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solver/GNN/testapp/runPreDragBackhoe2.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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-1.0000000000000004 -4.1985532501086275e-31 -9.9647766457753676e-31
1.0214652683421088e-30 -0.6691306063588589 -0.74314482547739424
-3.5476039169087418e-31 -0.74314482547739424 0.66913060635885824
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
AssemblyExample#Cylindrical002
Position3D
5.671999999999656 -640.87569124220477 200.51994555090306
RotationMatrix
0 0 1
-0.74314482547739413 -0.66913060635885846 0
0.66913060635885846 -0.74314482547739413 0
RefCurves
RefSurfaces
Part
Name
AssemblyExample#StickCylinderOuter
Position3D
-204.17702880859395 388.5582084592491 326.36555279442138
RotationMatrix
1 -1.6605154213222291e-16 -1.9914332590032205e-15
8.1222218878096616e-16 0.94428789275598723 0.32912060949514726
1.8258353309541728e-15 -0.32912060949514726 0.94428789275598723
Velocity3D
0 0 0
Omega3D
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
AssemblyExample#Revolute006
Position3D
12.659999999999997 -506.59649126114704 35.837210581402076
RotationMatrix
1.1102230246251565e-16 1.6653345369377348e-16 1
0.66913060635885779 -0.74314482547739447 5.5511151231257827e-17
0.74314482547739469 0.66913060635885779 -2.2204460492503131e-16
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
AssemblyExample#Slider001
Position3D
-2.3400000000001171 -633.67425641778152 150.25854426876663
RotationMatrix
-1 -2.9582283945787943e-31 -1.0000000000000003e-15
7.4314482547739525e-16 -0.66913060635885779 -0.7431448254773948
-6.6913060635885756e-16 -0.7431448254773948 0.66913060635885757
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
AssemblyExample#GroundedJoint
MarkerI
/OndselAssembly/marker-AssemblyExample#BasePin
MarkerJ
/OndselAssembly/AssemblyExample#BasePin/FixingMarker
FixedJoint
Name
AssemblyExample#Fixed
MarkerI
/OndselAssembly/AssemblyExample#Base/AssemblyExample#Fixed
MarkerJ
/OndselAssembly/AssemblyExample#BasePin/AssemblyExample#Fixed
RevoluteJoint
Name
AssemblyExample#Revolute
MarkerI
/OndselAssembly/AssemblyExample#Base/AssemblyExample#Revolute
MarkerJ
/OndselAssembly/AssemblyExample#Boom/AssemblyExample#Revolute
RevoluteJoint
Name
AssemblyExample#Revolute001
MarkerI
/OndselAssembly/AssemblyExample#Stick/AssemblyExample#Revolute001
MarkerJ
/OndselAssembly/AssemblyExample#Boom/AssemblyExample#Revolute001
RevoluteJoint
Name
AssemblyExample#Revolute002
MarkerI
/OndselAssembly/AssemblyExample#Bucket/AssemblyExample#Revolute002
MarkerJ
/OndselAssembly/AssemblyExample#Stick/AssemblyExample#Revolute002
RevoluteJoint
Name
AssemblyExample#Revolute003
MarkerI
/OndselAssembly/AssemblyExample#Bucket/AssemblyExample#Revolute003
MarkerJ
/OndselAssembly/AssemblyExample#BucketLink1/AssemblyExample#Revolute003
RevoluteJoint
Name
AssemblyExample#Revolute004
MarkerI
/OndselAssembly/AssemblyExample#Stick/AssemblyExample#Revolute004
MarkerJ
/OndselAssembly/AssemblyExample#BucketLink2/AssemblyExample#Revolute004
CylindricalJoint
Name
AssemblyExample#Cylindrical
MarkerI
/OndselAssembly/AssemblyExample#BucketLink1/AssemblyExample#Cylindrical
MarkerJ
/OndselAssembly/AssemblyExample#BucketLink2/AssemblyExample#Cylindrical
RevoluteJoint
Name
AssemblyExample#Revolute005
MarkerI
/OndselAssembly/AssemblyExample#BoomCylinderOuter/AssemblyExample#Revolute005
MarkerJ
/OndselAssembly/AssemblyExample#Base/AssemblyExample#Revolute005
TranslationalJoint
Name
AssemblyExample#Slider
MarkerI
/OndselAssembly/AssemblyExample#BoomCylinderInner/AssemblyExample#Slider
MarkerJ
/OndselAssembly/AssemblyExample#BoomCylinderOuter/AssemblyExample#Slider
CylindricalJoint
Name
AssemblyExample#Cylindrical001
MarkerI
/OndselAssembly/AssemblyExample#BoomCylinderInner/AssemblyExample#Cylindrical001
MarkerJ
/OndselAssembly/AssemblyExample#Boom/AssemblyExample#Cylindrical001
RevoluteJoint
Name
AssemblyExample#Revolute006
MarkerI
/OndselAssembly/AssemblyExample#Boom/AssemblyExample#Revolute006
MarkerJ
/OndselAssembly/AssemblyExample#StickCylinderOuter/AssemblyExample#Revolute006
TranslationalJoint
Name
AssemblyExample#Slider001
MarkerI
/OndselAssembly/AssemblyExample#StickCylinderInner/AssemblyExample#Slider001
MarkerJ
/OndselAssembly/AssemblyExample#StickCylinderOuter/AssemblyExample#Slider001
CylindricalJoint
Name
AssemblyExample#Cylindrical002
MarkerI
/OndselAssembly/AssemblyExample#StickCylinderInner/AssemblyExample#Cylindrical002
MarkerJ
/OndselAssembly/AssemblyExample#Stick/AssemblyExample#Cylindrical002
RevoluteJoint
Name
AssemblyExample#Revolute007
MarkerI
/OndselAssembly/AssemblyExample#Stick/AssemblyExample#Revolute007
MarkerJ
/OndselAssembly/AssemblyExample#BucketCylinderOuter/AssemblyExample#Revolute007
TranslationalJoint
Name
AssemblyExample#Slider002
MarkerI
/OndselAssembly/AssemblyExample#BucketCylinderOuter/AssemblyExample#Slider002
MarkerJ
/OndselAssembly/AssemblyExample#BucketCylinderInner/AssemblyExample#Slider002
CylindricalJoint
Name
AssemblyExample#Cylindrical003
MarkerI
/OndselAssembly/AssemblyExample#BucketCylinderInner/AssemblyExample#Cylindrical003
MarkerJ
/OndselAssembly/AssemblyExample#BucketLink2/AssemblyExample#Cylindrical003
Motions
Limits
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
1
hmin
1.0000000000000001e-09
hmax
1000000000
hout
0.10000000000000001
errorTol
9.9999999999999995e-07
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30
TimeSeries
Number Input
Time Input
AssemblySeries /OndselAssembly
X 0
Y 0
Z 0
Bryantx -0
Bryanty 0
Bryantz -0
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#Base
X -206.51702880859375
Y 99.415699157714869
Z 364.26800537109375
Bryantx -9.7699626167013721e-32
Bryanty 2.1999999999999993e-16
Bryantz 4.4408920985006252e-16
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#BasePin
X -206.51702880859375
Y 40.255699157714844
Z 364.26800537109375
Bryantx -0
Bryanty 0
Bryantz -0
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#Boom
X -203.54120849609384
Y 257.67123765126127
Z 276.78806593095044
Bryantx -0.24212760880770012
Bryanty -1.5475747299408277e-15
Bryantz 3.8194916670331742e-16
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#BoomCylinderInner
X -208.76902880859299
Y 153.80040503460461
Z 270.8790760945692
Bryantx -0.15140765668448433
Bryanty -1.6206363746010108e-15
Bryantz -6.7738576651150357e-16
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#BoomCylinderOuter
X -209.27702880859366
Y 182.21361463637555
Z 294.37056435967401
Bryantx -0.15140765668448536
Bryanty -9.1352959341446408e-16
Bryantz 2.9721014675041915e-17
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#Bucket
X -211.61702880859957
Y -23.837239233725604
Z 1866.8236062252824
Bryantx 1.2974861345676729
Bryanty 6.4373806329392598e-15
Bryantz 3.3317240548162432e-15
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#BucketCylinderInner
X -206.72902880859769
Y 213.02800226613508
Z 60.602446883034965
Bryantx -0.59744813107453232
Bryanty -5.1473143890873128e-15
Bryantz 5.2583980436131683e-15
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#BucketCylinderOuter
X -206.87702880859064
Y 293.35107186801753
Z -34.237529680289349
Bryantx -0.61490142359447431
Bryanty -2.6407141386776817e-15
Bryantz -1.370645773763434e-15
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#BucketLink1
X -211.61702880860076
Y 414.24790513731358
Z 530.8104473060755
Bryantx -0.23074255821516829
Bryanty -2.7124498237542811e-15
Bryantz 6.7857244220684629e-15
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#BucketLink2
X -209.29811232674371
Y -308.96497899167957
Z -129.41735800475513
Bryantx -1.1878768764033969
Bryanty -7.0188725956073021e-15
Bryantz 1.6261795468181185e-15
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#Stick
X -206.81702880859217
Y 193.34985682310804
Z 72.437803587608556
Bryantx -0.59149319219370677
Bryanty -2.7760026346272668e-15
Bryantz -1.5131589597732428e-15
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#StickCylinderInner
X -204.68902880859275
Y 357.94674370443431
Z 314.52008933020807
Bryantx -0.33537215010502258
Bryanty -2.660563865362079e-15
Bryantz -5.7709328334516967e-16
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
PartSeries /OndselAssembly/AssemblyExample#StickCylinderOuter
X -204.17702880859395
Y 388.5582084592491
Z 326.36555279442138
Bryantx -0.33537215010502325
Bryanty -1.9914332590032205e-15
Bryantz 1.6605154213222291e-16
VX 0
VY 0
VZ 0
OmegaX 0
OmegaY 0
OmegaZ 0
AX 0
AY 0
AZ 0
AlphaX 0
AlphaY 0
AlphaZ 0
FixedJointSeries /OndselAssembly/AssemblyExample#GroundedJoint
FXonI 2.0541849144154434e-05
FYonI -3.8302098922932708e-06
FZonI 3.480551938445509e-06
TXonI 2.6860211875514526e-05
TYonI 0.0018631652114428595
TZonI -0.0035923365816066381
FixedJointSeries /OndselAssembly/AssemblyExample#Fixed
FXonI -2.054184914415434e-05
FYonI 3.8302098922932717e-06
FZonI -3.4805519384455094e-06
TXonI 0.00017904924080292187
TYonI -0.0018631652114428595
TZonI 0.0023770807862384673
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute
FXonI 2.063396927176788e-05
FYonI -2.8809175001468067e-06
FZonI 4.2787370941801498e-06
TXonI 2.5872755500021893e-18
TYonI -0.00082147159654947881
TZonI -0.0033261608161091081
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute001
FXonI -1.93863934306992e-05
FYonI 3.4362107211803969e-06
FZonI -3.9665037836276683e-06
TXonI 0
TYonI 0
TZonI 0
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute002
FXonI -1.052654852174095e-05
FYonI 2.5941966467094838e-05
FZonI -5.0609916774940017e-05
TXonI 0
TYonI 0
TZonI 0
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute003
FXonI 8.0513871125730775e-06
FYonI -2.4950725963392807e-05
FZonI 4.8546274142405465e-05
TXonI 1.710984403280448e-17
TYonI -0.0025007426035252522
TZonI 0.00085613020276652295
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute004
FXonI 2.2475603600466741e-06
FYonI 2.0123459864302024e-05
FZonI -5.439795669583307e-05
TXonI 3.8681684970441221e-17
TYonI -0.0075484683409082114
TZonI -0.012668313412528767
CylindricalJointSeries /OndselAssembly/AssemblyExample#Cylindrical
FXonI 1.1498485126377879e-19
FYonI -2.4212788626219529e-05
FZonI 5.0634824614558328e-05
TXonI 1.8899152230317963e-18
TYonI -0.00086763509883679146
TZonI 0.008064569262659407
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute005
FXonI 9.2120127613638039e-08
FYonI 9.4929239214646448e-07
FZonI 7.9818515573464086e-07
TXonI 2.3282062203414104e-20
TYonI -0.0025002182217264053
TZonI 0.00059746590500750864
TranslationalJointSeries /OndselAssembly/AssemblyExample#Slider
FXonI 6.3669996473891229e-08
FYonI 6.8729016928534834e-07
FZonI 5.0532630979255347e-07
TXonI 3.4293013396757423e-05
TYonI -0.0025151029599419115
TZonI 0.00061088171182137536
CylindricalJointSeries /OndselAssembly/AssemblyExample#Cylindrical001
FXonI 4.624857273067223e-22
FYonI -4.6569677305839783e-07
FZonI -3.638188161655306e-07
TXonI 2.3649553625053813e-18
TYonI 0.002493953096512271
TZonI -0.00061875766452904382
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute006
FXonI 9.6307452967044158e-07
FYonI 2.1791951679858279e-07
FZonI 4.9761334693863197e-08
TXonI 1.897793566845315e-17
TYonI -0.0055214936701219915
TZonI -0.0089692426702505258
TranslationalJointSeries /OndselAssembly/AssemblyExample#Slider001
FXonI -3.9266495898111732e-07
FYonI -3.0116483004976099e-07
FZonI -1.6546130996368814e-07
TXonI -8.409538323940229e-05
TYonI 0.0054215386058012677
TZonI 0.008707020043021426
CylindricalJointSeries /OndselAssembly/AssemblyExample#Cylindrical002
FXonI 4.5180624567299578e-22
FYonI 4.6539252190205578e-07
FZonI -2.2414975652393281e-07
TXonI 2.4776147648820908e-17
TYonI -0.0053256627720271194
TZonI -0.0085316395459291983
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute007
FXonI 6.6407346800493162e-06
FYonI 3.8509881632093946e-06
FZonI 7.7081813579140055e-06
TXonI -2.29972818347917e-18
TYonI 0.00029052654126048916
TZonI 0.00077004517379884935
TranslationalJointSeries /OndselAssembly/AssemblyExample#Slider002
FXonI 6.3838099918554102e-06
FYonI 3.1007577640770619e-06
FZonI 6.5801257558909205e-06
TXonI 5.8695727944248154e-05
TYonI -2.6308932334963525e-05
TZonI -5.5830250680290713e-05
CylindricalJointSeries /OndselAssembly/AssemblyExample#Cylindrical003
FXonI -2.6570228955972581e-20
FYonI 2.7238126699125029e-06
FZonI 5.3068329941212788e-06
TXonI -4.0457400956938151e-17
TYonI 0.0050093616789166802
TZonI 0.0036896730913819698
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