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.
463 lines
7.8 KiB
Plaintext
463 lines
7.8 KiB
Plaintext
OndselSolver
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Assembly
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Notes
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(Text string: '' runs: (Core.RunArray runs: #() values: #()))
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Name
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OndselAssembly
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Velocity3D
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0 0 0
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Omega3D
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0 0 0
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RefPoints
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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marker-rackPinion#Box001
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Position3D
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-1.09127140045166 0.6816802024841309 1.622356414794922
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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RefCurves
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RefSurfaces
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Parts
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Part
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Name
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rackPinion#Box001
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Position3D
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-1.09127140045166 0.6816802024841309 1.622356414794922
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Velocity3D
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0 0 0
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Omega3D
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0 0 0
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FeatureOrder
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PrincipalMassMarker
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Name
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MassMarker
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Mass
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1
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MomentOfInertias
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1 1 1
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Density
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1
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RefPoints
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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FixingMarker
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#Revolute
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Position3D
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0 12 2
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#Slider
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Position3D
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0 0 2
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RotationMatrix
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-2.220446049250313e-16 0 1
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0 -1 0
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1 0 -2.220446049250313e-16
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#Revolute001
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Position3D
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37 12 2
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#Revolute002
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Position3D
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37 0 2
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RotationMatrix
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-2.220446049250313e-16 0 1
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0 -1 0
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1 0 -2.220446049250313e-16
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RefCurves
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RefSurfaces
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Part
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Name
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rackPinion#Cylinder
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Position3D
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-1.09127140045166 12.68168020248413 3.622356414794922
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RotationMatrix
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0.9989860693358433 0.04502036509094207 0
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-0.04502036509094207 0.9989860693358433 -0
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-0 0 1
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Velocity3D
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0 0 0
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Omega3D
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0 0 0
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FeatureOrder
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PrincipalMassMarker
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Name
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MassMarker
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Mass
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1
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MomentOfInertias
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1 1 1
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Density
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1
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RefPoints
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#Revolute
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Position3D
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0 0 0
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RotationMatrix
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1 6.938893903907228e-18 0
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-6.938893903907228e-18 1 -0
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-0 0 1
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#RackPinion
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Position3D
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0 0 2
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RotationMatrix
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1 6.938893903907228e-18 0
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-6.938893903907228e-18 1 -0
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-0 0 1
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RefCurves
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RefSurfaces
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Part
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Name
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rackPinion#Box
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Position3D
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4.299936895813785 0.6816802024841309 3.622356414794925
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Velocity3D
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0 0 0
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Omega3D
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0 0 0
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FeatureOrder
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PrincipalMassMarker
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Name
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MassMarker
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Mass
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1
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MomentOfInertias
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1 1 1
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Density
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1
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RefPoints
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#Slider
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Position3D
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0 0 0
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RotationMatrix
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-2.220446049250313e-16 0 1
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0 -1 0
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1 0 -2.220446049250313e-16
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#RackPinion
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Position3D
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0 0 3
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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RefCurves
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RefSurfaces
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Part
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Name
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rackPinion#Cylinder001
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Position3D
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35.90872859954834 12.68168020248413 3.622356414794922
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RotationMatrix
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-0.208877917092376 -0.9779417241079095 0
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0.9779417241079095 -0.208877917092376 0
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0 0 1
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Velocity3D
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0 0 0
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Omega3D
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0 0 0
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FeatureOrder
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PrincipalMassMarker
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Name
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MassMarker
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Mass
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1
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MomentOfInertias
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1 1 1
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Density
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1
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RefPoints
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#Revolute001
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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RefCurves
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RefSurfaces
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Part
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Name
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rackPinion#Cylinder002
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Position3D
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37.90872859954834 0.6816802024841294 3.622356414794922
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RotationMatrix
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-2.220446049250313e-16 5.551115123125783e-17 -1
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0.9455343955120326 -0.3255222064678469 -5.551115123125783e-17
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-0.3255222064678468 -0.9455343955120326 -2.220446049250313e-16
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Velocity3D
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0 0 0
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Omega3D
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0 0 0
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FeatureOrder
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PrincipalMassMarker
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Name
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MassMarker
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Mass
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1
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MomentOfInertias
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1 1 1
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Density
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1
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RefPoints
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RefPoint
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Position3D
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0 0 0
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RotationMatrix
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1 0 0
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0 1 0
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0 0 1
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Markers
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Marker
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Name
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rackPinion#Revolute002
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Position3D
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-3.33066907387547e-16 0 2
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RotationMatrix
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1 -2.77333911991762e-32 -3.33066907387547e-16
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-2.77333911991762e-32 1 -1.665334536937735e-16
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3.33066907387547e-16 1.665334536937735e-16 1
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RefCurves
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RefSurfaces
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KinematicIJs
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ConstraintSets
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Joints
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FixedJoint
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Name
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rackPinion#GroundedJoint
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MarkerI
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/OndselAssembly/marker-rackPinion#Box001
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MarkerJ
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/OndselAssembly/rackPinion#Box001/FixingMarker
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RevoluteJoint
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Name
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rackPinion#Revolute
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MarkerI
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/OndselAssembly/rackPinion#Cylinder/rackPinion#Revolute
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MarkerJ
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/OndselAssembly/rackPinion#Box001/rackPinion#Revolute
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TranslationalJoint
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Name
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rackPinion#Slider
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MarkerI
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/OndselAssembly/rackPinion#Box/rackPinion#Slider
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MarkerJ
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/OndselAssembly/rackPinion#Box001/rackPinion#Slider
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RevoluteJoint
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Name
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rackPinion#Revolute001
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MarkerI
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/OndselAssembly/rackPinion#Cylinder001/rackPinion#Revolute001
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MarkerJ
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/OndselAssembly/rackPinion#Box001/rackPinion#Revolute001
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RevoluteJoint
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Name
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rackPinion#Revolute002
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MarkerI
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/OndselAssembly/rackPinion#Cylinder002/rackPinion#Revolute002
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MarkerJ
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/OndselAssembly/rackPinion#Box001/rackPinion#Revolute002
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RackPinionJoint
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Name
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rackPinion#RackPinion
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MarkerI
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/OndselAssembly/rackPinion#Cylinder/rackPinion#RackPinion
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MarkerJ
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/OndselAssembly/rackPinion#Box/rackPinion#RackPinion
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pitchRadius
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1
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Motions
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GeneralConstraintSets
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ForceTorques
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ConstantGravity
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0 0 0
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SimulationParameters
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tstart
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0
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tend
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1
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hmin
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1e-09
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hmax
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1000000000
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hout
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0.1
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errorTol
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1e-06
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AnimationParameters
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nframe
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1000000
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icurrent
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1
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istart
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1
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iend
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1000000
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isForward
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true
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framesPerSecond
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30
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