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solver/GNN/testapp/runPreDragBackhoe3.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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0.66913060635885835 -0.74314482547739424 2.2204460492503131e-16
RefCurves
RefSurfaces
Part
Name
AssemblyExample#StickCylinderOuter
Position3D
-204.17702880859338 377.05899590431869 288.76734556248414
RotationMatrix
1 1.2439721069419915e-15 -8.457848432955699e-16
-7.7696775522809971e-16 0.90858425264408127 0.41770163495873014
1.2880759726561228e-15 -0.41770163495873014 0.90858425264408127
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
12.660000000000025 -506.59649126114687 35.837210581402019
RotationMatrix
0 0 1.0000000000000002
0.66913060635885779 -0.74314482547739535 -1.1102230246251565e-16
0.74314482547739491 0.66913060635885779 -4.4408920985006262e-16
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
AssemblyExample#Slider001
Position3D
-2.3400000000001171 -633.67425641778141 150.25854426876685
RotationMatrix
-1 -4.9303806576313238e-32 -1.0000000000000003e-15
7.4314482547739496e-16 -0.66913060635885779 -0.7431448254773948
-6.6913060635885766e-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 -203.54120849609356
Y 250.5383259419992
Z 261.58125590949288
Bryantx -0.30690051073068875
Bryanty -7.7111922312661493e-16
Bryantz -9.0775370214044226e-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 141.78131239340763
Z 259.96196176835468
Bryantx -0.22845893731331249
Bryanty -1.8465313053138249e-15
Bryantz -6.9244649491525877e-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 169.20371041280447
Z 285.55635966143768
Bryantx -0.22845893731331349
Bryanty -1.1394245241272769e-15
Bryantz 1.4660286271287139e-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 -211.61702880859593
Y 398.9757746146766
Z 1516.6076698845507
Bryantx 0.81031704778134361
Bryanty -2.4948353820381742e-15
Bryantz 1.2044682079870762e-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 -206.72902880859132
Y 264.60508619075057
Z 83.81868105831407
Bryantx -0.57147314754788825
Bryanty -1.3890567010482474e-15
Bryantz -3.2571745940157505e-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 -206.87702880859041
Y 335.6612969029099
Z -3.7554312154129277
Bryantx -0.58892644006782979
Bryanty -1.5056477837996082e-15
Bryantz -2.2961131396475184e-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 -211.61702880859232
Y 295.03204447601468
Z 281.37001979013593
Bryantx -0.52084528943277253
Bryanty -1.5464926812744828e-15
Bryantz -2.4124144609282227e-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 -209.2981123267416
Y -557.13717839097296
Z -146.48679843372389
Bryantx -1.4500578755356899
Bryanty 8.1825231070408568e-16
Bryantz -2.5830521722332144e-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 -206.81702880859226
Y 269.2074354891169
Z 124.57579919241108
Bryantx -0.51175496928888253
Bryanty -1.5663396743407976e-15
Bryantz -2.1762214372413816e-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 -204.68902880859235
Y 343.18457102630111
Z 285.17029878955481
Bryantx -0.43091423341375995
Bryanty -1.5149154496544296e-15
Bryantz -1.9871169324193859e-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#StickCylinderOuter
X -204.17702880859338
Y 377.05899590431869
Z 288.76734556248414
Bryantx -0.43091423341376056
Bryanty -8.457848432955699e-16
Bryantz -1.2439721069419915e-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
FixedJointSeries /OndselAssembly/AssemblyExample#GroundedJoint
FXonI -1.752148201076961e-06
FYonI 4.3213489361167543e-06
FZonI 2.7318289898335417e-06
TXonI -0.00027510191394420188
TYonI 0.0015621631379135993
TZonI -5.7269268661624641e-05
FixedJointSeries /OndselAssembly/AssemblyExample#Fixed
FXonI 1.7521482010770617e-06
FYonI -4.3213489361167543e-06
FZonI -2.7318289898335421e-06
TXonI 0.00043671691698275429
TYonI -0.0015621631379135993
TZonI 0.00016092635623734364
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute
FXonI -1.588025306155309e-06
FYonI 1.5033942485782077e-06
FZonI 1.0499963736314554e-06
TXonI -3.4743562025774545e-19
TYonI 0.0014954109471405472
TZonI -0.00047391570323559562
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute001
FXonI 1.7633738237484709e-06
FYonI -3.4740748340683986e-07
FZonI 1.3071516400866729e-07
TXonI 0
TYonI 0
TZonI 0
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute002
FXonI -1.2160208396078102e-07
FYonI -0.00010256235089150147
FZonI 0.00014019092851712359
TXonI -2.2273524092949669e-18
TYonI -0.0013458639218802615
TZonI 0.00029038198826333183
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute003
FXonI -5.9355197423668364e-07
FYonI 0.00010191697670903475
FZonI -0.00013728492814113605
TXonI 1.3941227985294739e-19
TYonI 0.0009507856794412602
TZonI 0.00038468879788703829
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute004
FXonI -4.5353509836739888e-07
FYonI -9.8517739320429522e-05
FZonI 0.0001443608340863549
TXonI 0
TYonI 0
TZonI 0
CylindricalJointSeries /OndselAssembly/AssemblyExample#Cylindrical
FXonI 4.5969533109393073e-19
FYonI 9.7246072291427751e-05
FZonI -0.00014385694335698691
TXonI 3.1758226406325807e-17
TYonI 0.0037686665994344048
TZonI 0.0022237548874350791
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute005
FXonI 1.6412289492185349e-07
FYonI -2.8179546875385465e-06
FZonI -1.6818326162020867e-06
TXonI 3.556543093113876e-19
TYonI -0.00016280289613714916
TZonI -0.00035890422480647064
TranslationalJointSeries /OndselAssembly/AssemblyExample#Slider
FXonI 1.072226326421535e-07
FYonI -2.0812618515918733e-06
FZonI -1.2959889115945389e-06
TXonI -0.00014226495108092215
TYonI -0.00013821887299596221
TZonI -0.00040427070455272869
CylindricalJointSeries /OndselAssembly/AssemblyExample#Cylindrical001
FXonI -1.4245026640799175e-21
FYonI 1.3426506813954494e-06
FZonI 8.5921482221682947e-07
TXonI -7.8958362888494363e-19
TYonI 0.0001108052495324543
TZonI 0.00038004280216717787
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute006
FXonI 8.6994837235367993e-08
FYonI 2.1927718316953907e-06
FZonI 1.5412837182544216e-06
TXonI 1.3084669198790072e-18
TYonI 0.0022538912276924756
TZonI 0.00034371721639723477
TranslationalJointSeries /OndselAssembly/AssemblyExample#Slider001
FXonI -1.1377796850367842e-07
FYonI -2.0544409266609294e-06
FZonI -8.8522556373149214e-07
TXonI 0.00022574526905636696
TYonI -0.0022210879935138064
TZonI -0.00036234176786674411
CylindricalJointSeries /OndselAssembly/AssemblyExample#Cylindrical002
FXonI -4.4540118704496019e-22
FYonI 1.6897590384803869e-06
FZonI 8.8052536881805329e-07
TXonI 1.5350183883240024e-18
TYonI 0.0022605701790073193
TZonI 0.0003978313000043745
RevoluteJointSeries /OndselAssembly/AssemblyExample#Revolute007
FXonI -1.1201563666745207e-06
FYonI -1.2750324958866371e-06
FZonI -2.4616549111853161e-06
TXonI -4.6725765206242079e-19
TYonI 0.00082399088055267388
TZonI 0.00057525726978602124
TranslationalJointSeries /OndselAssembly/AssemblyExample#Slider002
FXonI -4.9417346560931395e-07
FYonI -9.5080777283720069e-07
FZonI -2.1615914429162142e-06
TXonI 1.3536978258187124e-05
TYonI 0.00038148749045882824
TZonI 0.00030723553327458952
CylindricalJointSeries /OndselAssembly/AssemblyExample#Cylindrical003
FXonI 2.479215595301298e-21
FYonI -9.9951523894094214e-07
FZonI -1.6521499163180001e-06
TXonI 7.4550620473088681e-20
TYonI -1.2391124372382512e-05
TZonI 7.4963642920555607e-06
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