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Kernel rig: motion studies play, plot and trace to known values; a crank-slider's slider follows r cos t + sqrt(l^2 - r^2 sin^2 t)

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 d136b313a1
commit 4894419075
26 changed files with 3189 additions and 0 deletions
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tests/kernel-cases/assemblies/cov-motion-crank-slider-drive-at-90/expected.json
+40
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{
"sources": [],
"what": "a crank-slider driven to 90 degrees",
"source": "analytic",
"method": "a crank-slider: crank r 10 about z through the origin, rod l 30 from the crank pin (10,0) to the slider's pin (40,0), slider on +x; the slider sits at x = r cos \u03b8 + \u221a(l\u00b2 - r\u00b2 sin\u00b2 \u03b8); at 90: x = \u221a(900 - 100) = 28.28427; the rod's middle is halfway between (0,10) and (x,0), at z 3",
"body_count": 4,
"volume_mm3": 2720,
"results": [
{
"step": 17,
"json": {
"conflicts": []
}
},
{
"step": 19,
"json": {
"total": {
"center_of_mass": [
28.284271,
0.0,
5.0
]
}
}
},
{
"step": 20,
"json": {
"total": {
"center_of_mass": [
14.142136,
5.0,
3.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-crank-slider-drive-at-90/recipe.json
+299
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@@ -0,0 +1,299 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 60,
"width": 20,
"height": 2,
"corner": [
-10,
-10,
-12
],
"operation": "new",
"body_name": "BedBox"
}
},
{
"command": "solid.box",
"params": {
"length": 14,
"width": 4,
"height": 2,
"corner": [
-2,
-2,
0
],
"operation": "new",
"body_name": "CrankBox"
}
},
{
"command": "solid.box",
"params": {
"length": 34,
"width": 2,
"height": 2,
"corner": [
8,
-1,
2
],
"operation": "new",
"body_name": "RodBox"
}
},
{
"command": "solid.box",
"params": {
"length": 6,
"width": 6,
"height": 2,
"corner": [
37,
-3,
4
],
"operation": "new",
"body_name": "SliderBox"
}
},
{
"command": "component.create",
"params": {
"name": "Bed",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BedBox"
],
"component": "Bed"
}
},
{
"command": "component.create",
"params": {
"name": "Crank",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"CrankBox"
],
"component": "Crank"
}
},
{
"command": "component.create",
"params": {
"name": "Rod",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"RodBox"
],
"component": "Rod"
}
},
{
"command": "component.create",
"params": {
"name": "Slider",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"SliderBox"
],
"component": "Slider"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Bed:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Crank pin",
"flip": true,
"a": {
"occurrence": "Bed",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Crank",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Big end",
"flip": true,
"a": {
"occurrence": "Crank",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Rod",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "slider",
"name": "Guide",
"flip": true,
"a": {
"occurrence": "Bed",
"point": [
40,
0,
5
],
"z": [
1,
0,
0
]
},
"b": {
"occurrence": "Slider",
"point": [
40,
0,
5
],
"z": [
1,
0,
0
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Small end",
"flip": true,
"a": {
"occurrence": "Rod",
"point": [
40,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Slider",
"point": [
40,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.drive",
"params": {
"joint": "Crank pin",
"value": 90,
"quiet": true
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Slider:1"
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Rod:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-crank-slider-follows-the-formula/expected.json
+111
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@@ -0,0 +1,111 @@
{
"sources": [],
"what": "motion.plot of a crank-slider's slider over a full turn of the crank, every 30 degrees",
"source": "analytic",
"method": "a crank-slider: crank r 10 about z through the origin, rod l 30 from the crank pin (10,0) to the slider's pin (40,0), slider on +x; the slider sits at x = r cos \u03b8 + \u221a(l\u00b2 - r\u00b2 sin\u00b2 \u03b8); the guide's value is x - 40",
"body_count": 4,
"volume_mm3": 2720,
"results": [
{
"step": 17,
"json": {
"conflicts": []
}
},
{
"step": 19,
"json": {
"samples": 13,
"stopped_at": null,
"joints": [
{
"value": [
0.0,
-1.759347,
-6.277187,
-11.715729,
-16.277187,
-19.079855,
-20.0,
-19.079855,
-16.277187,
-11.715729,
-6.277187,
-1.759347,
0.0
]
}
],
"point": {
"position": [
[
40.0,
0.0,
5.0
],
[
38.240653,
0.0,
5.0
],
[
33.722813,
0.0,
5.0
],
[
28.284271,
0.0,
5.0
],
[
23.722813,
0.0,
5.0
],
[
20.920145,
0.0,
5.0
],
[
20.0,
0.0,
5.0
],
[
20.920145,
0.0,
5.0
],
[
23.722813,
0.0,
5.0
],
[
28.284271,
0.0,
5.0
],
[
33.722813,
0.0,
5.0
],
[
38.240653,
0.0,
5.0
],
[
40.0,
0.0,
5.0
]
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-crank-slider-follows-the-formula/recipe.json
+316
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@@ -0,0 +1,316 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 60,
"width": 20,
"height": 2,
"corner": [
-10,
-10,
-12
],
"operation": "new",
"body_name": "BedBox"
}
},
{
"command": "solid.box",
"params": {
"length": 14,
"width": 4,
"height": 2,
"corner": [
-2,
-2,
0
],
"operation": "new",
"body_name": "CrankBox"
}
},
{
"command": "solid.box",
"params": {
"length": 34,
"width": 2,
"height": 2,
"corner": [
8,
-1,
2
],
"operation": "new",
"body_name": "RodBox"
}
},
{
"command": "solid.box",
"params": {
"length": 6,
"width": 6,
"height": 2,
"corner": [
37,
-3,
4
],
"operation": "new",
"body_name": "SliderBox"
}
},
{
"command": "component.create",
"params": {
"name": "Bed",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BedBox"
],
"component": "Bed"
}
},
{
"command": "component.create",
"params": {
"name": "Crank",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"CrankBox"
],
"component": "Crank"
}
},
{
"command": "component.create",
"params": {
"name": "Rod",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"RodBox"
],
"component": "Rod"
}
},
{
"command": "component.create",
"params": {
"name": "Slider",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"SliderBox"
],
"component": "Slider"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Bed:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Crank pin",
"flip": true,
"a": {
"occurrence": "Bed",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Crank",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Big end",
"flip": true,
"a": {
"occurrence": "Crank",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Rod",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "slider",
"name": "Guide",
"flip": true,
"a": {
"occurrence": "Bed",
"point": [
40,
0,
5
],
"z": [
1,
0,
0
]
},
"b": {
"occurrence": "Slider",
"point": [
40,
0,
5
],
"z": [
1,
0,
0
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Small end",
"flip": true,
"a": {
"occurrence": "Rod",
"point": [
40,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Slider",
"point": [
40,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "motion.study",
"params": {
"name": "Turn",
"steps": 12,
"keys": [
{
"joint": "Crank pin",
"points": [
[
0,
0
],
[
12,
360
]
]
}
]
}
},
{
"command": "motion.plot",
"params": {
"study": "Turn",
"joints": [
"Guide"
],
"occurrence": "Slider",
"point": [
40,
0,
5
]
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-crank-slider-play-at-60/expected.json
+34
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@@ -0,0 +1,34 @@
{
"sources": [],
"what": "a crank-slider study played where the crank is at 60 degrees",
"source": "analytic",
"method": "a crank-slider: crank r 10 about z through the origin, rod l 30 from the crank pin (10,0) to the slider's pin (40,0), slider on +x; the slider sits at x = r cos \u03b8 + \u221a(l\u00b2 - r\u00b2 sin\u00b2 \u03b8); at 60: x = 5 + \u221a(900 - 75) = 33.72281; the slider block's centre (x, 0, 5), the guide's value x - 40",
"body_count": 4,
"volume_mm3": 2720,
"results": [
{
"step": 17,
"json": {
"conflicts": []
}
},
{
"step": 20,
"json": {
"total": {
"center_of_mass": [
33.722813,
0.0,
5.0
]
}
}
},
{
"step": 21,
"json": {
"conflicts": []
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-crank-slider-play-at-60/recipe.json
+319
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@@ -0,0 +1,319 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 60,
"width": 20,
"height": 2,
"corner": [
-10,
-10,
-12
],
"operation": "new",
"body_name": "BedBox"
}
},
{
"command": "solid.box",
"params": {
"length": 14,
"width": 4,
"height": 2,
"corner": [
-2,
-2,
0
],
"operation": "new",
"body_name": "CrankBox"
}
},
{
"command": "solid.box",
"params": {
"length": 34,
"width": 2,
"height": 2,
"corner": [
8,
-1,
2
],
"operation": "new",
"body_name": "RodBox"
}
},
{
"command": "solid.box",
"params": {
"length": 6,
"width": 6,
"height": 2,
"corner": [
37,
-3,
4
],
"operation": "new",
"body_name": "SliderBox"
}
},
{
"command": "component.create",
"params": {
"name": "Bed",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BedBox"
],
"component": "Bed"
}
},
{
"command": "component.create",
"params": {
"name": "Crank",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"CrankBox"
],
"component": "Crank"
}
},
{
"command": "component.create",
"params": {
"name": "Rod",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"RodBox"
],
"component": "Rod"
}
},
{
"command": "component.create",
"params": {
"name": "Slider",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"SliderBox"
],
"component": "Slider"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Bed:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Crank pin",
"flip": true,
"a": {
"occurrence": "Bed",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Crank",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Big end",
"flip": true,
"a": {
"occurrence": "Crank",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Rod",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "slider",
"name": "Guide",
"flip": true,
"a": {
"occurrence": "Bed",
"point": [
40,
0,
5
],
"z": [
1,
0,
0
]
},
"b": {
"occurrence": "Slider",
"point": [
40,
0,
5
],
"z": [
1,
0,
0
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Small end",
"flip": true,
"a": {
"occurrence": "Rod",
"point": [
40,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Slider",
"point": [
40,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "motion.study",
"params": {
"name": "Turn",
"steps": 6,
"keys": [
{
"joint": "Crank pin",
"points": [
[
0,
0
],
[
6,
360
]
]
}
]
}
},
{
"command": "motion.play",
"params": {
"study": "Turn",
"step": 1,
"quiet": true
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Slider:1"
}
},
{
"command": "joint.list",
"params": {}
}
]
}
tests/kernel-cases/assemblies/cov-motion-interference-arm-into-the-block/expected.json
+43
View File
@@ -0,0 +1,43 @@
{
"sources": [],
"what": "motion.interference of the arm turning 0 to 90 in 9 steps into a grounded block",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); Stop: box 50x10x10 from (-10,30,0), grounded; the arm's corner (40,5) turned \u03b8 reaches y = 40 sin \u03b8 + 5 cos \u03b8, which is 30 at \u03b8 = asin(30/\u221a1625) - atan(5/40) = 40.9676; samples every 10 degrees: clear at 40, overlapping from step 5 (50) to 9 (90); at 90 the arm (x -5..5, y 0..40) and block (x -10..40, y 30..40) share 10x10x10 = 1000 mm3",
"body_count": 3,
"volume_mm3": 13000.0,
"results": [
{
"step": 14,
"json": {
"clear": false,
"samples": 10,
"collisions": [
{
"first_step": 5.0,
"last_step": 9.0,
"steps": [
[
5.0,
9.0
]
],
"deepest_step": 9.0,
"volume_mm3": 1000.0
}
]
}
},
{
"step": 15,
"json": {
"total": {
"center_of_mass": [
20.0,
0.0,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-interference-arm-into-the-block/recipe.json
+189
View File
@@ -0,0 +1,189 @@
{
"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": 50,
"width": 10,
"height": 10,
"corner": [
-10,
30,
0
],
"operation": "new",
"body_name": "StopBox"
}
},
{
"command": "component.create",
"params": {
"name": "Stop",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"StopBox"
],
"component": "Stop"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Stop: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": "motion.study",
"params": {
"name": "Open",
"steps": 9,
"keys": [
{
"joint": "Hinge",
"points": [
[
0,
0
],
[
9,
90
]
]
}
]
}
},
{
"command": "motion.interference",
"params": {
"study": "Open",
"occurrences": [
"Arm"
],
"against": [
"Stop"
]
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-interference-clear/expected.json
+17
View File
@@ -0,0 +1,17 @@
{
"sources": [],
"what": "motion.interference of the arm turning 0 to 30, short of the block",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); Stop: box 50x10x10 from (-10,30,0), grounded; the arm's corner (40,5) turned \u03b8 reaches y = 40 sin \u03b8 + 5 cos \u03b8, which is 30 at \u03b8 = asin(30/\u221a1625) - atan(5/40) = 40.9676; 30 < 40.97: no collisions",
"body_count": 3,
"volume_mm3": 13000.0,
"results": [
{
"step": 14,
"json": {
"clear": true,
"collisions": []
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-interference-clear/recipe.json
+183
View File
@@ -0,0 +1,183 @@
{
"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": 50,
"width": 10,
"height": 10,
"corner": [
-10,
30,
0
],
"operation": "new",
"body_name": "StopBox"
}
},
{
"command": "component.create",
"params": {
"name": "Stop",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"StopBox"
],
"component": "Stop"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Stop: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": "motion.study",
"params": {
"name": "Open",
"steps": 3,
"keys": [
{
"joint": "Hinge",
"points": [
[
0,
0
],
[
3,
30
]
]
}
]
}
},
{
"command": "motion.interference",
"params": {
"study": "Open",
"occurrences": [
"Arm"
],
"against": [
"Stop"
]
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-play-fractional-step/expected.json
+22
View File
@@ -0,0 +1,22 @@
{
"sources": [],
"what": "the same study played at step 2.5",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); step 2.5 of 10 is 22.5 degrees: Arm centre (20 cos22.5, 20 sin22.5, 5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 11,
"json": {
"total": {
"center_of_mass": [
18.477591,
7.653669,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-play-fractional-step/recipe.json
+146
View File
@@ -0,0 +1,146 @@
{
"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": "motion.study",
"params": {
"name": "Open",
"steps": 10,
"keys": [
{
"joint": "Hinge",
"points": [
[
0,
0
],
[
10,
90
]
]
}
]
}
},
{
"command": "motion.play",
"params": {
"study": "Open",
"step": 2.5,
"quiet": true
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-play-half-way/expected.json
+28
View File
@@ -0,0 +1,28 @@
{
"sources": [],
"what": "a study turning the hinge 0 to 90 over 10 steps, played at step 5",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); linear between keys: step 5 is 45 degrees: Arm centre (20 cos45, 20 sin45, 5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 10,
"json": {
"moved": true
}
},
{
"step": 11,
"json": {
"total": {
"center_of_mass": [
14.142136,
14.142136,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-play-half-way/recipe.json
+146
View File
@@ -0,0 +1,146 @@
{
"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": "motion.study",
"params": {
"name": "Open",
"steps": 10,
"keys": [
{
"joint": "Hinge",
"points": [
[
0,
0
],
[
10,
90
]
]
}
]
}
},
{
"command": "motion.play",
"params": {
"study": "Open",
"step": 5,
"quiet": true
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-plot-linear-ramp/expected.json
+71
View File
@@ -0,0 +1,71 @@
{
"sources": [],
"what": "motion.plot of a hinge keyed 0 to 90 over 10 steps, played in 1 s",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); 11 samples, 9 degrees apart; with duration 1 s the rate is 90 deg/s throughout and the acceleration 0",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 10,
"json": {
"samples": 11,
"joints": [
{
"value": [
0.0,
9.0,
18.0,
27.0,
36.0,
45.0,
54.0,
63.0,
72.0,
81.0,
90.0
],
"velocity": [
90.0,
90.0,
90.0,
90.0,
90.0,
90.0,
90.0,
90.0,
90.0,
90.0,
90.0
],
"acceleration": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
]
}
},
{
"step": 11,
"json": {
"total": {
"center_of_mass": [
20.0,
0.0,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-plot-linear-ramp/recipe.json
+148
View File
@@ -0,0 +1,148 @@
{
"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": "motion.study",
"params": {
"name": "Open",
"steps": 10,
"keys": [
{
"joint": "Hinge",
"points": [
[
0,
0
],
[
10,
90
]
]
}
]
}
},
{
"command": "motion.plot",
"params": {
"study": "Open",
"joints": [
"Hinge"
],
"duration": 1
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-plot-point-on-the-arm/expected.json
+34
View File
@@ -0,0 +1,34 @@
{
"sources": [],
"what": "motion.plot following the arm's tip (40,0,5) over the study, 3 samples",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); the tip turns at radius 40: at 0, 45 and 90 degrees it is at (40,0,5), (40 cos45, 40 sin45, 5), (0,40,5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 10,
"json": {
"point": {
"position": [
[
40.0,
0.0,
5.0
],
[
28.284271,
28.284271,
5.0
],
[
0.0,
40.0,
5.0
]
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-plot-point-on-the-arm/recipe.json
+148
View File
@@ -0,0 +1,148 @@
{
"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": "motion.study",
"params": {
"name": "Open",
"steps": 10,
"keys": [
{
"joint": "Hinge",
"points": [
[
0,
0
],
[
10,
90
]
]
}
]
}
},
{
"command": "motion.plot",
"params": {
"study": "Open",
"joints": [
"Hinge"
],
"occurrence": "Arm",
"point": [
40,
0,
5
],
"samples": 3
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-study-edit-replaces-the-keys/expected.json
+22
View File
@@ -0,0 +1,22 @@
{
"sources": [],
"what": "motion.study editing a study's keys to turn the hinge 0 to -90",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); keys given replace all keys: step 5 of 10 is now -45 degrees: Arm centre (20 cos45, -20 sin45, 5)",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 12,
"json": {
"total": {
"center_of_mass": [
14.142136,
-14.142136,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-study-edit-replaces-the-keys/recipe.json
+167
View File
@@ -0,0 +1,167 @@
{
"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": "motion.study",
"params": {
"name": "Open",
"steps": 10,
"keys": [
{
"joint": "Hinge",
"points": [
[
0,
0
],
[
10,
90
]
]
}
]
}
},
{
"command": "motion.study",
"params": {
"study": "Open",
"keys": [
{
"joint": "Hinge",
"points": [
[
0,
0
],
[
10,
-90
]
]
}
]
}
},
{
"command": "motion.play",
"params": {
"study": "Open",
"step": 5,
"quiet": true
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-trace-arm-tip/expected.json
+46
View File
@@ -0,0 +1,46 @@
{
"sources": [],
"what": "motion.trace of the arm's tip as the hinge turns 0 to 90, 3 samples",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); radius 40 about z: (40,0,5), (40 cos45, 40 sin45, 5), (0,40,5); the design is not changed",
"body_count": 2,
"volume_mm3": 8000.0,
"results": [
{
"step": 9,
"json": {
"samples": 3,
"stopped_at": null,
"points": [
[
40.0,
0.0,
5.0
],
[
28.284271,
28.284271,
5.0
],
[
0.0,
40.0,
5.0
]
]
}
},
{
"step": 10,
"json": {
"total": {
"center_of_mass": [
20.0,
0.0,
5.0
]
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-trace-arm-tip/recipe.json
+131
View File
@@ -0,0 +1,131 @@
{
"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": "motion.trace",
"params": {
"occurrence": "Arm",
"point": [
40,
0,
5
],
"joint": "Hinge",
"samples": 3,
"from": 0,
"to": 90
}
},
{
"command": "occurrence.properties",
"params": {
"occurrence": "Arm:1"
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-trace-coupler-midpoint/expected.json
+38
View File
@@ -0,0 +1,38 @@
{
"sources": [],
"what": "motion.trace of a crank-slider rod's middle over half a turn, 3 samples",
"source": "analytic",
"method": "a crank-slider: crank r 10 about z through the origin, rod l 30 from the crank pin (10,0) to the slider's pin (40,0), slider on +x; the slider sits at x = r cos \u03b8 + \u221a(l\u00b2 - r\u00b2 sin\u00b2 \u03b8); the rod's middle is ((10 cos \u03b8 + x)/2, 5 sin \u03b8, 3): \u03b8 0 (25,0,3), 90 (14.14214,5,3), 180 (5,0,3)",
"body_count": 4,
"volume_mm3": 2720,
"results": [
{
"step": 17,
"json": {
"conflicts": []
}
},
{
"step": 18,
"json": {
"points": [
[
25.0,
0.0,
3.0
],
[
14.142136,
5.0,
3.0
],
[
5.0,
0.0,
3.0
]
]
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-trace-coupler-midpoint/recipe.json
+294
View File
@@ -0,0 +1,294 @@
{
"commands": [
{
"command": "solid.box",
"params": {
"length": 60,
"width": 20,
"height": 2,
"corner": [
-10,
-10,
-12
],
"operation": "new",
"body_name": "BedBox"
}
},
{
"command": "solid.box",
"params": {
"length": 14,
"width": 4,
"height": 2,
"corner": [
-2,
-2,
0
],
"operation": "new",
"body_name": "CrankBox"
}
},
{
"command": "solid.box",
"params": {
"length": 34,
"width": 2,
"height": 2,
"corner": [
8,
-1,
2
],
"operation": "new",
"body_name": "RodBox"
}
},
{
"command": "solid.box",
"params": {
"length": 6,
"width": 6,
"height": 2,
"corner": [
37,
-3,
4
],
"operation": "new",
"body_name": "SliderBox"
}
},
{
"command": "component.create",
"params": {
"name": "Bed",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"BedBox"
],
"component": "Bed"
}
},
{
"command": "component.create",
"params": {
"name": "Crank",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"CrankBox"
],
"component": "Crank"
}
},
{
"command": "component.create",
"params": {
"name": "Rod",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"RodBox"
],
"component": "Rod"
}
},
{
"command": "component.create",
"params": {
"name": "Slider",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"SliderBox"
],
"component": "Slider"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Bed:1",
"grounded": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Crank pin",
"flip": true,
"a": {
"occurrence": "Bed",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Crank",
"point": [
0,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Big end",
"flip": true,
"a": {
"occurrence": "Crank",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Rod",
"point": [
10,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "slider",
"name": "Guide",
"flip": true,
"a": {
"occurrence": "Bed",
"point": [
40,
0,
5
],
"z": [
1,
0,
0
]
},
"b": {
"occurrence": "Slider",
"point": [
40,
0,
5
],
"z": [
1,
0,
0
]
},
"quiet": true
}
},
{
"command": "joint.create",
"params": {
"type": "revolute",
"name": "Small end",
"flip": true,
"a": {
"occurrence": "Rod",
"point": [
40,
0,
0
],
"z": [
0,
0,
1
]
},
"b": {
"occurrence": "Slider",
"point": [
40,
0,
0
],
"z": [
0,
0,
1
]
},
"quiet": true
}
},
{
"command": "motion.trace",
"params": {
"occurrence": "Rod",
"point": [
25,
0,
3
],
"joint": "Crank pin",
"samples": 3,
"from": 0,
"to": 180
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-trace-stops-at-contact/expected.json
+19
View File
@@ -0,0 +1,19 @@
{
"sources": [],
"what": "motion.trace of the arm's tip with a contact set between the arm and a block",
"source": "analytic",
"method": "Base: box 20x20x10 from (-10,-10,-10), grounded; Arm: box 40x10x10 from (0,-5,0), centre (20,0,5); Stop: box 50x10x10 from (-10,30,0), grounded; the arm's corner (40,5) turned \u03b8 reaches y = 40 sin \u03b8 + 5 cos \u03b8, which is 30 at \u03b8 = asin(30/\u221a1625) - atan(5/40) = 40.9676; contact sets stop the motion: the trace from 0 to 90 stops short of the block, its last point within the circle's arc up to \u03b8 = 40.97 (y \u2264 40 sin 40.97 = 26.22)",
"body_count": 3,
"volume_mm3": 13000.0,
"results": [
{
"step": 15,
"json": {
"stopped_by_contact": {
"a": "Stop:1",
"b": "Arm:1"
}
}
}
]
}
tests/kernel-cases/assemblies/cov-motion-trace-stops-at-contact/recipe.json
+178
View File
@@ -0,0 +1,178 @@
{
"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": 50,
"width": 10,
"height": 10,
"corner": [
-10,
30,
0
],
"operation": "new",
"body_name": "StopBox"
}
},
{
"command": "component.create",
"params": {
"name": "Stop",
"parent": "root",
"activate": false
}
},
{
"command": "component.move_bodies",
"params": {
"bodies": [
"StopBox"
],
"component": "Stop"
}
},
{
"command": "occurrence.ground",
"params": {
"occurrence": "Stop: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": "contact.create",
"params": {
"occurrences": [
"Arm",
"Stop"
],
"name": "Stop set"
}
},
{
"command": "contact.enable_sets",
"params": {}
},
{
"command": "motion.trace",
"params": {
"occurrence": "Arm",
"point": [
40,
0,
5
],
"joint": "Hinge",
"samples": 10,
"from": 0,
"to": 90
}
}
]
}