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Kernel rig: each joint type moves its part to the placement worked out by hand, limits clamp, as-built keeps it in place

Browse Source 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
jyviko
2026-10-29 17:20:41 -04:00
committed by Irakli Kourtis
parent 2cd1a03354
commit 0da95a8cc7
32 changed files with 2725 additions and 0 deletions
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tests/kernel-cases/assemblies/cov-joint-as-built-keeps-the-arm-where-it-is/expected.json
+44
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{
"sources": [],
"what": "an as-built revolute on an arm lifted 20 mm, then driven 90 degrees",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); Arm moved by (0,0,20) first, then joint.as_built revolute about z through the origin: it stays at (20,0,25); a drive to 90 turns it to (0,20,25)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
20.0,
0.0,
25.0
]
}
}
},
{
"step": 11,
"json": {
"values": [
{
"value": 90.0
}
]
}
},
{
"step": 12,
"json": {
"total": {
"center_of_mass": [
0.0,
20.0,
25.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-as-built-keeps-the-arm-where-it-is/recipe.json
+129
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{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "occurrence.move",
"params": {
"occurrence": "Arm:1",
"translate": [
0,
0,
20
]
}
},
{
"command": "joint.as_built",
"params": {
"type": "revolute",
"a": "Base",
"b": "Arm",
"at": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"name": "Hinge",
"quiet": true
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
},
{
"command": "joint.drive",
"params": {
"joint": "Hinge",
"quiet": true,
"value": 90
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-as-built-slider-with-limits/expected.json
+44
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{
"sources": [],
"what": "an as-built slider along +x with limits -5..5, driven to 20",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); joint.as_built keeps Arm at (20,0,5); 20 is clamped to 5: centre (25,0,5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"total": {
"center_of_mass": [
20.0,
0.0,
5.0
]
}
}
},
{
"step": 10,
"json": {
"values": [
{
"value": 5.0
}
]
}
},
{
"step": 11,
"json": {
"total": {
"center_of_mass": [
25.0,
0.0,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-as-built-slider-with-limits/recipe.json
+124
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{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.as_built",
"params": {
"type": "slider",
"a": "Base",
"b": "Arm",
"at": {
"occurrence": "Base",
"point": [
0,
0,
5
],
"z": [
1,
0,
0
]
},
"name": "Slide",
"limits": [
[
-5,
5
]
],
"quiet": true
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
},
{
"command": "joint.drive",
"params": {
"joint": "Slide",
"quiet": true,
"value": 20
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-ball-yaw-and-pitch/expected.json
+50
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{
"sources": [],
"what": "a ball joint driven to yaw 90 and pitch 90",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); ball with frame z = +z, x = +x: M = Rz(yaw)\u00b7Ry(pitch)\u00b7Rz(roll); Ry(90): (x,y,z) -> (z,y,-x), then Rz(90): (x,y) -> (-y,x): (20,0,5) -> (5,0,-20) -> (0,5,-20); box x -5..5, y 0..10, z -40..0",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"values": [
{
"value": 90.0
},
{
"value": 90.0
},
{
"value": 0.0
}
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
0.0,
5.0,
-20.0
],
"bbox": {
"min": [
-5.0,
0.0,
-40.0
],
"max": [
5.0,
10.0,
0.0
]
}
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-ball-yaw-and-pitch/recipe.json
+142
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{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "ball",
"name": "Socket",
"flip": true,
"a": {
"occurrence": "Base",
"frame": {
"origin": [
0,
0,
0
],
"z": [
0,
0,
1
],
"x": [
1,
0,
0
]
}
},
"b": {
"occurrence": "Arm",
"frame": {
"origin": [
0,
0,
0
],
"z": [
0,
0,
1
],
"x": [
1,
0,
0
]
}
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Socket",
"quiet": true,
"values": [
90,
90,
0
]
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-cylindrical-turn-and-slide/expected.json
+47
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{
"sources": [],
"what": "a cylindrical joint about z driven to 90 degrees and 7 mm",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); cylindrical about z: M = Rz(90)\u00b7T(0,0,7): (20,0,5) -> (20,0,12) -> (0,20,12)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"values": [
{
"value": 90.0
},
{
"value": 7.0
}
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
0.0,
20.0,
12.0
],
"bbox": {
"min": [
-5.0,
0.0,
7.0
],
"max": [
5.0,
40.0,
17.0
]
}
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-cylindrical-turn-and-slide/recipe.json
+127
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{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "cylindrical",
"name": "Spindle",
"flip": true,
"a": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Spindle",
"quiet": true,
"values": [
90,
7
]
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-limits-new-joint-starts-at-the-nearer-limit/expected.json
+22
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@@ -0,0 +1,22 @@
{
"sources": [],
"what": "a new revolute whose limits 10..60 leave out its start value 0",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); a new joint starts at 0; outside its limits it starts at the nearer one, 10: centre (20 cos10, 20 sin10, 5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"total": {
"center_of_mass": [
19.696155,
3.472964,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-limits-new-joint-starts-at-the-nearer-limit/recipe.json
+122
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{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Hinge",
"flip": true,
"a": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true,
"limits": [
[
10,
60
]
]
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-limits-set-then-drive-past/expected.json
+32
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@@ -0,0 +1,32 @@
{
"sources": [],
"what": "joint.limits -10..45 on a revolute, then a drive to 90",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); limits set afterwards clamp the same way: 90 -> 45, centre (20 cos45, 20 sin45, 5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 10,
"json": {
"values": [
{
"value": 45.0
}
]
}
},
{
"step": 11,
"json": {
"total": {
"center_of_mass": [
14.142136,
14.142136,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-limits-set-then-drive-past/recipe.json
+132
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@@ -0,0 +1,132 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Hinge",
"flip": true,
"a": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.limits",
"params": {
"joint": "Hinge",
"min": -10,
"max": 45
}
},
{
"command": "joint.drive",
"params": {
"joint": "Hinge",
"quiet": true,
"value": 90
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-pin-slot-turn-then-slide/expected.json
+47
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@@ -0,0 +1,47 @@
{
"sources": [],
"what": "a pin-slot joint driven to 90 degrees and a 7 mm slide",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); pin_slot with frame z = +z, x = +x at the origin: M = T(slide along x)\u00b7Rz(angle): (20,0,5) -> (0,20,5) -> (7,20,5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"values": [
{
"value": 90.0
},
{
"value": 7.0
}
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
7.0,
20.0,
5.0
],
"bbox": {
"min": [
2.0,
0.0,
0.0
],
"max": [
12.0,
40.0,
10.0
]
}
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-pin-slot-turn-then-slide/recipe.json
+141
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@@ -0,0 +1,141 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "pin_slot",
"name": "Slot",
"flip": true,
"a": {
"occurrence": "Base",
"frame": {
"origin": [
0,
0,
0
],
"z": [
0,
0,
1
],
"x": [
1,
0,
0
]
}
},
"b": {
"occurrence": "Arm",
"frame": {
"origin": [
0,
0,
0
],
"z": [
0,
0,
1
],
"x": [
1,
0,
0
]
}
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Slot",
"quiet": true,
"values": [
90,
7
]
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-planar-move-and-turn/expected.json
+50
View File
@@ -0,0 +1,50 @@
{
"sources": [],
"what": "a planar joint driven to x 3, y 4 and 90 degrees",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); planar with frame z = +z, x = +x: M = T(3,4,0)\u00b7Rz(90): (20,0,5) -> (0,20,5) -> (3,24,5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"values": [
{
"value": 3.0
},
{
"value": 4.0
},
{
"value": 90.0
}
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
3.0,
24.0,
5.0
],
"bbox": {
"min": [
-2.0,
4.0,
0.0
],
"max": [
8.0,
44.0,
10.0
]
}
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-planar-move-and-turn/recipe.json
+142
View File
@@ -0,0 +1,142 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "planar",
"name": "Table",
"flip": true,
"a": {
"occurrence": "Base",
"frame": {
"origin": [
0,
0,
0
],
"z": [
0,
0,
1
],
"x": [
1,
0,
0
]
}
},
"b": {
"occurrence": "Arm",
"frame": {
"origin": [
0,
0,
0
],
"z": [
0,
0,
1
],
"x": [
1,
0,
0
]
}
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Table",
"quiet": true,
"values": [
3,
4,
90
]
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-revolute-drive-past-the-limit-is-clamped/expected.json
+32
View File
@@ -0,0 +1,32 @@
{
"sources": [],
"what": "a revolute with limits -30..30 driven to 90",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); a drive past a joint's limits is clamped to them: 90 -> 30, centre (20 cos30, 20 sin30, 5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"values": [
{
"value": 30.0
}
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
17.320508,
10.0,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-revolute-drive-past-the-limit-is-clamped/recipe.json
+130
View File
@@ -0,0 +1,130 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Hinge",
"flip": true,
"a": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true,
"limits": [
[
-30,
30
]
]
}
},
{
"command": "joint.drive",
"params": {
"joint": "Hinge",
"quiet": true,
"value": 90
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-revolute-quarter-turn/expected.json
+44
View File
@@ -0,0 +1,44 @@
{
"sources": [],
"what": "a revolute joint driven 90 degrees",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); revolute about z through the origin, driven to 90: (x,y) -> (-y,x), Arm's box becomes x -5..5, y 0..40",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"values": [
{
"value": 90.0
}
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
0.0,
20.0,
5.0
],
"bbox": {
"min": [
-5.0,
0.0,
0.0
],
"max": [
5.0,
40.0,
10.0
]
}
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-revolute-quarter-turn/recipe.json
+124
View File
@@ -0,0 +1,124 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Hinge",
"flip": true,
"a": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Hinge",
"quiet": true,
"value": 90
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-rigid-group-moves-together/expected.json
+34
View File
@@ -0,0 +1,34 @@
{
"sources": [],
"what": "Arm and Gear in a rigid group, the arm turned 90 degrees",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); Gear block from (60,-5,0), centre (65,0,5), rigid-grouped with Arm: both turn about z through the origin: Gear (65,0,5) -> (0,65,5)",
"body_count": 3,
"volume_mm3": 9000.0,
"results": [
{
"step": 14,
"json": {
"total": {
"center_of_mass": [
0.0,
65.0,
5.0
]
}
}
},
{
"step": 15,
"json": {
"total": {
"center_of_mass": [
0.0,
20.0,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-rigid-group-moves-together/recipe.json
+171
View File
@@ -0,0 +1,171 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "solid.box",
"params": {
"length": 10,
"width": 10,
"height": 10,
"corner": [
60,
-5,
0
],
"operation": "new",
"body_name": "GearBox"
}
},
{
"command": "component.create",
"params": {
"name": "Gear",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"GearBox"
],
"component": "Gear"
}
},
{
"command": "joint.rigid_group",
"params": {
"occurrences": [
"Arm:1",
"Gear:1"
]
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Hinge",
"flip": true,
"a": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Hinge",
"quiet": true,
"value": 90
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Gear:1"
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-rigid-holds-the-arm-where-it-is/expected.json
+41
View File
@@ -0,0 +1,41 @@
{
"sources": [],
"what": "a rigid joint between two blocks made where they sit",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); rigid with equal origins and flip: B = F\u00b7I\u00b7F^-1 = I, so Arm stays at (20,0,5) with 0 degrees of freedom left",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"conflicts": [],
"errors": []
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
20.0,
0.0,
5.0
],
"bbox": {
"min": [
0.0,
-5.0,
0.0
],
"max": [
40.0,
5.0,
10.0
]
}
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-rigid-holds-the-arm-where-it-is/recipe.json
+120
View File
@@ -0,0 +1,120 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "rigid",
"name": "Glue",
"flip": true,
"a": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.solve",
"params": {}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-rigid-with-an-offset-lifts-the-arm/expected.json
+34
View File
@@ -0,0 +1,34 @@
{
"sources": [],
"what": "a rigid joint with an offset of 5 mm along its z",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); rigid, flip, offset 5: B's frame sits 5 mm up A's z, so Arm moves by (0,0,5): centre (20,0,10)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"total": {
"center_of_mass": [
20.0,
0.0,
10.0
],
"bbox": {
"min": [
0.0,
-5.0,
5.0
],
"max": [
40.0,
5.0,
15.0
]
}
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-rigid-with-an-offset-lifts-the-arm/recipe.json
+117
View File
@@ -0,0 +1,117 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "rigid",
"name": "Glue",
"flip": true,
"offset": 5,
"a": {
"occurrence": "Base",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-slider-along-x/expected.json
+44
View File
@@ -0,0 +1,44 @@
{
"sources": [],
"what": "a slider along +x driven 15 mm",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); slider with z = +x at (0,0,5), driven to 15: Arm moves by (15,0,0), centre (35,0,5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"values": [
{
"value": 15.0
}
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
35.0,
0.0,
5.0
],
"bbox": {
"min": [
15.0,
-5.0,
0.0
],
"max": [
55.0,
5.0,
10.0
]
}
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-slider-along-x/recipe.json
+124
View File
@@ -0,0 +1,124 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "slider",
"name": "Slide",
"flip": true,
"a": {
"occurrence": "Base",
"point": [
0,
0,
5
],
"z": [
1,
0,
0
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
5
],
"z": [
1,
0,
0
]
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Slide",
"quiet": true,
"value": 15
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-slider-drive-past-the-limit-is-clamped/expected.json
+54
View File
@@ -0,0 +1,54 @@
{
"sources": [],
"what": "a slider with limits 0..10 driven to 15 and to -4",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); slider along +x, limits [0,10]: 15 -> 10 (centre (30,0,5)), then -4 -> 0 (centre (20,0,5))",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"values": [
{
"value": 10.0
}
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
30.0,
0.0,
5.0
]
}
}
},
{
"step": 11,
"json": {
"values": [
{
"value": 0.0
}
]
}
},
{
"step": 12,
"json": {
"total": {
"center_of_mass": [
20.0,
0.0,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-slider-drive-past-the-limit-is-clamped/recipe.json
+144
View File
@@ -0,0 +1,144 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "slider",
"name": "Slide",
"flip": true,
"limits": [
[
0,
10
]
],
"a": {
"occurrence": "Base",
"point": [
0,
0,
5
],
"z": [
1,
0,
0
]
},
"b": {
"occurrence": "Arm",
"point": [
0,
0,
5
],
"z": [
1,
0,
0
]
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Slide",
"quiet": true,
"value": 15
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
},
{
"command": "joint.drive",
"params": {
"joint": "Slide",
"quiet": true,
"value": -4
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-joint-two-origins-on-one-part-refused/expected.json
+8
View File
@@ -0,0 +1,8 @@
{
"sources": [],
"what": "a joint whose two origins are on the same occurrence",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); a joint needs two different occurrences: both origins on Arm is refused",
"outcome": "refused",
"refusal": "two different occurrences"
}
tests/kernel-cases/assemblies/cov-joint-two-origins-on-one-part-refused/recipe.json
+109
View File
@@ -0,0 +1,109 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 20,
"width": 20,
"height": 10,
"corner": [
-10,
-10,
-10
],
"operation": "new",
"body_name": "BaseBox"
}
},
{
"command": "solid.box",
"params": {
"length": 40,
"width": 10,
"height": 10,
"corner": [
0,
-5,
0
],
"operation": "new",
"body_name": "ArmBox"
}
},
{
"command": "component.create",
"params": {
"name": "Base",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BaseBox"
],
"component": "Base"
}
},
{
"command": "component.create",
"params": {
"name": "Arm",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"ArmBox"
],
"component": "Arm"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Base:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Self",
"flip": true,
"a": {
"occurrence": "Arm",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Arm",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
}
}
}
]
}