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solver/GNN/testapp/pistonWithLimits.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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freeCAD: 3D CAD with Motion Simulation by askoh.com
Assembly
Notes
(Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.<n><n>The piston crank is the most common mechanism to convert rotary motion to reciprocating motion or vice versa. A crank connects to the ground with a revolute joint. Its other end is connected to the connecting rod. And the connecting rod is connected to the piston which slides along an axis on the ground. The crank is given rotary motion causing the piston to slides back and forth is a straight line. Units are SI units. Angles are in radians.<n><n>If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.<n><n>To load the example for a quick look:<n>Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select piston.asm. <n><n>To create the assembly from scratch:<n>To create crank, connection rod and piston:<n>Create an empty assembly and populate it with two rods (Assembly1Part1, Assembly1Part2) and one cylinder (Assembly1Part3). The rods have dimensions (1.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). The cylinder has radius (0.5d) and height (1.0d). Arrange them from bottom up away from the origin. <n><n>To mark joint attachment points:<n>On the ground, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (3.0d, 0.0d, 0.0d). <n>On the first rod, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. <n>On the second rod, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.4d, 0.1d, -0.1d) relative to the z-face. <n>On the cylinder, create a marker (Assembly1Part3Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Part3Marker2) at (0.0d, 0.0d, -1.0d) relative to the z-face. Tilt the cylinder a little to get a good view of (Assembly1Part3Marker2). RightClick/Rotate/ over it to rotate the marker (90.0d) degrees about the x-axis.<n>Tilt the cylinder upright to help the solver assemble the system later.<n><n>To create the joints:<n>Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).<n>Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).<n>Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker2) with revolute joint (Assembly1Joint3).<n>Connect (Assembly1Marker2) to (Assembly1Part3Marker1) with translational joint (Assembly1Joint3).<n>The translational joint keeps the marker z-axes parallel and colinear. Only relative translation along the z-axis is permitted.<n><n>To apply motion to the crank:<n>Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.<n><n>The assembly is now ready for simulation, animation and plotting.<n>' runs: (Core.RunArray runs: #(514 63 14 5 12 1 2 37 89 10 4 36 1 43 295 32 848 21 517 29 151) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil)))
Name
Assembly1
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
Velocity3D
0.0 0.0 0.0
Omega3D
0.0 0.0 0.0
RefPoints
RefPoint
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
Markers
Marker
Name
Marker1
Position3D
0.0 3.0 0.0
RotationMatrix
1.0 0.0 0.0
0.0 0.0 1.0
0.0 -1.0 0.0
RefPoint
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
Markers
Marker
Name
Marker2
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
RefCurves
RefSurfaces
Parts
Part
Name
Part1
Position3D
-0.1 -0.1 -0.1
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
Velocity3D
0.0 0.0 0.0
Omega3D
0.0 0.0 0.0
FeatureOrder
Extrusion
zStart
0.0
zEnd
0.1
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
Rectangle
Position2D
0.0 0.0
Angle
0.0
xLength
1.0
yLength
0.2
PrincipalMassMarker
Name
MassMarker
Position3D
0.5 0.1 0.05
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
Mass
0.2
MomentOfInertias
8.3333333333333e-4 0.016833333333333 0.017333333333333
Density
10.0
RefPoints
RefPoint
Position3D
0.0 0.0 0.1
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
Markers
Marker
Name
Marker1
Position3D
0.1 0.1 0.0
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
RefPoint
Position3D
0.0 0.0 0.1
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
Markers
Marker
Name
Marker2
Position3D
0.9 0.1 0.0
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
RefCurves
RefSurfaces
Part
Name
Part2
Position3D
0.94036115973815 -0.017284236661228 6.9388939039072e-18
RotationMatrix
-0.61538461538462 -0.78822698199689 -2.4430659816416e-17
0.78822698199689 -0.61538461538462 3.1292471039841e-17
-3.9699822201676e-17 -4.8559383484174e-33 1.0
Velocity3D
0.0 0.0 0.0
Omega3D
0.0 0.0 0.0
FeatureOrder
Extrusion
zStart
0.0
zEnd
0.1
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
Rectangle
Position2D
0.0 0.0
Angle
0.0
xLength
1.5
yLength
0.2
PrincipalMassMarker
Name
MassMarker
Position3D
0.75 0.1 0.05
RotationMatrix
1.0 -2.7755575615629e-16 0.0
2.7755575615629e-16 1.0 0.0
0.0 0.0 1.0
Mass
0.3
MomentOfInertias
0.00125 0.0565 0.05725
Density
10.0
RefPoints
RefPoint
Position3D
0.0 0.0 0.1
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
Markers
Marker
Name
Marker1
Position3D
0.1 0.1 -0.1
RotationMatrix
1.0 1.6433823482157e-50 6.1629758220392e-33
1.9277988905447e-49 1.0 1.055150120668e-32
6.1629758220392e-33 8.8305116654985e-33 1.0
RefPoint
Position3D
-7.0256300777061e-17 -1.0408340855861e-17 0.1
RotationMatrix
1.0 1.7347234759768e-18 -6.9388939039072e-18
1.7347234759768e-18 1.0 0.0
-6.9388939039072e-18 0.0 1.0
Markers
Marker
Name
Marker2
Position3D
1.4 0.1 -0.1
RotationMatrix
1.0 1.9417266172265e-33 1.873501354055e-16
1.4257315131995e-48 1.0 4.1633363423443e-17
-2.5673907444456e-16 -4.1633363423443e-17 1.0
RefCurves
RefSurfaces
Part
Name
Part3
Position3D
1.8563657024101e-16 1.024695076596 -6.9385028492422e-17
RotationMatrix
1.0 1.7680967979307e-16 -2.2204460492503e-16
2.2204460492503e-16 6.3228810015037e-17 1.0
1.7680967979307e-16 -1.0 6.3228810015037e-17
Velocity3D
0.0 0.0 0.0
Omega3D
0.0 0.0 0.0
FeatureOrder
Extrusion
zStart
0.0
zEnd
1.0
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
0.5
PrincipalMassMarker
Name
MassMarker
Position3D
-7.9328390680452e-18 2.9323172983667e-17 0.5
RotationMatrix
9.2444637330587e-33 1.0 -1.0785207688569e-32
9.9703461330478e-65 1.0785207688569e-32 1.0
1.0 -9.2444637330587e-33 0.0
Mass
7.6536686473018
MomentOfInertias
0.93243354610288 1.1040224936599 1.1040224936599
Density
10.0
RefPoints
RefPoint
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
Markers
Marker
Name
Marker1
Position3D
0.0 0.0 0.0
RotationMatrix
1.0 2.1223636732195e-32 -2.4651903288157e-32
-2.4651903288157e-32 -2.2204460492503e-16 1.0
-1.1179465652456e-32 -1.0 -2.2204460492503e-16
RefPoint
Position3D
1.0408340855861e-17 5.5511151231258e-17 1.0
RotationMatrix
1.0 -6.9388939039072e-18 6.9388939039072e-18
-6.9388939039072e-18 1.0 0.0
6.9388939039072e-18 0.0 1.0
Markers
Marker
Name
Marker2
Position3D
0.0 0.0 0.0
RotationMatrix
1.0 -4.1633363423442e-17 4.1633363423442e-17
-4.1633363423442e-17 1.0 -4.9303806576313e-32
4.1633363423442e-17 -3.6977854932235e-32 1.0
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
RevoluteJoint
Name
Joint1
MarkerI
/Assembly1/Marker2
MarkerJ
/Assembly1/Part1/Marker1
RevoluteJoint
Name
Joint2
MarkerI
/Assembly1/Part1/Marker2
MarkerJ
/Assembly1/Part2/Marker1
RevoluteJoint
Name
Joint3
MarkerI
/Assembly1/Part2/Marker2
MarkerJ
/Assembly1/Part3/Marker1
CylindricalJoint
Name
Joint4
MarkerI
/Assembly1/Part3/Marker2
MarkerJ
/Assembly1/Marker1
Motions
Limits
RotationLimit
Name
Limit1
MarkerI
/Assembly1/Marker2
MarkerJ
/Assembly1/Part1/Marker1
MotionJoint
/Assembly1/Joint1
Limit
0.0
Type
=>
Tol
1.0e-9
TranslationLimit
Name
Limit2
MarkerI
/Assembly1/Part3/Marker2
MarkerJ
/Assembly1/Marker1
MotionJoint
/Assembly1/Joint4
Limit
1.2
Type
=<
Tol
1.0e-9
GeneralConstraintSets
ForceTorques
ConstantGravity
0.0 -9.81 0.0
SimulationParameters
tstart
0.0
tend
0.0
hmin
1.0e-9
hmax
1.0
hout
0.04
errorTol
1.0e-6
AnimationParameters
nframe
26
icurrent
1
istart
1
iend
26
isForward
true
framesPerSecond
30
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