305441105252 -7.9723822684133 -8.0148792180639 -8.0580720160431 -8.1019500158736 -8.1465629217836 -8.1919187991378 -8.2380548879358 -8.284976909414 -8.332720809831 -8.3813111199477 -8.4307664779075 -8.4811138817208 -8.5323848121145 -8.5846014760351 -8.6377916983201 -8.6919881190781 -8.7472141370315 -8.8034992118515 -8.8608855458709 -8.919387726226 -8.979048174277 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RevoluteJointSeries /UP165/rev22
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RevoluteJointSeries /UP165/rev3
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RevoluteJointSeries /UP165/rev33
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RevoluteJointSeries /UP165/rev42
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RevoluteJointSeries /UP165/rev53
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RevoluteJointSeries /UP165/rev62
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