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solver/GNN/testapp/rackPinion3.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: '' runs: (Core.RunArray runs: #() values: #()))
Name
OndselAssembly
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
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
marker-rackPinion#Box001
Position3D
-1.0912714004517 0.68168020248413 1.6223564147949
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
RefCurves
RefSurfaces
Parts
Part
Name
rackPinion#Box
Position3D
5.6962232290719 0.68168020248413 3.6223564147949
RotationMatrix
1.0 0.0 -4.4408920985006e-16
0.0 1.0 0.0
4.4408920985006e-16 0.0 1.0
Velocity3D
0.0 0.0 0.0
Omega3D
0.0 0.0 0.0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
rackPinion#RackPinion
Position3D
-4.4408920985007e-16 0.0 3.0
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
rackPinion#Slider
Position3D
0.0 0.0 0.0
RotationMatrix
-2.2204460492503e-16 0.0 1.0
0.0 -1.0 0.0
1.0 0.0 -2.2204460492503e-16
RefCurves
RefSurfaces
Part
Name
rackPinion#Box001
Position3D
-1.0912714004517 0.68168020248413 1.6223564147949
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
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
FixingMarker
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
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
rackPinion#Revolute
Position3D
0.0 12.0 2.0
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
rackPinion#Slider
Position3D
0.0 0.0 2.0
RotationMatrix
-2.2204460492503e-16 0.0 1.0
0.0 -1.0 0.0
1.0 0.0 -2.2204460492503e-16
RefCurves
RefSurfaces
Part
Name
rackPinion#Cylinder
Position3D
-1.0912714004517 12.681680202484 3.6223564147949
RotationMatrix
0.83233196026638 -0.55427746474047 0.0
0.55427746474047 0.83233196026638 0.0
0.0 0.0 1.0
Velocity3D
0.0 0.0 0.0
Omega3D
0.0 0.0 0.0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
rackPinion#RackPinion
Position3D
0.0 0.0 2.0
RotationMatrix
1.0 0.0 0.0
0.0 1.0 0.0
0.0 0.0 1.0
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
rackPinion#Revolute
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
KinematicIJs
ConstraintSets
Joints
RackPinionJoint
Name
rackPin
MarkerI
/OndselAssembly/rackPinion#Box/rackPinion#RackPinion
MarkerJ
/OndselAssembly/rackPinion#Cylinder/rackPinion#RackPinion
pitchRadius
1.0
FixedJoint
Name
rackPinion#GroundedJoint
MarkerI
/OndselAssembly/marker-rackPinion#Box001
MarkerJ
/OndselAssembly/rackPinion#Box001/FixingMarker
RevoluteJoint
Name
rackPinion#Revolute
MarkerI
/OndselAssembly/rackPinion#Cylinder/rackPinion#Revolute
MarkerJ
/OndselAssembly/rackPinion#Box001/rackPinion#Revolute
TranslationalJoint
Name
rackPinion#Slider
MarkerI
/OndselAssembly/rackPinion#Box/rackPinion#Slider
MarkerJ
/OndselAssembly/rackPinion#Box001/rackPinion#Slider
Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
0.0
hmin
1.0e-9
hmax
1000000000
hout
0.1
errorTol
1.0e-6
AnimationParameters
nframe
1
icurrent
1
istart
1
iend
1
isForward
true
framesPerSecond
30
TimeSeries
Number Input 1
Time Input 0.0
AssemblySeries /OndselAssembly
X 0.0 0.0
Y 0.0 0.0
Z 0.0 0.0
Bryantx 0.0 0.0
Bryanty 0.0 0.0
Bryantz 0.0 0.0
VX 0.0 0.0
VY 0.0 0.0
VZ 0.0 0.0
OmegaX 0.0 0.0
OmegaY 0.0 0.0
OmegaZ 0.0 0.0
AX 0 0.0
AY 0 0.0
AZ 0 0.0
AlphaX 0 0.0
AlphaY 0 0.0
AlphaZ 0 0.0
PartSeries /OndselAssembly/rackPinion#Box
X 5.7924906490609 5.6962232290719
Y 0.68168020248413 0.68168020248413
Z 3.6223564147949 3.6223564147949
Bryantx 0.0 0.0
Bryanty 0.0 -4.4408920985006e-16
Bryantz 0.0 0.0
VX 0.0 0.0
VY 0.0 0.0
VZ 0.0 0.0
OmegaX 0.0 0.0
OmegaY 0.0 0.0
OmegaZ 0.0 0.0
AX 0 0.0
AY 0 0.0
AZ 0 0.0
AlphaX 0 0.0
AlphaY 0 0.0
AlphaZ 0 0.0
PartSeries /OndselAssembly/rackPinion#Box001
X -1.0912714004517 -1.0912714004517
Y 0.68168020248413 0.68168020248413
Z 1.6223564147949 1.6223564147949
Bryantx 0.0 0.0
Bryanty 0.0 0.0
Bryantz 0.0 0.0
VX 0.0 0.0
VY 0.0 0.0
VZ 0.0 0.0
OmegaX 0.0 0.0
OmegaY 0.0 0.0
OmegaZ 0.0 0.0
AX 0 0.0
AY 0 0.0
AZ 0 0.0
AlphaX 0 0.0
AlphaY 0 0.0
AlphaZ 0 0.0
PartSeries /OndselAssembly/rackPinion#Cylinder
X -1.0912714004517 -1.0912714004517
Y 12.681680202484 12.681680202484
Z 3.6223564147949 3.6223564147949
Bryantx 0.0 0.0
Bryanty 0.0 0.0
Bryantz 0.17703467195969 0.58749462952357
VX 0.0 0.0
VY 0.0 0.0
VZ 0.0 0.0
OmegaX 0.0 0.0
OmegaY 0.0 0.0
OmegaZ 0.0 0.0
AX 0 0.0
AY 0 0.0
AZ 0 0.0
AlphaX 0 0.0
AlphaY 0 0.0
AlphaZ 0 0.0
RackPinionJointSeries /OndselAssembly/rackPin
FXonI 0 0.0
FYonI 0 0.0
FZonI 0 0.0
TXonI 0 0.0
TYonI 0 0.0
TZonI 0 0.0
FixedJointSeries /OndselAssembly/rackPinion#GroundedJoint
FXonI 0 0.0
FYonI 0 0.0
FZonI 0 0.0
TXonI 0 0.0
TYonI 0 0.0
TZonI 0 0.0
RevoluteJointSeries /OndselAssembly/rackPinion#Revolute
FXonI 0 0.0
FYonI 0 0.0
FZonI 0 0.0
TXonI 0 0.0
TYonI 0 0.0
TZonI 0 0.0
TranslationalJointSeries /OndselAssembly/rackPinion#Slider
FXonI 0 0.0
FYonI 0 0.0
FZonI 0 0.0
TXonI 0 0.0
TYonI 0 0.0
TZonI 0 0.0
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