Model Entities#

class Accgrav(**kwds)#

Defines the acceleration due to gravity along the global X, Y, and Z directions.

Name	Type	Default	Modifiable	Designable
`igrav`	Property	0.0	\(\checkmark\)	\(\checkmark\)
`jgrav`	Property	0.0	\(\checkmark\)	\(\checkmark\)
`kgrav`	Property	0.0	\(\checkmark\)	\(\checkmark\)
`label`	Str
`name`	Str

Example

Define Gravity Acceleration vector.#

from msolve import *

model = Model(output="accgrav")
units = Units(system="MKS")
gravity = Accgrav(igrav=0,jgrav=0,kgrav=-9.81)

ground = Part(ground=True)
global_frame = Marker(part=ground)

body = Part(mass=1, ip=[1e3]*3, cm=Marker())

See also

For more details, see also Force: Gravity.

igrav#

Defines the acceleration due to gravity in the global X direction. Value can be a constant or an expression.

Type=Property, Default=0.0, Modifiable, Designable

jgrav#

Defines the acceleration due to gravity in the global Y direction. Value can be a constant or an expression.

Type=Property, Default=0.0, Modifiable, Designable

kgrav#

Defines the acceleration due to gravity in the global Z direction. Value can be a constant or an expression.

Type=Property, Default=0.0, Modifiable, Designable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

class Arc(**kwds)#

Generates an arc graphic defined by a center marker, a radius or reference marker, and an angle.

Name	Type	Required	Default	Designable
`cm`	Reference - `Marker`	\(\checkmark\)
`color`	Color
`hidden`	Bool		False
`id`	Int		Auto
`label`	Str
`name`	Str
`radius`	Double		0.0	\(\checkmark\)
`rangle`	Double		0.0	\(\checkmark\)
`rm`	Reference - `Marker`
`seg`	Int		100

Usage

The center of the arc is the origin of marker cm. Its radius is defined either directly with radius, or with a reference marker rm.

The arc is drawn starting from the Y axis of cm in a counter clockwise fashion. The end point of the arc is defined by rangle. The plane of the arc is normal to the Z axis of cm.

The resulting arc will be a polygonal approximation of the true arc. To get a smoother arc, you can increase seg.

Example

Define Arc geometry.#

from msolve import *
from math import pi

model = Model(output="arc_graphic")
units = Units(system="MKS")
ground = Part(ground=True)
global_frame = Marker(part=ground)

body = Part(mass=1, ip=[1e3]*3)
body.cm = Marker(qp=[1,1,1], zp=[0,0,1])

arc_rm = Arc(cm=body.cm, rm=global_frame, rangle=2*pi/3, seg=20)

arc_rad = Arc(cm=body.cm, radius=2.0, rangle=pi/2, seg=20)

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (ArcFromRadius), Post: Graphic (ArcFromRm).

cm#

Marker that defines the center of the arc.

Type=Reference (Marker), Required

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

radius#

The radius of the arc.

Info

This attribute is mutually exclusive with rm.

Type=Double, Default=0.0, Designable

rangle#

Defines the angle subtended by the Arc, measured in rad.

Type=Double, Default=0.0, Designable

rm#

Marker used to compute the radius of the Arc.

Info

This attribute is mutually exclusive with radius.

Type=Reference (Marker)

seg#

Number of line segments used to approximate the arc.

Type=Int, Default=100

class Array(**kwds)#

Specifies a list of instances of type Variable (used by other MotionSolve modeling elements) or numerical constants.

Name	Type	Default	Modifiable	Designable
`function`	Function
`id`	Int	Auto
`label`	Str
`name`	Str
`numbers`	Double [0]	0.0	\(\checkmark\)	\(\checkmark\)
`routine`	Routine
`script`	Script
`size`	Int	0
`type`	Enum
`variables`	Reference - `Variable` [0]

Usage

To specify a list of variables, choose type as:

X: to store state vector corresponding to the Gse and Tfsiso elements.
Y: to store the output vector corresponding to the Gse and Tfsiso elements.
U: to store the input vector corresponding to the Gse, Tfsiso and Pinput elements.

To specify a list of constants, choose type as:

IC: to store a set of numbers used primarily to specify initial conditions for Gse and Tfsiso elements or to define a set of numbers in the model file and access them from user-written subroutines.

Example

Define Array objects.#

from msolve import *

model = Model(output="array")

ground = Part(ground=True)
global_frame = Marker(part=ground)
Units(system="MKS")

part = Part(mass=1,ip=[1,1,2])
part.cm = Marker(qp=[0,0,0],zp=[0,0,1],xp=[1,0,0])

rev_joint = Joint(type="REVOLUTE")
rev_joint.i = Marker(part=part,qp=[0,0,1],zp=[0,0,101])
rev_joint.j = Marker(part=ground,qp=[0,0,1],zp=[0,0,101])

spring = SpringDamper(type="ROTATION",i=rev_joint.i,j=rev_joint.j,ct=0.5,kt=0)

var = Variable()
var.function = f"-WZ({part.cm.id})+VARVAL({var.id})"

x = Array(type="X",size=2)

u = Array(type="U",size=1,variables=[var])

ic = Array(type="IC",size=2,numbers=[0,1])

See also

For more details, see also Reference: Array.

function#

Parameters passed to user defined subroutine.

Info

This attribute can only be used when type = U.

Type=Function

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

numbers#

List of numerical values when type = IC.

Info

This attribute can only be used when type = IC.

Type=Double [0], Default=0.0, Modifiable, Designable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

size#

Number of elements in Array.

Type=Int, Default=0

type#

Specifies the type of Array being created.

Type=Enum

Permitted values are:

variables#

List of Variable when type = U.

Info

This attribute can only be used when type = U.

Type=Reference (Variable) [0]

class Beam(**kwds)#

Defines a straight, massless beam of uniform cross-section acting between two Markers, i and j that belong to two different bodies.: The beam consist of one linear element based on the Timoshenko beam theory. The x-axis of the j Marker, which is the beam center axis, is also defined to be the neutral axis of the undeformed beam. The beam is assumed to undergo only small rotational deflections.

Name	Type	Default	Modifiable	Designable
`active`	Bool	True	\(\checkmark\)
`area`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`asy`	Double		\(\checkmark\)	\(\checkmark\)
`asz`	Double		\(\checkmark\)	\(\checkmark\)
`cratio`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`emodulus`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`force`	Double [3]	[0, 0, 0]	\(\checkmark\)	\(\checkmark\)
`function`	Function
`gmodulus`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`i`	Reference - `Marker`		\(\checkmark\)
`id`	Int	Auto
`ixx`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`iyy`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`izz`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`j`	Reference - `Marker`
`label`	Str
`length`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`name`	Str
`routine`	Routine
`script`	Script
`torque`	Double [3]	[0, 0, 0]	\(\checkmark\)	\(\checkmark\)

Limitations

Warning

The three angular deflections, AX(I,J), AY(I,J) and AZ(I,J) must not exceed an upper limit of 10 degrees at all times. Otherwise, the angles lose physical significance and the beam theory is no longer valid.

Example

Create a Beam element.#

from msolve import *
from math import dist

model = Model(output="beam")
units=Units(system="MKS")
ground = Part(ground=True)

part1 = Part(mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[0,10,0]))
part2 = Part(mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[0,0,0]))

beam = Beam (
  i        = part1.cm,
  j        = part2.cm,
  length   = dist(part1.cm.qp,part2.cm.qp),
  ixx      = 75,
  iyy      = 150,
  izz      = 75,
  area     = 10,
  asy      = 1.2,
  asz      = 1.2,
  emodulus = 2.1e5,
  gmodulus = 7.7e4,
  cratio   = 0.01
)

See also

For more details, see also Force: Beam.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

area#

Cross sectional area orthogonal to the neutral axis of the beam.

Type=Double, Default=0.0, Modifiable, Designable

asy#

Shear area ratio in the y direction.

Type=Double, Modifiable, Designable

asz#

Shear area ratio in the z direction.

Type=Double, Modifiable, Designable

cratio#

Damping ratio. The damping matrix is calculated by multiplying the beam stiffness matrix with the damping ratio.

Info

This attribute is mutually exclusive with function.

Type=Double, Default=0.0, Modifiable, Designable

emodulus#

Young’s modulus of elasticity.

Type=Double, Default=0.0, Modifiable, Designable

force#

Translational preload forces.

Type=Double [3], Default=[0, 0, 0], Modifiable, Designable

function#

Parameters passed to user defined subroutine.

Info

This attribute is mutually exclusive with cratio.

Type=Function

gmodulus#

Shear modulus of elasticity.

Type=Double, Default=0.0, Modifiable, Designable

i#

Marker at which beam forces and moments are acting.

Type=Reference (Marker), Modifiable

id#

The id of the object.

Type=Int

ixx#

Torsional stiffness shape factor for the cross section.

Type=Double, Default=0.0, Modifiable, Designable

iyy#

The second moment of inertia about y axis of j.

Type=Double, Default=0.0, Modifiable, Designable

izz#

The second moment of inertia about z axis of j.

Type=Double, Default=0.0, Modifiable, Designable

j#

Marker at which beam reaction forces and moments are acting.

Type=Reference (Marker)

label#

A string describing the object.

Type=Str

length#

Distance from the origin of j to the origin of i for the undeformed beam.

Type=Double, Default=0.0, Modifiable, Designable

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

torque#

Rotational preload moments.

Type=Double [3], Default=[0, 0, 0], Modifiable, Designable

class Box(**kwds)#

Creates a rectangular 3D graphic.: The dimensions can be either defined from its geometric center or from one of its corners.

Name	Type	Default	Designable
`cm`	Reference - `Marker`
`color`	Color
`corner`	Reference - `Marker`
`hidden`	Bool	False
`id`	Int	Auto
`is_material_inside`	Alias
`label`	Str
`material_inside`	Bool	True
`name`	Str
`refinement_level`	Int	3
`x`	Double	0.0	\(\checkmark\)
`y`	Double	0.0	\(\checkmark\)
`z`	Double	0.0	\(\checkmark\)

Example

Create a Box graphic.#

from msolve import *

model = Model(output="box")
units=Units(system="MKS")
units.length = "MILLIMETER"

ground = Part(ground=True)
global_frame = Marker(part=ground)

part = Part(mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[0,0,10]))

ground_geom = Box(corner=global_frame, x=10, y=10, z=1)

# assign the geometry entity to the ground body
ground.geometry = ground_geom

part_geom = Box(cm=part.cm, x=2, y=2, z=2, color='LightCyan', refinement_level=5)

H3dOutput(save=True)

cm#

Marker at the geometric center.

Info

This attribute is mutually exclusive with corner.

Type=Reference (Marker)

color#

The color of the graphic for H3D animation.

Type=Color

corner#

Marker at a geometric corner.

Info

This attribute is mutually exclusive with cm.

Type=Reference (Marker)

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

refinement_level#

Mesh density used for visualization and, when applicable, for 3D body contact. Must be larger or equal to 0. If not used for contact, the graphic will be displayed using its original analytical shape for refinement level up to 3. Greater than 3, the analytical shapes will be converted into a triamesh to enhance visualization.

Type=Int, Default=3

x#

Width of the graphic along x-axis of cm or corner.

Type=Double, Default=0.0, Designable

y#

Depth of the graphic along y-axis of cm or corner.

Type=Double, Default=0.0, Designable

z#

Height of the graphic along z-axis of cm or corner.

Type=Double, Default=0.0, Designable

class Bushing(**kwds)#

Defines a massless bushing between two Markers, i and j that belong to two different bodies.: The stiffness and damping forces are linearly proportional to the relative displacement and velocity between i and j Marker. They do not account for cross-coupling effects. All properties are defined in respect to j Marker. The bushing is assumed to undergo only small rotational deflections.

Name	Type	Default	Modifiable	Designable
`active`	Bool	True	\(\checkmark\)
`c`	Double [3]	[0, 0, 0]	\(\checkmark\)	\(\checkmark\)
`ct`	Double [3]	[0, 0, 0]	\(\checkmark\)	\(\checkmark\)
`force`	Double [3]	[0, 0, 0]	\(\checkmark\)	\(\checkmark\)
`function`	Function
`i`	Reference - `Marker`		\(\checkmark\)
`id`	Int	Auto
`j`	Reference - `Marker`		\(\checkmark\)
`k`	Double [3]	[0, 0, 0]	\(\checkmark\)	\(\checkmark\)
`kt`	Double [3]	[0, 0, 0]	\(\checkmark\)	\(\checkmark\)
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script
`torque`	Double [3]	[0, 0, 0]	\(\checkmark\)	\(\checkmark\)

Limitations

Warning

Two of the three angular deflections, AX(I,J), AY(I,J) and AZ(I,J) must not exceed an upper limit of 10 degrees at all times. Otherwise, the angles lose physical significance and the beam theory is no longer valid.

Example

Create a Bushing.#

from msolve import *

model = Model(output="bushing")
units=Units(system="MKS")
units.length = "MILLIMETER"

ground = Part(ground=True)
global_frame = Marker(part=ground)

part = Part(mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[1, 1, 5]))

bush = Bushing(
   i     =  part.cm,
   j     =  global_frame,
   c     =  [1,2,3],
   ct    =  [10,20,30],
   k     =  [100,200,300],
   kt    =  [0,0,0],
   force =  [100,120,200],
   torque = [0,0,0],
   )

See also

For more details, see also Force: Bushing.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

c#

Translational damping coefficient.

Type=Double [3], Default=[0, 0, 0], Modifiable, Designable

ct#

Rotational damping coefficient.

Type=Double [3], Default=[0, 0, 0], Modifiable, Designable

force#

Translational preload force.

Type=Double [3], Default=[0, 0, 0], Modifiable, Designable

function#

Parameters passed to user defined subroutine.

Type=Function

i#

Marker at which bushing forces and moments are acting.

Type=Reference (Marker), Modifiable

id#

The id of the object.

Type=Int

j#

Marker at which bushing reaction forces and moments are acting.

Type=Reference (Marker), Modifiable

k#

Translational stiffness.

Type=Double [3], Default=[0, 0, 0], Modifiable, Designable

kt#

Rotational stiffness.

Type=Double [3], Default=[0, 0, 0], Modifiable, Designable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

torque#

Rotational preload torque.

Type=Double [3], Default=[0, 0, 0], Modifiable, Designable

class Cforce(**kwds)#

Creates a force element which establishes linear force-displacement (stiffness) and/or force-velocity (damping) relationships between markers connected by higher-pair constraints.: The force can only be a linear function of the relative displacement and velocity of the higher pair joint upon which it is acting. Friction is supported.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`damping`	Double		0.0		\(\checkmark\)
`friction_transition_velocity`	Double		0.001	\(\checkmark\)	\(\checkmark\)
`id`	Int		Auto
`joint`	Reference - `Cvcv`, `Ptcv`	\(\checkmark\)
`label`	Str
`mu_dynamic`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`mu_static`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`name`	Str
`stiction_transition_velocity`	Double		0.001	\(\checkmark\)	\(\checkmark\)
`stiffness`	Double		0.0		\(\checkmark\)

Example

Create a Cforce.#

from msolve import *

model = Model(output='cforce')

ground = Part(ground=True)
global_frame = Marker(part=ground, zp=[0, 0, 100], xp=[100, 0, 0])

units = Units(length = 'MILLIMETER')
gravity = Accgrav(kgrav = -9810)

body_0 = Part(mass=10, ip=[1e3, 1e3, 1e3])
body_0.cm = Marker(part=body_0, qp=[191.283, 0.0, 461.875], zv=[0, 0, 1], xv=[1, 0, 0])

body_1 = Part(mass=50, ip=[1e5, 1e5, 1e5])
body_1.cm = Marker(part=body_1, qp=[191.283, 0.0, 461.875], zp=[0, 0, 100], xp=[100, 0, 0])

fixed_joint = Joint(type='FIXED')
fixed_joint.i = Marker(part=ground, qp=[0, 0, -300], zp=[0, 100, -300])
fixed_joint.j = Marker(part=body_1, qp=[0, 0, -300], zp=[0, 100, -300])

curve = Curve(closed=True, function='USER(500)', routine="ms_csubdll::cursub")

ptcv = Ptcv(i=body_0.cm, curve=curve, rm=body_1.cm)

cforce = Cforce(label                        = 'paramcurve force',
                joint                        = ptcv,
                stiction_transition_velocity = 0.0,
                friction_transition_velocity = 0.0,
                stiffness                    = 0.1,
                damping                      = 0.001,
)

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

damping#

Damping coefficient.

Type=Double, Default=0.0, Designable

friction_transition_velocity#

Slip velocity at which mu_dynamic applied.

Type=Double, Default=0.001, Modifiable, Designable

id#

The id of the object.

Type=Int

joint#

The higher pair joint upon which this force is applied.

Type=Reference (Cvcv, Ptcv), Required

label#

A string describing the object.

Type=Str

mu_dynamic#

Coefficient of dynamic friction.

Type=Double, Default=0.0, Modifiable, Designable

mu_static#

Coefficient of static friction.

Type=Double, Default=0.0, Modifiable, Designable

name#

Defines a nametag for the object.

Type=Str

stiction_transition_velocity#

Slip velocity at which mu_static applied.

Type=Double, Default=0.001, Modifiable, Designable

stiffness#

Stiffness coefficient.

Type=Double, Default=0.0, Designable

class Circle(**kwds)#

Creates a circle graphic defined by a center marker and a radius.

Name	Type	Required	Default	Designable
`cm`	Reference - `Marker`	\(\checkmark\)
`color`	Color
`hidden`	Bool		False
`id`	Int		Auto
`label`	Str
`name`	Str
`radius`	Double		0.0	\(\checkmark\)
`rm`	Reference - `Marker`
`seg`	Int		100

Example

Create a Circle graphic.#

from msolve import *

model = Model(output='circle')

ground = Part(ground=True)
global_frame = Marker(part=ground, zp=[0, 0, 1])
mark_1 = Marker(part=ground, qp=[10,0,0], zp=[1, 0, 0])

units = Units(length = 'MILLIMETER')

circle_rad = Circle(cm=global_frame, radius=10.0)

circle_rm = Circle(cm=global_frame, rm=mark_1, seg=20)

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (CircleFromRadius), Post: Graphic (CircleFromRm).

cm#

Center of Circle.

Type=Reference (Marker), Required

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

radius#

Radius of Circle.

Info

This attribute is mutually exclusive with rm.

Type=Double, Default=0.0, Designable

rm#

Marker used to compute the radius of Circle.

Info

This attribute is mutually exclusive with radius.

Type=Reference (Marker)

seg#

Number of line segments used to approximate circular edge.

Type=Int, Default=100

class CoSim(**kwds)#

Performs a one-/two-way coupled Leader/Follower simulation by instantiating separate MotionSolve processes.: Assume you have two models. The leading model has to contain an instance of this class that defines the connection between both models. As soon as the leading model simulates, it spawns a Follower process that contains the second model and begins to communicate with it.

Name	Type	Required	Default
`bonding`	Enum	\(\checkmark\)
`file`	Str	\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)
`id`	Int		Auto
`j`	Reference - `Marker`	\(\checkmark\)
`label`	Str
`name`	Str
`type`	Enum	\(\checkmark\)

Usage

A displacement-force coupling is achieved by bonding i Marker on the leading model with j Marker on the following model. MotionSolve supports different types of bonding between both models:

COOPERATIVE (two-way coupling): Binds i with j as specified by type. i provides displacement, and j returns forces.

COERCIVE (two-way coupling): Binds i with j forcibly as specified by type. i provides forces, and j returns displacement.

DICTATIVE (one-way coupling): Same as COOPERATIVE bonding except j does not return forces.

IMITATIVE (one-way coupling): Same as COERCIVE bonding except i does not return forces.

bonding#

Type of bonding between i and j.

Type=Enum, Required, Default=COOPERATIVE

Permitted values are:

COERCIVE
COOPERATIVE
DICTATIVE
IMITATIVE

file#

Path and file name of the follower model.

Type=Str, Required

i#

Marker on the leading model bonded with j on the follower model.

Type=Reference (Marker), Required

id#

The id of the object.

Type=Int

j#

Marker on the follower model bonded with i marker on the leading model.

Type=Reference (Marker), Required

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

type#

Bonded joint type between i and j.

Type=Enum, Required, Default=SPHERICAL

Permitted values are:

CONVEL
CYLINDRICAL
FIXED
PLANAR
REVOLUTE
SPHERICAL
TRANSLATIONAL
UNIVERSAL

class Contact(**kwds)#

Defines a 3-D contact force between geometries on two rigid or flexible bodies.: Each body is characterized by a set of one or more geometries. Whenever any geometry on the first body penetrates any geometry on the second body, a contact normal and frictional force are generated. The normal force tends to repulse motion along the common normal at the contact point. The frictional force tends to oppose relative sliding velocity at the contact point. The contact force vanishes when the geometries no longer intersect.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`active_contact_iteration`	Bool		False
`collision_engine`	Enum		AUTO	\(\checkmark\)
`contactpost_function`	Function
`contactpost_routine`	Routine
`coulomb_friction`	Enum		OFF
`damping`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`dmax`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`enable_analytical`	Bool		True
`exponent`	Double		1.5	\(\checkmark\)	\(\checkmark\)
`friction_function`	Function
`friction_routine`	Routine
`friction_transition_velocity`	Double		0.001	\(\checkmark\)	\(\checkmark\)
`i_elastic_modulus`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`i_layer_depth`	Double		1.0	\(\checkmark\)	\(\checkmark\)
`id`	Int		Auto
`iflex`	Reference - `FlexBody`
`iflip_flex`	Bool		False
`igeom`	Reference - `Graphics` [0]
`j_elastic_modulus`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`j_layer_depth`	Double		1.0	\(\checkmark\)	\(\checkmark\)
`jflex`	Reference - `FlexBody`
`jflip_flex`	Bool		False
`jgeom`	Reference - `Graphics` [0]
`label`	Str
`master_surface`	Enum		AUTO	\(\checkmark\)
`mu_dynamic`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`mu_static`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`name`	Str
`normal_function`	Function
`normal_routine`	Routine
`normal_trans_vel`	Double		0.01		\(\checkmark\)
`penalty`	Double		0.1	\(\checkmark\)	\(\checkmark\)
`restitution_coefficient`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`script`	Script
`stiction_transition_velocity`	Double		0.001	\(\checkmark\)	\(\checkmark\)
`stiffness`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`type`	Enum	\(\checkmark\)

Example

Create a Contact between two geometries.#

from msolve import *

model = Model(output='contact')

units = Units(system="MKS")
gravity = Accgrav(igrav=0, jgrav=0, kgrav=-9.81)

ground = Part(ground=True)
global_ref = Marker(part=ground)
ground.geometry = Box(cm=global_ref, x=20, y=20, z=5)

ball = Part(mass=1, ip=[1,1,1], cm=Marker(qp=[0,0,10], zv=[0,0,1]))
ball.geometry = Sphere(cm=ball.cm, radius=1, material_inside=True)

contact = Contact(type="IMPACT",
                  igeom=ball.geometry,
                  jgeom=ground.geometry,
                  stiffness=1e6,
                  exponent=1.2,
                  damping=1e3,
                  dmax=2e-3)

sensor = ProximitySensor(igeom=ball.geometry, jgeom=ground.geometry)

sensor_output = Request(f2=f"PROXIMITY({sensor.id},2)")


H3dOutput(save=True)
output = Output(save               = True,
                req_angle_radians  = True,
                capture_max_pd     = True,
                contact_gra_output = True
                )

model.simulate(type="TRANSIENT", end=3, steps=300)
model.generateOutput(visualize=True)

See also

For more details, see also Force: Contact.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

active_contact_iteration#

Specifies if the contact residual is being updated during the corrector step of the implicit solver.

Type=Bool, Default=False

collision_engine#

Engine used for contact detection.

Type=Enum, Default=AUTO, Modifiable

Permitted values are:

AUTO
NODE
PCM

contactpost_function#

Parameters passed to contactpost_routine.

Type=Function

contactpost_routine#

Path and name of library containing contactpost subroutine.

Type=Routine

coulomb_friction#

Friction force model.

Type=Enum, Default=OFF

Permitted values are:

DYNAMICS_ONLY
OFF
ON

damping#

The maximum damping coefficient.

Info

This attribute can only be used when type = IMPACT, VOLUME.

Type=Double, Default=0.0, Modifiable, Designable

dmax#

Penetration at which full damping is applied.

Info

This attribute can only be used when type = IMPACT.

Type=Double, Default=0.0, Modifiable, Designable

enable_analytical#

Specifies if contact should be calculated analytically (True) or mesh-based (False). Applicable only to graphics that supports analytical contact.

Type=Bool, Default=True

exponent#

Exponent of the force deformation characteristic.

Info

This attribute can only be used when type = IMPACT, VOLUME.

Type=Double, Default=1.5, Modifiable, Designable

friction_function#

Parameters passed to friction_routine.

Type=Function

friction_routine#

Path and name of library containing friction force subroutine.

Type=Routine

friction_transition_velocity#

Slip velocity at which mu_dynamic applied.

Type=Double, Default=0.001, Modifiable, Designable

i_elastic_modulus#

Elastic modulus for Body i.

Info

This attribute can only be used when type = VOLUME.

Type=Double, Default=0.0, Modifiable, Designable

i_layer_depth#

Layer depth for Body i.

Info

This attribute can only be used when type = VOLUME.

Type=Double, Default=1.0, Modifiable, Designable

id#

The id of the object.

Type=Int

iflex#

Flexible body used as i part in contact.

Info

This attribute is mutually exclusive with igeom.

Type=Reference (FlexBody)

iflip_flex#

Flip the normal directions for I flex body shell elements.

Type=Bool, Default=False

igeom#

Graphics on the first body for contact.

Info

This attribute is mutually exclusive with iflex.

Type=Reference (Graphics) [0]

j_elastic_modulus#

Elastic modulus for Body j.

Info

This attribute can only be used when type = VOLUME.

Type=Double, Default=0.0, Modifiable, Designable

j_layer_depth#

Layer depth for Body j.

Info

This attribute can only be used when type = VOLUME.

Type=Double, Default=1.0, Modifiable, Designable

jflex#

Flexible body used as j part in contact.

Info

This attribute is mutually exclusive with jgeom.

Type=Reference (FlexBody)

jflip_flex#

Flip the normal directions for J flex body shell elements.

Type=Bool, Default=False

jgeom#

Graphics on the second body for contact.

Info

This attribute is mutually exclusive with jflex.

Type=Reference (Graphics) [0]

label#

A string describing the object.

Type=Str

master_surface#

Specifies the master surface.

Type=Enum, Default=AUTO, Modifiable

Permitted values are:

AUTO
I
IANDJ
J

mu_dynamic#

Coefficient of dynamic friction.

Type=Double, Default=0.0, Modifiable, Designable

mu_static#

Coefficient of static friction.

Type=Double, Default=0.0, Modifiable, Designable

name#

Defines a nametag for the object.

Type=Str

normal_function#

Parameters passed to normal_routine.

Type=Function

normal_routine#

Path and name of library containing contact force subroutine.

Type=Routine

normal_trans_vel#

Velocity limit between the two bodies at which full damping is applied.

Info

This attribute can only be used when type = POISSON.

Type=Double, Default=0.01, Designable

penalty#

Stiffness parameter for spring force.

Info

This attribute can only be used when type = POISSON.

Type=Double, Default=0.1, Modifiable, Designable

restitution_coefficient#

Coefficient between the geometries in contact.

Info

This attribute can only be used when type = POISSON.

Type=Double, Default=0.0, Modifiable, Designable

script#

Path and name of the script that contains the routine.

Type=Script

stiction_transition_velocity#

Slip velocity at which mu_static applied.

Type=Double, Default=0.001, Modifiable, Designable

stiffness#

The stiffness parameter of the contact.

Info

This attribute can only be used when type = IMPACT.

Type=Double, Default=0.0, Modifiable, Designable

type#

Method used for calculating the contact normal force.

Type=Enum, Required

Permitted values are:

IMPACT
NONE
POISSON
USER
VOLUME

class Coupler(**kwds)#

Defines an algebraic relationship between the degrees of freedom of two or three joints.: This constraint element may be used to model idealized spur gears, rack and pinion gears, and differentials as simple constraints that relate the displacements in a set of joints.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`function`	Function
`id`	Int		Auto
`joints`	Reference - `Joint` [3]	\(\checkmark\)		\(\checkmark\)
`label`	Str
`name`	Str
`routine`	Routine
`scales`	Double [3]		[1, 0, 0]	\(\checkmark\)	\(\checkmark\)
`script`	Script
`type`	EnumStr [3]			\(\checkmark\)
`virtual`	Bool		False

See also

For more details, see also Constraint: Coupler.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine.

Info

This attribute is mutually exclusive with scales.

Type=Function

id#

The id of the object.

Type=Int

joints#

List of joints used to define constraint relationship.

Type=Reference (Joint) [3], Required, Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

scales#

Scale factors defining the constraint associated with a coupler.

Info

This attribute is mutually exclusive with function.

Type=Double [3], Default=[1, 0, 0], Modifiable, Designable

script#

Path and name of the script that contains the routine.

Type=Script

type#

Freedom type used for the respective joints.

Type=EnumStr [3], Modifiable

Permitted values are:

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Curve(**kwds)#

Defines a parametric curve in 3D space.: You can reference this element using Ptcv, Cvcv, Graphics, and function expressions. Curves can be defined via matrix, function or xyz points.

Name	Type	Default	Modifiable
`closed`	Bool	False	\(\checkmark\)
`curve_points`	Bool	False	\(\checkmark\)
`function`	Function		\(\checkmark\)
`id`	Int	Auto
`is_smooth_linear`	Bool	False
`label`	Str
`matrix`	Reference - `Matrix`		\(\checkmark\)
`maxpar`	Double	1.0
`minpar`	Double	-1.0
`name`	Str
`routine`	Routine
`script`	Script
`smoothing_distance`	Double	0.1
`xyz`	Nodes [0]

Example

Create a circle Curve.#

from msolve import *
import numpy as np

model = Model(output='curve')

units = Units(system="MKS")

ground = Part(ground=True)
global_ref = Marker(part=ground)

part = Part(mass=10, ip=[1]*3, cm=Marker())

seg = np.linspace(0, 1, 101)
radius = 50
curve_points = []

for i, point in enumerate(seg):
  curve_points.append([radius*np.sin(2*np.pi*point),
                       radius*np.sin(2*np.pi*point),
                       0])

curve_points[-1] = curve_points[0] # last and first point must coincide in closed curve

curve = Curve(xyz=list(curve_points), closed=True, curve_points=True)

curve.graphic = CurveGraphic(curve=curve, rm=global_ref, seg=20)

H3dOutput(save=True)

See also

For more details, see also Reference: Parametric Curve.

closed#

True if Curve closed in the U parametric space.

Type=Bool, Default=False, Modifiable

curve_points#

True if curve passes through the points.

Type=Bool, Default=False, Modifiable

function#

Parameters passed to user defined subroutine.

Info

This attribute is mutually exclusive with xyz, matrix.

Type=Function, Modifiable

id#

The id of the object.

Type=Int

is_smooth_linear#

Enables piece-wise linear interpolation with smoothing of the edges between the individual segments.

Type=Bool, Default=False

label#

A string describing the object.

Type=Str

matrix#

Matrix element that contains the curve data.

Info

This attribute is mutually exclusive with xyz, function.

Type=Reference (Matrix), Modifiable

maxpar#

The maximum value of U.

Type=Double, Default=1.0

minpar#

The minimum value of U.

Type=Double, Default=-1.0

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

smoothing_distance#

Controls the smoothing radius of the edges when is_smooth_linear is set

Type=Double, Default=0.1

xyz#

List of [x,y,z] points used by the curve.

Info

This attribute is mutually exclusive with matrix, function.

Type=Nodes [0]

class CurveGraphic(**kwds)#

Creates a curve graphic that represents a Curve.

Name	Type	Required	Default
`cid`	Alias
`color`	Color
`crm`	Alias
`curve`	Reference - `Curve`	\(\checkmark\)
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`material_inside`	Bool		True
`name`	Str
`rm`	Reference - `Marker`	\(\checkmark\)
`seg`	Int		100

Example

For an example, see Curve.

See also

For more details, see also Post: Graphic (ParamCurve).

cid#

Alias to curve.

Type=Alias

color#

The color of the graphic for H3D animation.

Type=Color

crm#

Alias to rm.

Type=Alias

curve#

The represented Curve object.

Type=Reference (Curve), Required

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

rm#

Coordinate system with respect to which the curve points are defined.

Type=Reference (Marker), Required

seg#

Number of line segments used to approximate the curve.

Type=Int, Default=100

class Cvcv(**kwds)#

Defines a (Curve to Curve) higher pair constraint.: The constraint consists of a 3D Curve fixed on one body rolling and sliding on a 3D Curve fixed on a second body. The curves are required to have a unique point of contact and a common tangent at that point of contact.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`icurve`	Reference - `Curve`	\(\checkmark\)
`id`	Int		Auto
`idisp`	Double [3]		[0, 0, 0]		\(\checkmark\)
`irm`	Reference - `Marker`	\(\checkmark\)
`ivel`	Double		0.0		\(\checkmark\)
`jcurve`	Reference - `Curve`	\(\checkmark\)
`jdisp`	Double [3]		[0, 0, 0]		\(\checkmark\)
`jrm`	Reference - `Marker`	\(\checkmark\)
`jvel`	Double		0.0		\(\checkmark\)
`label`	Str
`name`	Str
`no_slip`	Bool		False
`virtual`	Bool		False

Example

Create a Curve to Curve constraint.#

from msolve import *

model = Model(output="cvcv")

ground = Part(ground=True)
global_ref = Marker(body=ground)
Units(length="MILLIMETER")
Accgrav(kgrav=-9810)

body0 = Part(mass=10,ip=[1e3,700,500,0,0,0])
body0.cm = Marker(qp=[229.61,0.0,554.328],zv=[0,0,1], xv=[1,0,0])

body1 = Part(mass=50,ip=[5e3,10e3,5e3])
body1.cm = Marker(qp=[0,0,0],zv=[0,0,1], xv=[1,0,0])

jrev1 = Joint(type="REVOLUTE")
jrev1.i = Marker(label="joint 1-marker i",body=ground,qp=[0,0,-300],zv=[0,1,0])
jrev1.j = Marker(label="joint 1-marker j",body=body1,qp=[0,0,-300],zv=[0,1,0])

curve_1 = Curve(closed=True,minpar=-1,maxpar=1, function="user(100)", routine = "ms_csubdll::CURSUB")
curve_2 = Curve(closed=True,minpar=-1,maxpar=1, function="user(500)", routine = "ms_csubdll::CURSUB")

cvcv = Cvcv(icurve=curve_1, irm=body0.cm, jcurve=curve_2, jrm=body1.cm)

See also

For more details, see also Constraint: CVCV.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

icurve#

Curve that contains the first curve definition.

Type=Reference (Curve), Required

id#

The id of the object.

Type=Int

idisp#

Coordinates of initial contact point on the first curve.

Type=Double [3], Default=[0, 0, 0], Designable

irm#

Coordinate system in which the icurve points are defined.

Type=Reference (Marker), Required

ivel#

Sliding velocity of the contact point observed from irm.

Type=Double, Default=0.0, Designable

jcurve#

Curve that contains the second curve definition.

Type=Reference (Curve), Required

jdisp#

Coordinates of initial contact point on the second curve.

Type=Double [3], Default=[0, 0, 0], Designable

jrm#

Coordinate system in which the jcurve points are defined.

Type=Reference (Marker), Required

jvel#

Sliding velocity of the contact point observed from jrm.

Type=Double, Default=0.0, Designable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

no_slip#

Specifies if slip or slide is allowed between the two curves.

Type=Bool, Default=False

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Cvsf(**kwds)#

Defines a (Curve to Surface) higher pair constraint.: A Curve on one body slides on a Surface that is fixed to a second body. The curve is not allowed to lift off the surface.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`curve`	Reference - `Curve`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`idisp`	Double [3]		[0, 0, 0]		\(\checkmark\)
`irm`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`jdisp`	Double [3]		[0, 0, 0]		\(\checkmark\)
`jrm`	Reference - `Marker`	\(\checkmark\)
`label`	Str
`name`	Str
`no_slip`	Bool		False
`surface`	Reference - `Surface`	\(\checkmark\)		\(\checkmark\)
`virtual`	Bool		False

Example

Create a Curve to Surface constraint.#

from msolve import *

model = Model(output="cvsf")

ground = Part(ground=True)
global_frame = Marker(part=ground)
Units(length="MILLIMETER")
Accgrav(kgrav=-9810)

part1 = Part (mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[100,0,200], zv=[0,0,1]))
part2 = Part (mass=1, ip=[1e3,1e3,1e3], cm=Marker())

cv = Curve(closed   = True,
           minpar   = -1,
           maxpar   = 1,
           function = "USER(100)",
           routine  = "ms_csubdll::CURSUB")

sf = Surface(uclosed   = True,
             vclosed   = True,
             minpar    = [-1,-1],
             maxpar    = [1,1],
             function  = "USER(2,500)",
             routine   = "ms_csubdll::SURSUB")

cvsf = Cvsf(curve=cv,irm=part2.cm,surface=sf,jrm=part1.cm)

See also

For more details, see also Constraint: CVSF.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

curve#

Reference to an existing Curve in the model.

Type=Reference (Curve), Required, Modifiable

id#

The id of the object.

Type=Int

idisp#

A guess for the initial contact point on the curve.

Type=Double [3], Default=[0, 0, 0], Designable

irm#

Coordinate system for the definition of the curve.

Type=Reference (Marker), Required, Modifiable

jdisp#

A guess for the initial contact point on the surface.

Type=Double [3], Default=[0, 0, 0], Designable

jrm#

Coordinate system for the definition of the surface.

Type=Reference (Marker), Required

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

no_slip#

Specifies if slip or slide is allowed between the curve and the surface.

Type=Bool, Default=False

surface#

Reference to an existing Surface in the model.

Type=Reference (Surface), Required, Modifiable

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Cylinder(**kwds)#

Creates a 3D graphic with straight parallel sides and a circular cross-section along the z-axis of the cm Marker.

Name	Type	Required	Default	Modifiable	Designable
`auto_clearance`	Double			\(\checkmark\)
`cm`	Reference - `Marker`	\(\checkmark\)
`color`	Color
`end_caps`	Enum		OPEN
`ends_type`	Alias
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`length`	Double		0.0		\(\checkmark\)
`material_inside`	Bool		True
`name`	Str
`radius`	Double		0.0		\(\checkmark\)
`refinement_level`	Int		4

Example

Create a Cylinder graphic.#

from msolve import *

model = Model(output="cylinder")

ground = Part(ground=True)
global_frame = Marker(part=ground)
Units(length="MILLIMETER")

cyl = Cylinder(cm=global_frame, radius=10, length=100, end_caps="CLOSED", material_inside=True)

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (Cylinder).

auto_clearance#

Automatically compute clearance when contacts are defined on cylinders.

Type=Double, Modifiable

cm#

Marker at the center of the base circular section.

Type=Reference (Marker), Required

color#

The color of the graphic for H3D animation.

Type=Color

end_caps#

Specifies if the top and bottom are closed.

Type=Enum, Default=OPEN

Permitted values are:

BOTTOM_ONLY
CLOSED
OPEN
TOP_ONLY

ends_type#

Alias to end_caps

Type=Alias

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

length#

Length of Cylinder.

Type=Double, Default=0.0, Designable

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

radius#

Radius of Cylinder.

Type=Double, Default=0.0, Designable

refinement_level#

Type=Int, Default=4

class Debug(**kwds)#

Outputs data that helps you debug your simulation.

Name	Type	Default	Modifiable
`anim`	Bool	False	\(\checkmark\)
`eprint`	Bool	False	\(\checkmark\)
`label`	Str
`name`	Str
`screen_output`	Bool	False	\(\checkmark\)
`verbose`	Bool	False	\(\checkmark\)

See also

For more details, see also DebugOutput.

anim#

A flag that causes animation frames to be generated.

Type=Bool, Default=False, Modifiable

eprint#

A flag controlling the generation of debugging information.

Type=Bool, Default=False, Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

screen_output#

True if the debug output is to be printed to the screen.

Type=Bool, Default=False, Modifiable

verbose#

The level of verbosity of the output.

Type=Bool, Default=False, Modifiable

class DeformableCurve(**kwds)#

Specifies a deformable curve that is made to pass through the origins of a specified set of markers, using CUBIC spline interpolation.: These markers may be on separate bodies. As the markers move in space, the curve shape is recalculated using CUBIC spline interpolation, thereby allowing the curve to deform. The curve can be opened or closed.

Name	Type	Default	Modifiable
`end_type_left`	Enum	NATURAL
`end_type_right`	Enum	NATURAL
`id`	Int	Auto
`label`	Str
`lambda_left`	Double	0.0
`lambda_right`	Double	0.0
`markers`	Reference - `Marker` [0]
`mrk_id_vec`	Alias
`name`	Str
`u_closed`	Bool	False
`u_span`	Double	1.0	\(\checkmark\)
`uclosed`	Alias

Example

Create a DeformableCurve and its graphic.#

from msolve import *

model = Model(output="def_curve")

ground = Part(ground=True)
global_ref = Marker(body=ground)

body=Part(mass=1, cm=Marker(qp=[100,0,0]), ip=[1e3,1e3,1e3])

mar1 = Marker(body=body, qp=[100,0,0])
mar2 = Marker(body=body, qp=[500,100,200])
mar3 = Marker(body=body, qp=[-100,-200,0])
mar4 = Marker(body=body, qp=[0,300,100])

curve = DeformableCurve(end_type_left  = "NATURAL",
                        end_type_right = "NATURAL",
                        markers        = [mar1, mar2, mar3, mar4],
                        u_span         = 1.
                        )

graphic = DeformableCurveGraphic(dcurve=curve, seg=50)

H3dOutput(save=True)
model.simulate(type="TRANSIENT", end=1, steps=300)
model.generateOutput(visualize=True)

See also

For more details, see also Reference: Deformable Curve.

end_type_left#

Specifies the 2nd derivative condition met at the left end.

Type=Enum, Default=NATURAL

Permitted values are:

CANTILEVER
NATURAL
PARABOLIC
PERIODIC

end_type_right#

Specifies the 2nd derivative condition met at the right end.

Type=Enum, Default=NATURAL

Permitted values are:

CANTILEVER
NATURAL
PARABOLIC
PERIODIC

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

lambda_left#

Parameter that controls the left end condition for CUBIC spline interpolation.

Type=Double, Default=0.0

lambda_right#

Parameter that controls the right end condition for CUBIC spline interpolation.

Type=Double, Default=0.0

markers#

List of marker that defines this deformed curve.

Type=Reference (Marker) [0]

mrk_id_vec#

Alias of markers.

Type=Alias

name#

Defines a nametag for the object.

Type=Str

u_closed#

True if the Curve is unclosed.

Type=Bool, Default=False

u_span#

Specifies the parametric span of the curve.

Type=Double, Default=1.0, Modifiable

uclosed#

Alias of u_closed.

Type=Alias

class DeformableCurveGraphic(**kwds)#

Creates a curve graphic that represents a DeformableCurve.: The graphic is defined by a number of straight line segments connecting vertices on the curve defined by deformable curve. The graphic deforms along with the curve as the simulation progresses.

Name	Type	Required	Default
`color`	Color
`dcurve`	Reference - `DeformableCurve`	\(\checkmark\)
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`material_inside`	Bool		True
`name`	Str
`radius`	Double		0.0
`seg`	Int		100

Example

For an example, see DeformableCurve.

See also

For more details, see also Post: Graphic (DeformCurve).

color#

The color of the graphic for H3D animation.

Type=Color

dcurve#

Deformable Curve.

Type=Reference (DeformableCurve), Required

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#: Type=Alias

label#

A string describing the object.

Type=Str

material_inside#: Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

radius#

The radius of the DeformableCurveGraphic.

Type=Double, Default=0.0

seg#

Number of line segments used to approximate the curves.

Type=Int, Default=100

class DeformableSurface(**kwds)#

Specifies a deformable surface that is made to pass through the origins of a specified set of markers, using CUBIC spline interpolation.: These markers may be on separate bodies or on a flexible body. As the markers move in space, the surface is recalculated using CUBIC spline interpolation thereby allowing the surface to deform. The surface can be open or closed.

Name	Type	Default	Modifiable
`end_type`	Enum	NATURAL
`id`	Int	Auto
`label`	Str
`markers`	Reference - `Marker` [0]
`mrk_id_mtx`	Alias
`name`	Str
`u_closed`	Bool	False
`u_span`	Double	1.0	\(\checkmark\)
`uclosed`	Alias
`v_closed`	Bool	False
`v_span`	Double	1.0	\(\checkmark\)
`vclosed`	Alias

Example

Create a DeformableSurface and its graphic.#

from msolve import *

model = Model(output="def_surface")

ground = Part(ground=True)
global_ref = Marker(body=ground)
Units(length="MILLIMETER")

body=Part(mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[100,0,0], zv=[0,0,1]))

mar1 = Marker(body=body, qp=[100,0,0])
mar2 = Marker(body=body, qp=[0,200,0])
mar3 = Marker(body=body, qp=[-100,0,0])
mar4 = Marker(body=body, qp=[0,-200,0])

mar10 = Marker(body=body, qp=[100,0,60])
mar20 = Marker(body=body, qp=[0,200,60])
mar30 = Marker(body=body, qp=[-100,0,60])
mar40 = Marker(body=body, qp=[0,-200,60])

surf = DeformableSurface(end_type  = "NATURAL",
                         markers   = [[mar1,mar2,mar3,mar4],
                                      [mar10,mar20,mar30,mar40],
                                      [mar1,mar2,mar3,mar4]],
                         u_tension = 1.0,
                         v_tension = 1.0,
                         u_closed  = True
                         )

graphic = DeformableSurfaceGraphic(dsurface=surf, u_seg=10, v_seg=50)

H3dOutput(save=True)
model.simulate(type="TRANSIENT", end=1, steps=300)
model.generateOutput(visualize=True)

See also

For more details, see also Reference: Deformable Surface.

end_type#

Define the end type of this deformed surface.

Type=Enum, Default=NATURAL

Permitted values are:

NATURAL
PARABOLIC
PERIODIC

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

markers#

Markers that define the deformed surface.

Type=Reference (Marker) [0]

mrk_id_mtx#

Alias of markers.

Type=Alias

name#

Defines a nametag for the object.

Type=Str

u_closed#

True if the surface is closed in U direction.

Type=Bool, Default=False

u_span#

Specifies the parametric span of the surface in the U direction.

Type=Double, Default=1.0, Modifiable

uclosed#

Alias of u_closed.

Type=Alias

v_closed#

True if the surface is closed in V direction.

Type=Bool, Default=False

v_span#

Specifies the parametric span of the surface in the V direction.

Type=Double, Default=1.0, Modifiable

vclosed#

Alias of v_closed.

Type=Alias

class DeformableSurfaceGraphic(**kwds)#

Creates a surface graphic that represents a DeformableSurface.: The graphic is defined by a number of straight line segments connecting vertices on the surface defined by deformable surface. The graphic deforms along with the surface as the simulation progresses.

Name	Type	Required	Default
`color`	Color
`dsurface`	Reference - `DeformableSurface`	\(\checkmark\)
`hidden`	Bool		False
`id`	Int		Auto
`label`	Str
`name`	Str
`u_seg`	Int		0
`v_seg`	Int		0

Example

For an example, see DeformableSurface.

See also

For more details, see also Post: Graphic (DeformSurface).

color#

The color of the graphic for H3D animation.

Type=Color

dsurface#

Deformable Curve.

Type=Reference (DeformableSurface), Required

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

u_seg#

Number of line segments used to approximate the surface.

Type=Int, Default=0

v_seg#

Number of line segments used to approximate the surface.

Type=Int, Default=0

class Diff(**kwds)#

Creates a user-defined state variable and defines a first-order differential equation that describes it.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`function`	Function	\(\checkmark\)		\(\checkmark\)
`ic`	Double [2]		[None, None]	\(\checkmark\)	\(\checkmark\)
`id`	Int		Auto
`implicit`	Bool		False
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script
`static_hold`	Bool		False

Example

Create a state variable using Diff.#

from msolve import *

model = Model(output="diff")

ground = Part(ground=True)
global_ref = Marker(body=ground)
Units(length="MILLIMETER")
Accgrav(kgrav=-9810)

body=Part(mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[0,0,100], zv=[0,0,1]))

dif = Diff(function=f"ACCZ({body.cm.id},{global_ref.id})", ic=[1.25])

See also

For more details, see also Control: Differential Equation.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine or a legal MotionSolve expression that defines the differential equation.

Type=Function, Required, Modifiable

ic#

Initial conditions of differential equation.

Type=Double [2], Default=[None, None], Modifiable, Designable

id#

The id of the object.

Type=Int

implicit#

Specifies if derivative is defined implicitly.

Type=Bool, Default=False

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

static_hold#

Specifies if dynamic state is kept fixed during static solution.

Type=Bool, Default=False

class Dv(**kwds)#

Defines a special type of solver state variable.: It is used in the evaluation and computation of design sensitivity as a design parameter. Its value is modified during the simulation in case of Design Sensitivity Analysis.

Name	Type	Required	Default
`b`	Double	\(\checkmark\)
`blimit`	Double [2]		[-1000000000000.0, 1000000000000.0]
`id`	Int		Auto
`label`	Str
`name`	Str
`scaleBySen`	Bool		True
`sensitivity`	Bool		True
`values`	Double [0]		0.0

Example

Create a Dv variable.#

from msolve import *

model = Model(output="dv")

Units(length="MILLIMETER")
Accgrav(kgrav=-9810)
ground = Part(ground=True)
global_ref = Marker(body=ground)

body=Part(mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[0,0,100], zv=[0,0,1]))

radius = Dv(b=100, blimit=[80,135])
length = Dv(b=1e3, blimit=[850, 1100])

cyl = Cylinder(cm=body.cm, radius=radius, length=length, end_caps="CLOSED")

H3dOutput(save=True)

See also

For more details, see also Design Variables and Limits.

b#

Initial value of the design variable.

Type=Double, Required, Default=0.0

blimit#

Lower and Upper bound numerical values for the Design Variable.

Type=Double [2], Default=[-1000000000000.0, 1000000000000.0]

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

scaleBySen#

True if scale the design variable by sensitivity.

Type=Bool, Default=True

sensitivity#

When set to False, MotionSolve ignores this Dv in dsa analysis.

Type=Bool, Default=True

values#

List of values of the design variable used in Plackett-Burman and fractional factorial DOE.

Type=Double [0], Default=0.0

class Ellipsoid(**kwds)#

Creates a 3D graphic where its cross-sectional planes consist of ellipses or circles, with the center aligned to the cm Marker.

Name	Type	Required	Default	Designable
`cm`	Reference - `Marker`	\(\checkmark\)
`color`	Color
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`material_inside`	Bool		True
`name`	Str
`refinement_level`	Int		3
`xscale`	Double		0.0	\(\checkmark\)
`yscale`	Double		0.0	\(\checkmark\)
`zscale`	Double		0.0	\(\checkmark\)

Example

Create an Ellipsoid graphic.#

from msolve import *

model = Model(output="ellipsoid")

Units(length="MILLIMETER")

ground = Part(ground=True)
global_ref = Marker(body=ground)

graphic = Ellipsoid(cm=global_ref, xscale=1, yscale=1, zscale=3, color="100:200:50")

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (Ellipsoid).

cm#

Marker at the center of the Ellipsoid.

Type=Reference (Marker), Required

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

refinement_level#

Type=Int, Default=3

xscale#

Diameter of the Ellipsoid graphic along the x-axis.

Type=Double, Default=0.0, Designable

yscale#

Diameter of the Ellipsoid graphic along the y-axis.

Type=Double, Default=0.0, Designable

zscale#

Diameter of the Ellipsoid graphic along the z-axis.

Type=Double, Default=0.0, Designable

class Equilibrium(**kwds)#

Specifies error tolerances and other parameters for static and quasi-static equilibrium analyses.

Name	Type	Default	Modifiable
`error`	Double		\(\checkmark\)
`imbalance`	Double		\(\checkmark\)
`kinetic_energy_error`	Double		\(\checkmark\)
`label`	Str
`maxit`	Int		\(\checkmark\)
`method`	Enum	FIM_D	\(\checkmark\)
`name`	Str
`skip_mkeam`	Bool	False	\(\checkmark\)
`stability`	Double		\(\checkmark\)
`type`	Enum		\(\checkmark\)

See also

For more details, see also Parameters: Static Solver.

error#

Upper limit for the FIM convergence criteria.

Type=Double, Modifiable

imbalance#

Maximum force imbalance allowed.

Type=Double, Modifiable

kinetic_energy_error#

Maximum allowed residual kinetic energy at static equilibrium.

Type=Double, Modifiable

label#

A string describing the object.

Type=Str

maxit#

Number of iterations allowed before static simulation terminates.

Type=Int, Modifiable

method#

Specifies the static solver method used.

Type=Enum, Default=FIM_D, Modifiable

Permitted values are:

FIM_D
FIM_S
MKEAM

name#

Defines a nametag for the object.

Type=Str

skip_mkeam#

True if you want to skip MKEAM analysis following FIM failure.

Type=Bool, Default=False, Modifiable

stability#

Fraction of mass matrix added to Jacobian.

Type=Double, Modifiable

type#

The type of simulation.

Type=Enum, Modifiable

Permitted values are:

DYNAMIC
STATIC

class External(**kwds)#

Creates a graphic object defined using an external file.

Name	Type	Required	Default
`color`	Color
`element`	Str [0]
`file`	Str
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`material_inside`	Bool		True
`name`	Str
`refinement_level`	Int
`rm`	Reference - `Marker`	\(\checkmark\)

Example

Import an external graphic object.#

from msolve import *

model = Model(output="external")

ground = Part(ground=True)
global_ref = Marker(body=ground)

# the provided file must exist in the specified directory
External(rm=global_ref, file="slotted_link.x_t", element = ['Link','Pin'])

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (Parasolid).

color#

The color of the graphic for H3D animation.

Type=Color

element#

Component or element used from the external file.

Type=Str [0]

file#

Location and name of an external file.

Type=Str

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

refinement_level#

Mesh density used for visualization and, when applicable, for 3D body contact. Must be larger or equal to 0.

Type=Int

rm#

Marker serving as a reference point for geometry data.

Type=Reference (Marker), Required

class Field(**kwds)#

Applies a translational and rotational action-reaction force between two markers.: Both linear and non-linear relationships are supported. Stiffness and damping linear terms are expressed in 6 by 6 matrix form. Damping can also be expressed as a global stiffness ratio (cratio).

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`cmatrix`	Double [36]			\(\checkmark\)	\(\checkmark\)
`cratio`	Double			\(\checkmark\)	\(\checkmark\)
`force`	Double [6]		[0, 0, 0, 0, 0, 0]	\(\checkmark\)	\(\checkmark\)
`function`	Function			\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`j`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`kmatrix`	Double [36]			\(\checkmark\)	\(\checkmark\)
`label`	Str
`length`	Double [6]		[0, 0, 0, 0, 0, 0]	\(\checkmark\)	\(\checkmark\)
`name`	Str
`routine`	Routine
`script`	Script

Example

Create a Field.#

from msolve import *

model = Model(output="field")

ground = Part(ground=True)
global_ref = Marker(body=ground)

body_a = Part  (mass=1, ip=[1,1,1], cm=Marker(qp=Point(0,200,100)))
body_b = Part  (mass=5, ip=[1,1,1], cm=Marker(qp=Point(0,200,150)))

field = Field(i        = body_a.cm,
              j        = body_b.cm,
              function = "USER(1,1,1,1,1)",
              routine  = "msautoutils::fiesub",
              )

See also

For more details, see also Force: Field.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

cmatrix#

6x6 damping matrix.

Info

This attribute is mutually exclusive with cratio, function.

Type=Double [36], Modifiable, Designable

cratio#

Damping scale factor.

Info

This attribute is mutually exclusive with cmatrix, function.

Type=Double, Modifiable, Designable

force#

Translational preload force and rotational preload torque.

Type=Double [6], Default=[0, 0, 0, 0, 0, 0], Modifiable, Designable

function#

Parameters passed to user subroutine.

Info

This attribute is mutually exclusive with cmatrix, cratio.

Type=Function, Modifiable

i#

Marker at which the force and moment is applied.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

j#

Marker at which the reaction force and moment is applied.

Type=Reference (Marker), Required, Modifiable

kmatrix#

6x6 stiffness matrix.

Type=Double [36], Modifiable, Designable

label#

A string describing the object.

Type=Str

length#

Free length of the Field element.

Type=Double [6], Default=[0, 0, 0, 0, 0, 0], Modifiable, Designable

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

class FlexBody(**kwds)#

Defines a flexible body object in MotionSolve.: This entity has mass and inertia properties just like a rigid body. In addition, it has modal flexibility properties that allow it to deform under loads. The FlexBody operates in 3-D space where it can simultaneously undergo large overall motion as well as deformation.

Name	Type	Default	Modifiable	Designable
`cms_data`	Reference - `NuCMS`
`color`	Color
`cratio`	Function
`full_label`	Str
`function`	Function
`h3d_file`	FileName
`ic_array`	Reference - `Array`
`id`	Int	Auto
`label`	Str
`lset_file`	Str
`max_num_cnt_loadset`	Int	0
`mtx_file`	FileName
`name`	Str
`orthogonal_loadset`	Bool	True
`qg`	Location	0.0, 0.0, 0.0		\(\checkmark\)
`reuler`	Angles			\(\checkmark\)
`rigidified`	Bool	False	\(\checkmark\)
`routine`	Routine
`script`	Script
`vm`	Reference - `Marker`
`vx`	Double		\(\checkmark\)	\(\checkmark\)
`vy`	Double		\(\checkmark\)	\(\checkmark\)
`vz`	Double		\(\checkmark\)	\(\checkmark\)
`wm`	Reference - `Marker`
`wx`	Double		\(\checkmark\)	\(\checkmark\)
`wy`	Double		\(\checkmark\)	\(\checkmark\)
`wz`	Double		\(\checkmark\)	\(\checkmark\)
`xg`	Location			\(\checkmark\)
`xv`	Location			\(\checkmark\)
`zg`	Location			\(\checkmark\)
`zv`	Location			\(\checkmark\)

Example

For this example, a mtx file is required. The file is located in the mbd_modeling\flexbodies folder in the MotionSolve tutorials Model Files. You may copy the file to your working directory.

Create a FlexBody.#

from msolve import *

model = Model(output='flexbody')

ground = Part(ground=True)
global_ref = Marker(part=ground)
Units(system='MKS')
Accgrav(kgrav=-9.81)

flex = FlexBody(mtx_file="sla_flex_left.mtx", qg=[1,1,1], zv=[0,0,1])

See also

For more details, see also Body: Flexible.

cms_data#

NuCMS object that contains the CMS representation for the FlexBody.

Type=Reference (NuCMS)

color#

The color of the graphic for this flexible body.

Type=Color

cratio#

State-dependent expression of damping coefficient for each mode.

Type=Function

full_label#

When defined on a rigid body it indicates that aero-dynamic loads calculated during a MotionSolve-Acusolve co-simulation will be applied. It is essential for this string to correspond to the Rigid Body label defined within the Motion Ribbon of HyperWorks CFD, under External Surface.

Type=Str

function#

Parameters passed to user defined subroutine.

Type=Function

h3d_file#

H3D file containing nodes in finite element mesh.

Type=FileName

ic_array#

Array holding the initial conditions of the flex body modes

Type=Reference (Array)

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

lset_file#

Output filename for contact bdf file generated during simulation.

Type=Str

max_num_cnt_loadset#

Maximum number of exported contact loadsets.

Type=Int, Default=0

mtx_file#

MTX file containing CMS representation for FlexBody.

Type=FileName

name#

Defines a nametag for the object.

Type=Str

orthogonal_loadset#

Boolean indicating if computed loadsets will be orthogonalized.

Type=Bool, Default=True

qg#

Coordinates of local FlexBody reference marker.

Type=Location, Default=0.0, 0.0, 0.0, Designable

reuler#

3-1-3 Euler angles of local part reference marker.

Info

This attribute is mutually exclusive with { xg , zg }, { zv , xv }.

Type=Angles, Designable

rigidified#

Convert the flexible body to a rigid body if True.

Type=Bool, Default=False, Modifiable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

vm#

Marker used to define initial translational velocity. When not specified, it defaults to the global coordinate system.

Type=Reference (Marker)

vx#

Initial translational velocity along x-axis.

Type=Double, Modifiable, Designable

vy#

Initial translational velocity along y-axis.

Type=Double, Modifiable, Designable

vz#

Initial translational velocity along z-axis.

Type=Double, Modifiable, Designable

wm#

Marker used to define initial angular velocity. When not specified, it defaults to the FlexBody cm coordinate system.

Type=Reference (Marker)

wx#

Initial angular velocity along x-axis.

Type=Double, Modifiable, Designable

wy#

Initial angular velocity along y-axis.

Type=Double, Modifiable, Designable

wz#

Initial angular velocity along z-axis.

Type=Double, Modifiable, Designable

xg#

Point the x-axis of the LPRF marker to the specified point.

Info

This attribute is mutually exclusive with { zv , xv }, reuler.

Type=Location, Designable

xv#

Align the x-axis of the LPRF marker along the specified direction.

Info

This attribute is mutually exclusive with { xg , zg }, reuler.

Type=Location, Designable

zg#

Point the z-axis of the LPRF marker to the specified point.

Info

This attribute is mutually exclusive with { zv , xv }, reuler.

Type=Location, Designable

zv#

Align the z-axis of the LPRF marker along the specified direction.

Info

This attribute is mutually exclusive with { xg , zg }, reuler.

Type=Location, Designable

class Fmu(**kwds)#

Creates a Functional Mock-up Interface used for Model Exchange and Co-Simulation.

Name	Type	Default	Modifiable
`active`	Bool	True	\(\checkmark\)
`comm_intvl`	Alias
`dll`	Str	nugsefmu
`dll_name`	Alias
`geoms`	Int [0]	0
`ic`	Reference - `Array`
`id`	Int	Auto
`interval`	Double	0.0
`ip_addr`	Alias
`ip_address`	Str	PIPE
`label`	Str
`name`	Str
`path`	Str
`start_time`	Double	0.0
`static_hold`	Bool	False
`type`	Enum	ME
`u`	Reference - `Array`
`var_ic`	Property
`var_name`	Str
`x`	Reference - `Array`
`y`	Reference - `Array`

See also

For more details, see also Control: FMU.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

comm_intvl#

Alias to interval.

Type=Alias

dll#

Path and name of the DLL that is used to load the FMU.

Type=Str, Default=nugsefmu

dll_name#

Alias to dll.

Type=Alias

geoms#: Type=Int [0], Default=0

ic#

Array used to store the initial conditions for the continuous states.

Type=Reference (Array)

id#

The id of the object.

Type=Int

interval#

Time interval between successive communications with the FMU.

Type=Double, Default=0.0

ip_addr#

Alias to ip_address.

Type=Alias

ip_address#

IP address for the FMU connecting to MotionSolve.

Type=Str, Default=PIPE

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

path#

Path of the FMU file.

Type=Str

start_time#

The start time for the coupled co-simulation.

Type=Double, Default=0.0

static_hold#

Specifies if dynamic states x are kept fixed during static/quasi-static solution.

Type=Bool, Default=False

type#

Type of FMU.

Type=Enum, Default=ME

Permitted values are:

u#

Array used to store the input, u.

Type=Reference (Array)

var_ic#

The values of var_name variables that need to be set by the user.

Type=Property

var_name#

The names of the variables inside FMU that can be assigned a value.

Type=Str

x#

Array used to store the continuous states, x.

Type=Reference (Array)

y#

Array used to store the output, y.

Type=Reference (Array)

class ForceGraphic(**kwds)#

Creates an arrow representing a force acting on the specified entity.: The arrow’s direction aligns with the force, and its length corresponds to the magnitude.

Name	Type	Required	Default
`color`	Color
`component`	Enum		XYZ
`entity`	Reference - `Force`, `Constraint`	\(\checkmark\)
`hidden`	Bool		False
`id`	Int		Auto
`label`	Str
`magnitude`	Bool		False
`marker`	Enum		I
`name`	Str
`radius`	Double		0.0
`rm`	Reference - `Marker`
`scale`	Double		0.05
`seg`	Int		20

Example

Create a ForceGraphic.#

from msolve import *

model = Model(output="force_graphic")

ground = Part(ground=True)
global_ref = Marker(body=ground)

body=Part(mass=5, cm=Marker(qp=[0,0,40], zv=[0,0,1]), ip=[1,1,1])

Units(force="NEWTON",mass="KILOGRAM",length="METER",time="SECOND")
Accgrav(igrav=0,jgrav=0,kgrav=-9.810)
H3dOutput(save=True)

spdp = SpringDamper(type='TRANSLATION', i=body.cm, j=global_ref, k=10, c=0.1, length=40)
spdp.geo = SpringDamperGraphic(i=spdp.i, j=spdp.j, da=8, db=5, dc=3, lc=25, ld=25, coils=6)

body.geo = Box(cm=body.cm, x=15,y=15,z=15)
ground.geo = Plane(rm=global_ref, xmin=-20, xmax=+20, ymin=-20, ymax=+20)

ForceGraphic(entity=spdp, radius=2, scale=1, component="Z")

color#

The color of the graphic for H3D animation.

Type=Color

component#

Specifies the components of the entity that will be visualized.

Type=Enum, Default=XYZ

Permitted values are:

entity#

Specifies the entity used to draw graphic forces.

Type=Reference (Force, Constraint), Required

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

magnitude#

If True, a graphic of the resultant force will be created.

Type=Bool, Default=False

marker#

Specifies if force is computed at the I or J marker.

Type=Enum, Default=I

Permitted values are:

name#

Defines a nametag for the object.

Type=Str

radius#

Specifies the radius of the arrow.

Type=Double, Default=0.0

rm#

Specifies the reference marker in which the force is reported.

Type=Reference (Marker)

scale#

Specifies the scale factor affecting the arrow length.

Type=Double, Default=0.05

seg#

Number of line segments used to approximate circular edge of the arrow.

Type=Int, Default=20

class FrequencyInput(**kwds)#

Defines a frequency excitation.: It will be applied to the specified marker along a set of degrees of freedom and expressed with respect to the rm marker. It is used if the analysis type is ‘FrequencyResponse’ in simulate or by executing a simulate_frequencyResponse

Name	Type	Default	Modifiable
`amplitude`	Function	1.0	\(\checkmark\)
`dof`	Str	1	\(\checkmark\)
`id`	Int	Auto
`label`	Str
`marker`	Reference - `Marker`		\(\checkmark\)
`name`	Str
`phase`	Function	0.0	\(\checkmark\)
`rm`	Reference - `Marker`		\(\checkmark\)
`type`	Enum	FORCE	\(\checkmark\)

Example

Create a FrequencyInput.#

from msolve import *

model = Model(output="frequency_excitation")

ground = Part(ground=True)
global_ref = Marker(body=ground)

body=Part(mass=5, cm=Marker(qp=[0,0,40], zv=[0,0,1]), ip=[1,1,1])

Units(force="NEWTON",mass="KILOGRAM",length="METER",time="SECOND")
Accgrav(igrav=0,jgrav=0,kgrav=-9.810)
H3dOutput(save=True)

spdp = SpringDamper(type='TRANSLATION', i=body.cm,
  j=global_ref, k=10, c=0.1, length=40)
spdp.geo = SpringDamperGraphic(i=spdp.i, j=spdp.j,
  da=8, db=5, dc=3, lc=25, ld=25, coils=6)

body.geo = Box(cm=body.cm, x=15,y=15,z=15)
ground.geo = Plane(rm=global_ref, xmin=-20,
  xmax=+20, ymin=-20, ymax=+20)

freq = FrequencyInput(
  label      = "frf input",
  type       = "force",
  marker     = body.cm,
  amplitude  = 100,
  dof        = "3",
)

model.simulate_frequencyResponse(
  end               = 10,
  increment_type    = "LOG",
  start             = 0.1,
  steps             = 1000,
  frequency_input   = freq)

amplitude#

The amplitude of FrequencyInput excitation for the selected type expressed in model units.

Type=Function, Default=1.0, Modifiable

dof#

A list of digits from 1 to 6 indicating the degree of freedom subjected to the frequency excitation.

Type=Str, Default=1, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

marker#

The Marker where frequency excitation is applied.

Type=Reference (Marker), Modifiable

name#

Defines a nametag for the object.

Type=Str

phase#

The phase of FrequencyInput excitation expressed in [rad].

Type=Function, Default=0.0, Modifiable

rm#

The optional reference Marker in which excitation is specified. Defaults to global frame.

Type=Reference (Marker), Modifiable

type#

Specifies the type of excitation.

Type=Enum, Default=FORCE, Modifiable

Permitted values are:

ACCELERATION
DISPLACEMENT
FORCE
VELOCITY

class FrfRequestResult(**kwds)#

Contains all the results associated with a single Request of the model for a FrequencyResponse analysis.

getComponent(component)#

Queries a ResultObject and returns the time history of a specific component of the object. The components can be indexed with their index number or their respective label.

The available components for each object are listed in BodyResult, FlexBodyResult, PointMassResult, RequestResult, RvResult, FrfBodyResult, FrfRequestResult.

getDataFrame()#

The entire ResultObject corresponding to the owner is returned as a Pandas DataFrame. It contains all the components and uses labels as column names.

Useful Pandas DataFrame functionalities:

df.info(): Prints concise summary of the DataFrame.
df.describe(): Generates descriptive statistics for all columns including min, std, max, mean.
df[‘column_name’] or df.column_name: Returns the column with name ‘column_name’ as a pandas Series.
df.columns: Prints a pandas index corresponding to all the columns.

getStep(step=- 1)#: Queries a ResultObject and returns its data for the specific time step or the closest previous step. step can be an integer or a float value corresponding to the time step.

class Friction(**kwds)#

Applies frictional forces in a joint.: Friction can be used on translational, revolute, cylindrical, hooke, universal, and spherical Joints.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`ball_radius`	Double		1.0	\(\checkmark\)	\(\checkmark\)
`bending_reaction_arm`	Double		1.0	\(\checkmark\)	\(\checkmark\)
`bristle_stiffness`	Double		100.0		\(\checkmark\)
`damping_effects`	Double		0.316		\(\checkmark\)
`effect`	Enum		ALL	\(\checkmark\)
`friction_arm`	Double		1.0	\(\checkmark\)	\(\checkmark\)
`friction_force_preload`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`friction_torque_preload`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`id`	Int		Auto
`inactive`	Enum		NONE
`initial_overlap`	Double		1000.0	\(\checkmark\)	\(\checkmark\)
`inputs`	EnumStr [0]		ALL	\(\checkmark\)
`joint`	Reference - `Joint`	\(\checkmark\)
`label`	Str
`max_stiction_deformation`	Double		0.01	\(\checkmark\)	\(\checkmark\)
`mu_dynamic`	Double		0.2	\(\checkmark\)	\(\checkmark\)
`mu_static`	Double		0.3	\(\checkmark\)	\(\checkmark\)
`name`	Str
`overlap_delta`	Enum		CONSTANT	\(\checkmark\)
`pin_radius`	Double		1.0	\(\checkmark\)	\(\checkmark\)
`reaction_arm`	Double		1.0	\(\checkmark\)	\(\checkmark\)
`stiction_transition_velocity`	Double		0.1	\(\checkmark\)	\(\checkmark\)
`viscous_effects`	Double		0.0004		\(\checkmark\)
`yoke`	Enum		I

Example

Add Friction on a Revolute joint.#

from msolve import *

model = Model(output="friction")

ground = Part(ground=True)
global_ref = Marker(body=ground)
Accgrav(kgrav=-9.81)

part = Part(mass=1, ip=[1,1,1], cm=Marker(qp=Point(100,0,0)))

rev_joint = Joint(type = "REVOLUTE",
                  i    = Marker(part=part,   qp=Point(), zv=[0,1,0], xv=[1,0,0]),
                  j    = Marker(part=ground, qp=Point(), zv=[0,1,0], xv=[1,0,0])
                  )

friction = Friction(joint = rev_joint, mu_static = 0.25, mu_dynamic  = 0.2)

See also

For more details, see also Force: Joint Friction.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

ball_radius#

The radius of the Spherical joint.

Type=Double, Default=1.0, Modifiable, Designable

bending_reaction_arm#

The moment arm to compute the bending moment in Revolute, Hooke and Universal joints.

Type=Double, Default=1.0, Modifiable, Designable

bristle_stiffness#

The bristle stiffness in the LuGre model.

Type=Double, Default=100.0, Designable

damping_effects#

The damping coefficient for the pre-displacement (or stiction) regime.

Type=Double, Default=0.316, Designable

effect#

Specifies the frictional effect.

Type=Enum, Default=ALL, Modifiable

Permitted values are:

ALL
SLIDING
STICTION

friction_arm#

The moment arm used to compute axial friction torque in Revolute and Universal joints.

Type=Double, Default=1.0, Modifiable, Designable

friction_force_preload#

Preload friction force for Translational and Cylindrical joints.

Type=Double, Default=0.0, Modifiable, Designable

friction_torque_preload#

Preload friction torque.

Type=Double, Default=0.0, Modifiable, Designable

id#

The id of the object.

Type=Int

inactive#

Select STATIC to disable joint friction during static analysis.

Type=Enum, Default=NONE

Permitted values are:

NONE
STATIC

initial_overlap#

Initial overlap of the sliding parts.

Type=Double, Default=1000.0, Modifiable, Designable

inputs#

A set of enumerated values defining the desired friction effects.

Type=EnumStr [0], Default=ALL, Modifiable

Permitted values are:

ALL
BENDING_MOMENT
NONE
PRELOAD
REACTION_FORCE
TORSIONAL_MOMENT

joint#

Joint where the friction force is applied.

Type=Reference (Joint), Required

label#

A string describing the object.

Type=Str

max_stiction_deformation#

Maximum deformation that can occur.

Type=Double, Default=0.01, Modifiable, Designable

mu_dynamic#

Dynamic friction coefficient.

Type=Double, Default=0.2, Modifiable, Designable

mu_static#

Static friction coefficient.

Type=Double, Default=0.3, Modifiable, Designable

name#

Defines a nametag for the object.

Type=Str

overlap_delta#

Friction characteristics in the sliding joint.

Type=Enum, Default=CONSTANT, Modifiable

Permitted values are:

CONSTANT
DECREASE
INCREASE

pin_radius#

The radius of the pin for Revolute, Cylindrical, Hooke and Universal joints.

Type=Double, Default=1.0, Modifiable, Designable

reaction_arm#

Moment arm of the reaction torque.

Type=Double, Default=1.0, Modifiable, Designable

stiction_transition_velocity#

Velocity below which the friction is static.

Type=Double, Default=0.1, Modifiable, Designable

viscous_effects#

The coefficient for the viscous damping force that occurs when relative sliding actually begins.

Type=Double, Default=0.0004, Designable

yoke#

The yoke choice for Hooke and Universal joints.

Type=Enum, Default=I

Permitted values are:

class Frustum(**kwds)#

Creates a 3D graphic of a portion of a cone.

Its base is defined by the cm Marker and its axis by the cm z-axis.

This portion is specified as the part:

that remains after its upper part has been cut off by a plane parallel to its base, or,
that is intercepted between two such planes.

Name	Type	Required	Default	Designable
`bottom`	Double		0.0	\(\checkmark\)
`cm`	Reference - `Marker`	\(\checkmark\)
`color`	Color
`end_caps`	Enum		OPEN
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`length`	Double		0.0	\(\checkmark\)
`material_inside`	Bool		True
`name`	Str
`refinement_level`	Int		4
`top`	Double		0.0	\(\checkmark\)

Example

Create a Frustum graphic.#

from msolve import *

model = Model(output="frustum")

Units(length="MILLIMETER")

ground = Part(ground=True)
global_ref = Marker(body=ground)

graphic = Frustum(cm=global_ref, top=10, bottom=50, length=100, end_caps="CLOSED")

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (Frustum).

bottom#

Radius of the bottom circle.

Type=Double, Default=0.0, Designable

cm#

Marker at the center of the bottom circular face with its z-axis along the centerline of the Frustum.

Type=Reference (Marker), Required

color#

The color of the graphic for H3D animation.

Type=Color

end_caps#

Specifies if the top and bottom is closed.

Type=Enum, Default=OPEN

Permitted values are:

BOTTOM_ONLY
CLOSED
OPEN
TOP_ONLY

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

length#

Length of Frustum.

Type=Double, Default=0.0, Designable

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

refinement_level#

Type=Int, Default=4

top#

Radius of the top circle.

Type=Double, Default=0.0, Designable

class Gcon(**kwds)#

Specifies a user defined general constraint.: Your constraint equations may involve position as well as velocity measures of the system. Although MotionSolve provides a large set of constraints to choose from (see Joint), there are situations that require non-standard constraints. For example, the constraint that a wheel rolls without slipping is a non-holonomic constraint that can be modeled using the GCON element.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`function`	Function	\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script
`virtual`	Bool		False

Example

Create a general constraint.#

from msolve import *

model = Model(output="gcon")

Units(length="MILLIMETER")

ground = Part(ground=True)
global_ref = Marker(body=ground)

wheel = Part(mass=1.5, ip=[2.5e3, 2.5e3, 5e3])
wheel.radius = 80
wheel.cm = Marker(qp=[0, wheel.radius, 0], zv=[0,0,1], xv=[1,0,0])

gcon = Gcon(function=f"VX({wheel.cm.id})+{wheel.radius}*WZ({wheel.cm.id})")

See also

For more details, see also Constraint: General.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine or a legal MotionSolve expression that defines the general constraint.

Type=Function, Required

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Gear(**kwds)#

Defines a gear constraint between two bodies.: The gear is modeled as an algebraic relationship between input and output displacements between Joints. The inputs and outputs may be either rotational or translational. This allows spur, helical, bevel, and rack-and-pinion gear sets to be modeled.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`cv`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`joints`	Reference - `Joint` [2]	\(\checkmark\)		\(\checkmark\)
`label`	Str
`name`	Str
`virtual`	Bool		False

See also

For more details, see also Constraint: Gear.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

cv#

Marker whose origin defines the contact point.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

joints#

Two joints coupled by the gear constraint.

Type=Reference (Joint) [2], Required, Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Gforce(**kwds)#

Defines a general force and torque acting between two markers.: The force and torque vectors are defined by their three components with respect to a third marker. The components may be defined using MotionSolve expressions or a user-defined subroutine. They may be a function of any system state and time.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`function`	Function			\(\checkmark\)
`fx`	Function			\(\checkmark\)
`fy`	Function			\(\checkmark\)
`fz`	Function			\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`jfloat`	Reference - `Marker`			\(\checkmark\)
`label`	Str
`name`	Str
`rm`	Reference - `Marker`			\(\checkmark\)
`routine`	Routine
`script`	Script
`tx`	Function			\(\checkmark\)
`ty`	Function			\(\checkmark\)
`tz`	Function			\(\checkmark\)

Example

Create a general force.#

from msolve import *

model = Model(output="gforce")

Units(length="MILLIMETER")

ground = Part(ground=True)
global_ref = Marker(body=ground)

body = Part(mass=5.0, ip=[2e3]*3, cm=Marker(qp=[0, 100, 0], zv=[0,0,1]))

gforce = Gforce(i   = body.cm,
                rm  = global_ref,
                fx  = "5 + 0.1*SIN(3*TIME)",
                tz  = "100"
                )

See also

For more details, see also Force: Two Body Vector.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine.

Info

This attribute is mutually exclusive with { tx , tz , fz , ty , fx , fy }.

Type=Function, Modifiable

fx#

Specifies the fx component of the force vector as function expression.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

fy#

Specifies the fy component of the force vector as function expression.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

fz#

Specifies the fz component of the force vector as function expression.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

i#

Marker at which the force applied.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

jfloat#

Marker at which reaction force applied. Omit for Action Only.

Type=Reference (Marker), Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

rm#

Reference Marker. When not specified, it defaults to the global coordinate system.

Type=Reference (Marker), Modifiable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

tx#

Specifies the tx component of the force vector as function expression.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

ty#

Specifies the ty component of the force vector as function expression.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

tz#

Specifies the tz component of the force vector as function expression.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

class Grid(**kwds)#

Defines a set of nodal coordinates in 3D space.: This entity is a fully parameterized entity used in conjunction with Absolute Nodal Coordinate Formulation elements.

Name	Type	Default
`id`	Int	Auto
`label`	Str
`name`	Str
`r`	Double [3]	[0, 0, 0]
`r0`	Double [3]	0.0
`rd`	Double [3]	0.0
`rx`	Double [3]	0.0
`rx0`	Double [3]	0.0
`rxd`	Double [3]	0.0
`ry`	Double [3]	0.0
`ry0`	Double [3]	0.0
`ryd`	Double [3]	0.0
`rz`	Double [3]	0.0
`rz0`	Double [3]	0.0
`rzd`	Double [3]	0.0

See also

For more details, see also Grid.

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

r#

Current x, y, z coordinates of the Grid.

Type=Double [3], Default=[0, 0, 0]

r0#

The relaxed position x, y, z coordinates for the Grid.

Type=Double [3], Default=0.0

rd#

The x, y, z velocities of the Grid.

Type=Double [3], Default=0.0

rx#

The x gradient vectors for the Grid.

Type=Double [3], Default=0.0

rx0#

The x relaxed position gradient vector.

Type=Double [3], Default=0.0

rxd#

The time derivative of the x gradient vector.

Type=Double [3], Default=0.0

ry#

The y gradient vectors for the Grid.

Type=Double [3], Default=0.0

ry0#

The y relaxed position gradient vector.

Type=Double [3], Default=0.0

ryd#

The time derivative of the y gradient vector.

Type=Double [3], Default=0.0

rz#

The z gradient vectors for the Grid.

Type=Double [3], Default=0.0

rz0#

The z relaxed position gradient vector.

Type=Double [3], Default=0.0

rzd#

The time derivative of the z gradient vector.

Type=Double [3], Default=0.0

class Gse(**kwds)#

Defines a generic dynamic system.: The dynamic system is characterized by an array of inputs u, an array of dynamic states x, and an array of outputs y. See Array. The state array x is defined by a set of differential equations. The output vector y is defined by a set of algebraic equations.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`fmu_comm_intvl`	Alias
`function`	Function	\(\checkmark\)		\(\checkmark\)
`ic`	Reference - `Array`			\(\checkmark\)
`id`	Int		Auto
`interval`	Double		0.0
`ip_addr`	Alias
`ip_address`	Str
`label`	Str
`name`	Str
`no`	Int		0
`ns`	Int		0
`routine`	Routine
`script`	Script
`static_hold`	Bool		False	\(\checkmark\)
`u`	Reference - `Array`			\(\checkmark\)
`x`	Reference - `Array`			\(\checkmark\)
`y`	Reference - `Array`			\(\checkmark\)

See also

For more details, see also Control: State Equation.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

fmu_comm_intvl#

Alias to interval.

Type=Alias

function#

Parameters passed to user defined subroutine.

Type=Function, Required, Modifiable

ic#

Array used to store the initial values of the states.

Type=Reference (Array), Modifiable

id#

The id of the object.

Type=Int

interval#

Time interval between successive communications with the FMU, defaults to h_max

Type=Double, Default=0.0

ip_addr#

Alias to ip_address.

Type=Alias

ip_address#

IP address for the server FMU connecting to MotionSolve.

Type=Str

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

no#

Specifies the number of outputs in the Gse.

Type=Int, Default=0

ns#

Specifies the number of states in the Gse.

Type=Int, Default=0

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

static_hold#

Specifies if dynamic states are kept constant during static solution.

Type=Bool, Default=False, Modifiable

u#

Array used to store the inputs, u.

Type=Reference (Array), Modifiable

x#

Array used to store the states, x.

Type=Reference (Array), Modifiable

y#

Array used to store the outputs, y.

Type=Reference (Array), Modifiable

class H3dOutput(**kwds)#

Defines the parameters for the animation output file.

Name	Type	Default
`capture_max_pd`	Bool	False
`end`	Double	9999999.0
`format`	Alias
`format_type`	Enum	AUTO
`gpstress_format`	Enum	TENSOR
`grasave`	Alias
`inc`	Alias
`increment`	Int	1
`label`	Str
`linear_anim`	Bool	True
`name`	Str
`save`	Bool	False
`start`	Double	0.0
`strain`	Alias
`strain_format`	Enum	NONE
`stress`	Alias
`stress_format`	Enum	NONE

See also

For more details, see also H3D Output.

capture_max_pd#

Determines whether MotionSolve should monitor the maximumpenetration between colliding bodies across consecutive output steps.

Type=Bool, Default=False

end#

Specifies the end time for writing the H3D.

Type=Double, Default=9999999.0

format#

Alias to format_type.

Type=Alias

format_type#

Specifies the format for Flexible Body result.

Type=Enum, Default=AUTO

Permitted values are:

AUTO
MODAL
NODAL
NODALG

gpstress_format#

Specifies the format for grid point stress output. TENSOR enables grid point stress modeshapes if present in FlexBody H3D file.

Type=Enum, Default=TENSOR

Permitted values are:

NONE
TENSOR

grasave#

Alias to save.

Type=Alias

inc#

Alias to increment.

Type=Alias

increment#

Controls how often data is written to the H3D file as a multiple of the output step.

Type=Int, Default=1

label#

A string describing the object.

Type=Str

linear_anim#

Specifies whether linear analysis mode shapes are to be included in H3D file.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

save#

Specifies if animation h3d file is to be generated.

Type=Bool, Default=False

start#

Specifies the start time for writing the H3D.

Type=Double, Default=0.0

strain#

Alias to strain_format.

Type=Alias

strain_format#

Specifies the format for Flexible Body strain result.

Type=Enum, Default=NONE

Permitted values are:

NONE
TENSOR

stress#

Alias to stress_format.

Type=Alias

stress_format#

Specifies the format for Flexible Body stress result.

Type=Enum, Default=NONE

Permitted values are:

NONE
TENSOR

class Integrator(**kwds)#

Specifies parameters that control the dynamic analysis integrator.

Name	Type	Default	Modifiable
`dae_constr_tol`	Double		\(\checkmark\)
`dae_eval_expiry`	Int		\(\checkmark\)
`dae_index`	Int		\(\checkmark\)
`dae_jacob_init`	Int	0	\(\checkmark\)
`dae_vc_tol_factor`	Double	1000	\(\checkmark\)
`dae_vel_ctrl`	Bool	False	\(\checkmark\)
`error`	Double		\(\checkmark\)
`hinit`	Double		\(\checkmark\)
`hmax`	Double		\(\checkmark\)
`hmin`	Double		\(\checkmark\)
`interpolate`	Bool	True	\(\checkmark\)
`kmax`	Int		\(\checkmark\)
`label`	Str
`maxit`	Int		\(\checkmark\)
`minit`	Int		\(\checkmark\)
`name`	Str
`pattern`	Pattern		\(\checkmark\)
`rel_abs_tol_ratio`	Double	0.01	\(\checkmark\)
`type`	Enum	DSTIFF
`vel_tol_factor`	Double		\(\checkmark\)

See also

For more details, see also Parameters: Transient Solver.

dae_constr_tol#

Tolerance that the corrector must satisfy at convergence.

Type=Double, Modifiable

dae_eval_expiry#

Number of integration steps after which the evaluation pattern defined by dae_jacob_eval is ignored, and the default evaluation pattern is to be used.

Type=Int, Modifiable

dae_index#

The index of the DAE formulation.

Type=Int, Modifiable

dae_jacob_init#

Number of initial Jacobian matrix evaluations.

Type=Int, Default=0, Modifiable

dae_vc_tol_factor#

A factor that multiplies error to yield the error tolerance.

Type=Double, Default=1000, Modifiable

dae_vel_ctrl#

True if the integrator is to include velocity states in its check.

Type=Bool, Default=False, Modifiable

error#

Maximum absolute error allowed.

Type=Double, Modifiable

hinit#

Maximum initial step size.

Type=Double, Modifiable

hmax#

Maximum step size the integrator is allowed to take.

Type=Double, Modifiable

hmin#

Minimum step size the integrator is allowed to take.

Type=Double, Modifiable

interpolate#

Specifies whether the integrator uses interpolation for the results at the output steps.

Type=Bool, Default=True, Modifiable

kmax#

Maximum order that the integrator is to take.

Type=Int, Modifiable

label#

A string describing the object.

Type=Str

maxit#

Maximum number of iterations the corrector is allowed to take to achieve convergence.

Type=Int, Modifiable

minit#

Minimum number of iterations for the corrector.

Type=Int, Modifiable

name#

Defines a nametag for the object.

Type=Str

pattern#

Frequency of evaluation of the Jacobian matrix.

Type=Pattern, Modifiable

rel_abs_tol_ratio#

Specifies the ratio of relative error to absolute error used by the integrator.

Type=Double, Default=0.01, Modifiable

type#

Defines the integrator to be used.

Type=Enum, Default=DSTIFF

Permitted values are:

ABAM
CSTIFF
DSTIFF
MSTIFF
VSTIFF

vel_tol_factor#

A factor that multiplies error to yield the error tolerance for velocity states.

Type=Double, Modifiable

class Joint(**kwds)#

Creates an idealized connector between two bodies.: Joint defines a set of lower pair constraints. Physically, the joint consists of two mating surfaces that allow relative translational and/or rotational movement in certain specific directions only. The surfaces are abstracted away, and the relationships are always expressed as a set of algebraic constraint equations between points and directions on two bodies.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`ic`	Double [2]				\(\checkmark\)
`icrot`	Double [2]				\(\checkmark\)
`ictran`	Double [2]				\(\checkmark\)
`id`	Int		Auto
`j`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`label`	Str
`name`	Str
`pd`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`pitch`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`type`	Enum	\(\checkmark\)
`virtual`	Bool		False

Example

Create a Joint.#

from msolve import *

model = Model(output="joint")

Units(system="MKS")
ground = Part(ground=True)
global_ref = Marker(body=ground)

body = Part(mass=5.0, ip=[1]*3, cm=Marker(qp=[0,0,0]))

sph_joint = Joint(type="SPHERICAL", i=body.cm, j=global_ref)

See also

For more details, see also Constraint: Joint.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

i#

Reference Marker that defines the connection on the first body.

Type=Reference (Marker), Required, Modifiable

ic#

Initial velocity and displacement.

Info

This attribute can only be used when type = TRANSLATIONAL, REVOLUTE.

Type=Double [2], Designable

icrot#

Initial rotational velocity and displacement.

Info

This attribute can only be used when type = CYLINDRICAL.

Type=Double [2], Designable

ictran#

Initial translational velocity and displacement.

Info

This attribute can only be used when type = CYLINDRICAL.

Type=Double [2], Designable

id#

The id of the object.

Type=Int

j#

Reference Marker that defines the connection on the second body.

Type=Reference (Marker), Required, Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

pd#

Pitch diameter of the pinion gear of a rack and pinion gear Joint.

Info

This attribute can only be used when type = RACKPIN.

Type=Double, Default=0.0, Modifiable, Designable

pitch#

Pitch of a screw Joint.

Info

This attribute can only be used when type = SCREW.

Type=Double, Default=0.0, Modifiable, Designable

type#

Type of constraint connection between marker i and j.

Type=Enum, Required, Default=SPHERICAL

Permitted values are:

CONVEL
CYLINDRICAL
FIXED
FREE
HOOKE
PLANAR
RACKPIN
REVOLUTE
SCREW
SPHERICAL
TRANSLATIONAL
UNIVERSAL

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Jprim(**kwds)#

Removes degrees of freedom between two bodies by specifying conditions in which the relative translational or rotational motion can occur.: Jprim differs from Joint in that the former specifies mathematical constraints, which may not have concrete physical realizations like the latter.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`j`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`label`	Str
`name`	Str
`type`	Enum	\(\checkmark\)
`virtual`	Bool		False

Example

Create a primitive Joint.#

from msolve import *

model = Model(output="jprim")

Units(system="MKS")
ground = Part(ground=True)
global_ref = Marker(body=ground)

body = Part(mass=5.0, ip=[1]*3, cm=Marker(qp=[0,0,0]))

jprim = Jprim(type="ATPOINT", i=body.cm, j=global_ref)

See also

For more details, see also Constraint: Primitive.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

i#

Reference Marker that defines the connection on the first body.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

j#

Reference Marker that defines the connection on the second body.

Type=Reference (Marker), Required, Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

type#

Type of constraint connection between marker i and j.

Type=Enum, Required, Default=ATPOINT

Permitted values are:

ATPOINT
INLINE
INPLANE
ORIENTATION
PARALLEL_AXES
PERPENDICULAR

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class LineMesh(**kwds)#

Creates a graphic that connects a number of vertices with straight lines.

Name	Type	Required	Default	Designable
`color`	Color
`hidden`	Bool		False
`id`	Int		Auto
`label`	Str
`name`	Str
`rm`	Reference - `Marker`	\(\checkmark\)
`vertex`	Double [0]			\(\checkmark\)

Example

Create a square LineMesh graphic.#

from msolve import *

model = Model(output="lmesh")

Units(system="MKS")
ground = Part(ground=True)
global_ref = Marker(body=ground)

body = Part(cm=Marker())

vertex1 = [0,0,0]
vertex2 = [1,0,0]
vertex3 = [1,1,0]
vertex4 = [0,1,0]

line1 = vertex1 + vertex2
line2 = vertex2 + vertex3
line3 = vertex3 + vertex4
line4 = vertex4 + vertex1

lmesh = LineMesh(rm=global_ref, vertex=line1+line2+line3+line4)

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (LineMesh).

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

rm#

Marker with respect to which all the vertex coordinates are defined.

Type=Reference (Marker), Required

vertex#

The X,Y,Z coordinates of the vertices, with two vertices specified per line.

Type=Double [0], Designable

class Linear(**kwds)#

Specifies the solver parameters that control the linear analysis.

Name	Type	Default	Modifiable
`animation_scale`	Double	1.0
`cutoff_frequency`	Double	-1
`eigensol`	Bool	False	\(\checkmark\)
`kinetic`	Bool	False
`label`	Str
`matlab`	Bool	False	\(\checkmark\)
`name`	Str
`nodamping`	Bool	False
`oml`	Bool	True
`pinput`	Reference - `Pinput`		\(\checkmark\)
`poutput`	Reference - `Poutput`		\(\checkmark\)
`pstate`	Reference - `Pstate`
`simulink_mdl`	Bool	False	\(\checkmark\)
`statemat`	Bool	False

Example

For an example, see PointMass.

animation_scale#

Specifies a scale factor for magnifying the mode shapes during animation.

Type=Double, Default=1.0

cutoff_frequency#

Specifies the upper bound of the eigenvalues of the system.

Type=Double, Default=-1

eigensol#

If True, the eigenvalue and eigenvector data are written to an .eig file.

Type=Bool, Default=False, Modifiable

kinetic#

Specifies whether modal kinetic energy distribution is to be written out to the solver log file and the linz.mrf output file.

Type=Bool, Default=False

label#

A string describing the object.

Type=Str

matlab#

If True, the A,B,C, D matrices are written out into a file compatible with MATLAB.

Type=Bool, Default=False, Modifiable

name#

Defines a nametag for the object.

Type=Str

nodamping#

If True, damping is disabled in linear solver.

Type=Bool, Default=False

oml#

If True, the A, B, C, D matrices will be written out in an OML format file.

Type=Bool, Default=True

pinput#

Specifies the plant input used for the B and D state matrices.

Type=Reference (Pinput), Modifiable

poutput#

Specifies the plant output used for the C and D state matrices.

Type=Reference (Poutput), Modifiable

pstate#

Specifies a PlantState to be used in the state space representation of the system. A PlantState defines a list of variables used in generating a linear representation of the model about an operating point. The linear representation is used for both eigenvalue analysis and state matrix generation..

Type=Reference (Pstate)

simulink_mdl#

If True, the A, B, C, D matrices are written out in Simulink MDL format.

Type=Bool, Default=False, Modifiable

statemat#

If True, the A, B, C, D matrices will be written out in a file.

Type=Bool, Default=False

class Lse(**kwds)#

Defines a linear dynamic system.

The form of the dynamic system is:

\[ \begin{align}\begin{aligned}\dot x = Ax + Bu\\y = Cx + Du\end{aligned}\end{align} \]

The state variables x, the inputs, u, and the outputs, y, are specified with Arrays. Use Matrix to define the coefficient matrices a, b, c and d.

Name	Type	Required	Default	Modifiable
`a`	Reference - `Matrix`	\(\checkmark\)		\(\checkmark\)
`active`	Bool		True	\(\checkmark\)
`b`	Reference - `Matrix`			\(\checkmark\)
`c`	Reference - `Matrix`			\(\checkmark\)
`d`	Reference - `Matrix`			\(\checkmark\)
`ic`	Reference - `Array`			\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`static_hold`	Bool		False	\(\checkmark\)
`u`	Reference - `Array`			\(\checkmark\)
`x`	Reference - `Array`	\(\checkmark\)		\(\checkmark\)
`y`	Reference - `Array`			\(\checkmark\)

Example

Create a Linear State Equation (Lse).#

from msolve import *

model = Model(output="lse")

Units(system="MKS")
ground = Part(ground=True)
global_ref = Marker(body=ground)

a = Matrix(full="CORDER", rows=2, columns=2, values=[0,1,2,0.2])
b = Matrix(full="CORDER", rows=2, columns=1, values=[10,2])
c = Matrix(full="CORDER", rows=1, columns=2, values=[0,1])
d = Matrix(full="CORDER", rows=1, columns=2, values=[0.5,0.1])

ic = Array(type="IC", numbers=[1,1])
x  = Array(type="X")
y  = Array(type="Y")
u  = Array(type="u",size=1)
u.variables = Variable(function="-STEP(TIME, 0, 0, 0.1, 1)")

lse = Lse(u=u, x=x, y=y, a=a, b=b, c=c, d=d, ic=ic)

See also

For more details, see also Control: State Equation.

a#

State matrix for this Lse.

Type=Reference (Matrix), Required, Modifiable

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

b#

Input matrix for this Lse.

Type=Reference (Matrix), Modifiable

c#

Output matrix for this Lse.

Type=Reference (Matrix), Modifiable

d#

Feed-thru matrix for this Lse.

Type=Reference (Matrix), Modifiable

ic#

Array used to store the initial values of the states.

Type=Reference (Array), Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

static_hold#

Specifies if dynamic states x are kept fixed during static/quasi-static solution.

Type=Bool, Default=False, Modifiable

u#

Array used to store the inputs, u, of this Lse.

Type=Reference (Array), Modifiable

x#

Array used to store the states, x, of this Lse.

Type=Reference (Array), Required, Modifiable

y#

Array used to store the output, y, of this Lse.

Type=Reference (Array), Modifiable

class MQTT_pub(**kwds)#

Defines a publisher for MQTT communication.: This class encapsulates MQTT publishing functionality, allowing payloads to be sent to an MQTT broker at specified intervals.

Parameters

data (Function) – A function or list of functions that will be evaluated by MotionSolve The evaluated function is sent to the specified MQTT broker/topic as payload. The current simulation time is prepended to the payload. Only valid MotionSolve expressions are supported.
broker (str) – Address of the MQTT broker. Defaults to ‘localhost’.
port (int) – Port for establishing broker connection. Defaults to 1883.
verbose (bool) – Flag to enable MQTT logging. Defaults to False.
qos (int) – Quality of Service level. Defaults to 2.
keep_alive (int) – Maximum period (seconds) between communications with the broker. Defaults to 60.
topic (str) – Topic for identifying the payload. Defaults to an empty string.
communication_interval (float, optional) – The time interval (in seconds) at which the MQTT_pub instance will publish the data. Defaults to 1e-3 seconds.
retain_message (bool) – Indicates whether the message should be retained by the broker or not. Default is False.
mqtt (MQTT) – optional instance of an MQTT client, a default one will be created if None
plot (bool) – If you set this flag to True, a plot will be displayed to show the values published to the broker

Note

MQTT (Message Queuing Telemetry Transport) is a lightweight and efficient messaging protocol designed for low-bandwidth, high-latency, or unreliable networks. It enables communication between devices or applications by allowing them to publish and subscribe to topics, where messages are exchanged.

MQTT is often used in Internet of Things (IoT) scenarios, where devices need to send and receive data in a scalable and energy-efficient manner. It uses a publish-subscribe model and is known for its simplicity and minimal overhead This class, a wrapper around paho mqtt module, can be used to publish a payload to a broker/server.

For more information on the paho mqtt module see: https://www.eclipse.org/paho/index.php?page=clients/python/docs/index.php

In case ‘localhost’ is the desired broker, a mosquitto broker needs to be installed and running on the local computer. See this page for more information https://mosquitto.org/

Alternatively, several online brokers can also be used for testing, for example: https://mqtt.eclipseprojects.io/

This class creates a Variable instance for each data expression, and it uses a Sensor to publish the payload to the broker at the prescribed communication_interval.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`data`	Function [0]	\(\checkmark\)
`label`	Str
`name`	Str

Example

Create MQTT_pub, MQTT_variable entity.#

from msolve import *

model       = Model()
units       = Units (mass="KILOGRAM", length="METER",
                     time="SECOND",   force="NEWTON")
ground      = Part (ground=True)
part        = Part (mass = 0.1, ip=[1e3,1e3,1e3], cm=Marker(), vz=200)
accgrav     = Accgrav(kgrav=-9.81)
integrator  = Integrator (hmax=1e-5) #slow it down!
bush        = Bushing(k=[1e1,1e2,1e1],kt=[1e5,1e5,1e5],
                      i=part.cm, j=Marker(part=ground))

broker = 'localhost'
port   = 1883
topic  = "test/topic1"

mqtt_pub = MQTT_pub(
  label   = "publisher",
  data    = ["100*SIN(2*PI*TIME)", f"BUSH({bush.id}, 0, 1, 0)"],
  topic   = topic,
  qos     = 0, #
  broker  = broker,
  port    = port,
  verbose = True,
  communication_interval = 0.01,
  plot = True,
)

mqtt_var = MQTT_variable(
  label                  = 'subscriber',
  broker                 = broker,
  topic                  = topic,
  verbose                = True,
  qos                    =  0,
  index                  =  1,
  communication_interval = 0.001,
  interpolation_method   = 'zero',  # zero order hold
  retain_message         = True,
)

req = Request(type="EXPRESSION", f2=f"VARVAL({mqtt_var.id})", name="subscriber")
run = model.simulate(type="TRANSIENT", end=1, steps=1000, returnResults=True)
run.plot(x='TIME', y="subscriber.F2")

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

data#: Type=Function [0], Required

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

class MQTT_sub(**kwds)#

Defines a simple subscriber client for MQTT communication.

This class encapsulates MQTT subscriber functionality, enabling interaction with an MQTT broker using specific settings to receive messages. It can be used to retrieve values from a broker.

broker#

Address of the MQTT broker. Defaults to ‘localhost’.

Type: str

port#

Port for establishing broker connection. Defaults to 1883.

Type: int

verbose#

Flag to enable MQTT logging. Defaults to False.

Type: bool

qos#

Quality of Service level. Defaults to 2.

Type: int

keep_alive#

Maximum period (seconds) between communications with the broker. Defaults to 60.

Type: int

topic#

Topic for identifying the payload. Defaults to an empty string.

Type: str

label#

a string describing the subscriber

Type: str

index#

an integer value indicating what component is to be obtained from the broker. Defaults to 0.

Type: int

plot#

If you set this flag to True, a plot will be displayed to show the values obtained from the broker

Type: bool

class MQTT_variable(**kwds)#

Defines a subscriber client for MQTT communication.: This class encapsulates MQTT subscriber functionality. It will retrieve the value(s) from the broker according to the supplied arguments and make it available as a Variable.

Parameters

interpolation_method (Enum) – A string to indicate if interpolation is to be performed between updates. Valid options are ‘zero’ for Zero Order Hold, ‘linear’ for First Order Hold and ‘parabolic’ or ‘second_order’ for Second Order Hold.
ic (double) – the initial value of the MQTT_sub before the first payload is obtained.
communication_interval (float, optional) – The time interval (in seconds) at which the MQTT_variable instance will obtain the payload from the broker. Defaults to 1e-3 seconds.
**kwds – Additional keyword arguments that will be passed to the MQTT initializer. These could include broker details, Quality of Service (QoS), port, etc.

Note

This class is designed to subscribe to topics on an MQTT broker and handle incoming messages. It creates a solver Variable and it uses an index if the subscribed topic returns a list of values as a payload. The subscriber is capable of dealing with different communication intervals from the publisher. To accommodate this, an interpolation strategy is implemented to estimate data values during periods of non-communication. The available methods are:

‘zero’:
zero order hold. Assumes that the data remains constant at the last received value until the next value is received. This is a piecewise constant interpolation.
‘linear’:
first order hold. Assumes a linear interpolation between the last received value and the next. This method is suitable for data with linear trends.
‘parabolic’ or ‘second_order’:
Assumes a parabolic interpolation between values. This is useful for data exhibiting quadratic behavior.

The choice of interpolation depends on the nature of the data being transmitted and the expected variability of the data during the non-communication intervals.

Name	Type	Default	Modifiable
`active`	Bool	True
`ic`	Double	0.0	\(\checkmark\)
`interpolation_method`	Enum	zero
`label`	Str
`name`	Str

Example

For an example, see MQTT_pub.

ic#

Initial value.

Type=Double, Default=0.0, Modifiable

interpolation_method#

Type=Enum, Default=zero

Permitted values are:

linear
parabolic
second_order
zero

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

class Marker(**kwds)#

Defines an orthonormal, right-handed coordinate system and reference frame in MotionSolve.: A Marker must belong to a Part, a PointMass or a FlexBody.

Name	Type	Required	Default	Modifiable	Designable
`body`	Reference - `Body`
`flex_body`	Reference - `FlexBody`
`floating`	Bool		False
`full_label`	Str
`function`	Function
`grid`	Reference - `Grid`
`id`	Int		Auto
`label`	Str
`name`	Str
`node`	Int		0
`node_id`	Alias
`part`	Reference - `Part`
`point_mass`	Reference - `PointMass`
`qp`	Location	\(\checkmark\)		\(\checkmark\)	\(\checkmark\)
`reuler`	Angles			\(\checkmark\)	\(\checkmark\)
`rm`	Reference - `Marker`
`routine`	Routine
`script`	Script
`usexp`	Bool		False
`usexv`	Alias
`xp`	Location			\(\checkmark\)	\(\checkmark\)
`xv`	Location			\(\checkmark\)	\(\checkmark\)
`zp`	Location			\(\checkmark\)	\(\checkmark\)
`zv`	Location			\(\checkmark\)	\(\checkmark\)

Example

Create Markers.#

from msolve import *

model = Model(output="marker")

Units(system="MKS")
ground = Part(ground=True)
part = Part(mass=1, ip=[1]*3)

m1 = Marker(part=ground, zp=[0,0,100])

m2 = part.cm = Marker(part=part, qp=Point(10,5,0), xv=[1,0,0], zv=[0,0,1], usexv=True)

m3 = Marker(part=part, qp=m1.qp, floating=True, reuler=[0,90,0])

See also

For more details, see also Reference: Marker.

body#

Specifies the body to which Marker belongs.

Info

This attribute is mutually exclusive with point_mass, flex_body, part.

Type=Reference (Body)

dc()#: Returns three vectors parallel to the x, y, z axes of a Marker in the global reference frame.

flex_body#

Specifies the FlexBody to which Marker belongs.

Info

This attribute is mutually exclusive with point_mass, part, body.

Type=Reference (FlexBody)

floating#

Specifies whether the marker is floating.

Type=Bool, Default=False

full_label#

Label used during MotionSolve - Acusolve co-simulation.

Type=Str

function#

Parameters passed to user defined subroutine.

Info

This attribute is mutually exclusive with { zp , xp }, { zv , xv }, reuler.

Type=Function

grid#

Define the Marker location using a Grid object.

Type=Reference (Grid)

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

node#

Node on flexible body to which Marker is attached.

Type=Int, Default=0

node_id#

Alias to node.

Type=Alias

part#

Specifies the Part to which Marker belongs.

Info

This attribute is mutually exclusive with point_mass, flex_body, body.

Type=Reference (Part)

point_mass#

Specifies the PointMass to which Marker belongs.

Info

This attribute is mutually exclusive with part, flex_body, body.

Type=Reference (PointMass)

qp#

Specifies the coordinates of Marker with respect to body or rm.

Type=Location, Required, Default=0.0, 0.0, 0.0, Modifiable, Designable

reuler#

Specifies body-fixed 3-1-3 Euler angles, in radians, of the Marker with respect to the rm Marker

Info

This attribute is mutually exclusive with { zp , xp }, { zv , xv }, function.

Type=Angles, Modifiable, Designable

rm#

Specifies the reference marker in which the location and orientation of the marker are described. When not specified, the position of the Marker is assumed to be with respect to the parent body.

Type=Reference (Marker)

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

usexp#

Use x-point-z-point method of orientation if True.

Type=Bool, Default=False

usexv#

Alias to usexp.

Type=Alias

xaxis()#: Returns a vector parallel to the x-axis of a Marker in the global reference frame.

xp#

Specifies the coordinates of a point on the x-axis of the Marker expressed in the rm Marker coordinate system.

Info

This attribute is mutually exclusive with { zv , xv }, reuler, function.

Type=Location, Modifiable, Designable

xv#

Vector parallel to the x-axis direction of the Marker in the rm Marker coordinate system.

Info

This attribute is mutually exclusive with { zp , xp }, reuler, function.

Type=Location, Modifiable, Designable

yaxis()#: Returns a vector parallel to the y-axis of a Marker in the global reference frame.

zaxis()#: Returns a vector parallel to the z-axis of a Marker in the global reference frame.

zp#

Specifies the coordinates of a point on the z-axis of the Marker expressed in the rm Marker coordinate system.

Info

This attribute is mutually exclusive with { zv , xv }, reuler, function.

Type=Location, Modifiable, Designable

zv#

Vector parallel to the z-axis direction of the Marker in the rm Marker coordinate system.

Info

This attribute is mutually exclusive with { zp , xp }, reuler, function.

Type=Location, Modifiable, Designable

class Mate(**kwds)#

Specifies general mating constraints between geometric primitives based on: distance, tangency, and coincidence relations. The geometric primitives can be point, line, plane, sphere, cylinder or cone.

Name	Type	Default	Modifiable	Designable
`active`	Bool	True	\(\checkmark\)
`dist`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`height`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`i`	Reference - `Marker`		\(\checkmark\)
`id`	Int	Auto
`iradius`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`j`	Reference - `Marker`		\(\checkmark\)
`jradius`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`label`	Str
`name`	Str
`radius`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`type`	Enum
`virtual`	Bool	False

See also

For more details, see also Constraint: Mate.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

dist#

Distance between the two parts constrained.

Type=Double, Default=0.0, Modifiable, Designable

height#

Height of the geometric primitive.

Type=Double, Default=0.0, Modifiable, Designable

i#

Marker that defines the connection on the first body.

Type=Reference (Marker), Modifiable

id#

The id of the object.

Type=Int

iradius#

Radius of the i geometric primitive.

Type=Double, Default=0.0, Modifiable, Designable

j#

Marker that defines the connection on the second body.

Type=Reference (Marker), Modifiable

jradius#

Radius of the j geometric primitive.

Type=Double, Default=0.0, Modifiable, Designable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

radius#

Radius of the circle/sphere/cone.

Type=Double, Default=0.0, Modifiable, Designable

type#

Type of mate between i and j markers.

Type=Enum

Permitted values are:

COI_LIN_CYL
COI_LIN_LIN
COI_LIN_PLA
COI_POI_CON
COI_POI_CYL
COI_POI_LIN
COI_POI_POI
COI_POI_SPH
DIS_CYL_CYL
DIS_LIN_CYL
DIS_LIN_LIN
DIS_LIN_PLA
DIS_PLA_CON
DIS_PLA_CYL
DIS_POI_CYL
DIS_POI_LIN
DIS_POI_POI
DIS_POI_SPH
DIS_SPH_CON
DIS_SPH_CYL
DIS_SPH_LIN
DIS_SPH_PLA
DIS_SPH_SPH
TAN_CYL_CYL
TAN_LIN_CYL
TAN_PLA_CON
TAN_PLA_CYL
TAN_SPH_CON
TAN_SPH_CYL
TAN_SPH_LIN
TAN_SPH_PLA
TAN_SPH_SPH

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Matrix(**kwds)#

Defines a general, real-valued, M x N matrix for use in MotionSolve.

Name	Type	Default	Modifiable	Designable
`columns`	Int	0	\(\checkmark\)
`full`	Enum		\(\checkmark\)
`function`	Function		\(\checkmark\)
`i`	Int [0]
`id`	Int	Auto
`j`	Int [0]
`label`	Str
`name`	Str
`routine`	Routine
`rows`	Int	0	\(\checkmark\)
`script`	Script
`sparse`	Bool	False	\(\checkmark\)
`values`	Double [0]			\(\checkmark\)

Example

For an example, see Lse.

See also

For more details, see also Reference: Matrix.

columns#

The number of columns in the matrix.

Type=Int, Default=0, Modifiable

full#

Set to ‘RORDER’ if the matrix is specified in row order.

Info

This attribute is mutually exclusive with sparse, function.

Type=Enum, Modifiable

Permitted values are:

CORDER
RORDER

function#

Parameters passed to user defined subroutine.

Info

This attribute is mutually exclusive with full, sparse.

Type=Function, Modifiable

i#

Row position of each element.

Type=Int [0]

id#

The id of the object.

Type=Int

j#

Column position of each element.

Type=Int [0]

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

rows#

The number of rows in the matrix.

Type=Int, Default=0, Modifiable

script#

Path and name of the script that contains the routine.

Type=Script

sparse#

Set to True for sparse matrices.

Info

This attribute is mutually exclusive with full, function.

Type=Bool, Default=False, Modifiable

values#

Specifies the elements of the matrix.

Type=Double [0], Designable

class Mforce(**kwds)#

Defines a distributed force on a FlexBody in MotionSolve.

It is available in three implementation flavors:

The force shape is scaled by a function expression.
The force shape is scaled in a compiled user-subroutine.
The force shape is scaled in a scripted user-subroutine.

Mforce is used to model distributed forces such as aerodynamic load, liquid pressure, thermal loads or any force generating mechanism that is spread out over the flexible body.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`case_index`	Int		0	\(\checkmark\)
`flex_body`	Reference - `FlexBody`	\(\checkmark\)		\(\checkmark\)
`force`	Function			\(\checkmark\)
`function`	Function			\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`routine`	Routine
`scale`	Function			\(\checkmark\)
`script`	Script

See also

For more details, see also Force: FlexModal.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

case_index#

Modal load case number used to define the shape of the distributed load.

Type=Int, Default=0, Modifiable

flex_body#

Flex body on which the modal load is applied.

Type=Reference (FlexBody), Required, Modifiable

force#

User-defined constants passed to the MFOSUB. If specified, Mforce will return modal forces on the flex body.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

function#

User-defined constants passed to the MFOSUB. If specified, Mforce will return a shape that is to be scaled.

Info

This attribute is mutually exclusive with force.

Type=Function, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

scale#

Scale factor applied to the load case referenced by case_index.

Type=Function, Modifiable

script#

Path and name of the user written script that contains the routine.

Type=Script

class Motion(**kwds)#

Specifies a system degree of freedom as an explicit function of time.

The degree of freedom is specified as either:

A Joint and a type of motion (translational or rotational)
A relative translation or rotation component between two markers

When the input is specified on a joint, only three types of joints are valid:

Revolute joints (rotational motion only)
Translational joints (translational motion only)
Cylindrical joints (either rotational or translational motion)

Name	Type	Default	Modifiable	Designable
`active`	Bool	True	\(\checkmark\)
`direction`	Enum		\(\checkmark\)
`dtype`	Enum	DISPLACEMENT	\(\checkmark\)
`function`	Function		\(\checkmark\)
`i`	Reference - `Marker`		\(\checkmark\)
`icdisp`	Double		\(\checkmark\)	\(\checkmark\)
`icvel`	Double		\(\checkmark\)	\(\checkmark\)
`id`	Int	Auto
`index`	Int	1
`j`	Reference - `Marker`		\(\checkmark\)
`joint`	Reference - `Joint`		\(\checkmark\)
`jtype`	Enum	TRANSLATION	\(\checkmark\)
`label`	Str
`name`	Str
`pinput`	Reference - `Pinput`
`ptcv`	Reference - `Ptcv`
`ptcv_joint`	Alias
`routine`	Routine
`script`	Script
`virtual`	Bool	False

Example

Impose Motion on a Joint and between Markers.#

from msolve import *

model = Model(output="motion")

Units(system="MKS")
ground = Part(ground=True)
global_ref = Marker(part=ground)

part_1 = Part(mass=1, ip=[1]*3, cm=Marker())
part_2 = Part(mass=1, ip=[1]*3, cm=Marker())

cyl_joint = Joint(type="CYLINDRICAL", i=part_1.cm, j=global_ref)

joint_motion = Motion(label    = "Joint Motion",
                      jtype    = "TRANSLATION",
                      joint    = cyl_joint,
                      dtype    = "VELOCITY",
                      icdisp   = 0.0,
                      function = "10*SIN(20*TIME)"
                      )

marker_motion = Motion(label     = "Marker Motion",
                       i         = part_2.cm,
                       j         = global_ref,
                       direction = "X",
                       function  = "10*SIN(20*TIME)"
                      )

See also

For more details, see also Motion: Joint Based, Motion: Marker Based.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

direction#

Direction of marker-marker motion.

Type=Enum, Modifiable

Permitted values are:

dtype#

Motion function type.

Type=Enum, Default=DISPLACEMENT, Modifiable

Permitted values are:

ACCELERATION
DISPLACEMENT
PLANT_INPUT
VELOCITY

function#

Parameters passed to user defined subroutine or a legal MotionSolve expression that defines the motion value.

Info

This attribute is mutually exclusive with pinput.

Type=Function, Modifiable

i#

Marker at which motion is applied, required for marker motion.

Info

This attribute is mutually exclusive with joint, ptcv.

Type=Reference (Marker), Modifiable

icdisp#

Displacement initial condition.

Type=Double, Modifiable, Designable

icvel#

Velocity initial condition for ACCELERATION motion.

Type=Double, Modifiable, Designable

id#

The id of the object.

Type=Int

index#

Index that defines the simultaneous enforcement of constraints at the position, velocity, and acceleration levels when pinput is specified.

Type=Int, Default=1

j#

Marker at which motion is applied, required for marker motion.

Info

This attribute is mutually exclusive with joint, ptcv.

Type=Reference (Marker), Modifiable

joint#

Joint at which motion is applied.

Info

This attribute is mutually exclusive with { i , j }, ptcv.

Type=Reference (Joint), Modifiable

jtype#

Select the motion type for cylindrical joint.

Type=Enum, Default=TRANSLATION, Modifiable

Permitted values are:

ROTATION
TRANSLATION

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

pinput#

Plant Input at which motion is applied.

Info

This attribute is mutually exclusive with function.

Type=Reference (Pinput)

ptcv#

Ptcv joint at which motion is applied.

Info

This attribute is mutually exclusive with { i , j }, joint.

Type=Reference (Ptcv)

ptcv_joint#

Alias to ptcv.

Type=Alias

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Nforce(**kwds)#

Creates a multi-point force element which establishes linear force-displacement (stiffness) and/or force-velocity (damping) relationships between many markers.: The force and the torque can only be linear functions of the relative displacement and velocity of the various Markers.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`cmatrix`	Reference - `Matrix`			\(\checkmark\)
`cratio`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`force`	Reference - `Matrix`			\(\checkmark\)
`id`	Int		Auto
`imarkers`	Reference - `Marker` [0]	\(\checkmark\)
`j`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`kmatrix`	Reference - `Matrix`	\(\checkmark\)		\(\checkmark\)
`label`	Str
`length`	Reference - `Matrix`			\(\checkmark\)
`name`	Str

Example

Create a multi-point Force.#

from msolve import *

model = Model(output="nforce")

Units(length="MILLIMETER")
ground = Part(ground=True)
global_ref = Marker(part=ground)

part = Part (mass=1, ip=[1e3,1e3,1e3], cm=Marker())

part.m1 = Marker (part=part, qp=[5,0,0])

k_mat = Matrix(sparse  = True,
               rows    = 12,
               columns = 12,
               i       = [1,1,1,1,2,2,2,2,7,7,7,7,7,8,8,8,8,8],
               j       = [1,2,7,8,1,2,7,8,1,2,7,11,12,1,2,8,11,12],
               values  = [150,-50,-50,50,-50,50,50,-50,-50,50,100,-50,50,50,-50,200,50,-50]
               )

force = Matrix(full    = "CORDER",
               rows    = 12,
               columns = 1,
               values  = [1e3,1e3,1e3,1e3,0,0,0,0,2e3,2e3,2e3,2e3]
               )

nforce = Nforce(j        = part.cm,
                imarkers = [part.cm, part.m1],
                kmatrix  = k_mat,
                cratio   = 0.02
                )

See also

For more details, see also Force: Multi-Point.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

cmatrix#

Damping matrix.

Info

This attribute is mutually exclusive with cratio.

Type=Reference (Matrix), Modifiable

cratio#

Damping scale factor.

Info

This attribute is mutually exclusive with cmatrix.

Type=Double, Default=0.0, Modifiable, Designable

force#

Preload force between each pair of markers.

Type=Reference (Matrix), Modifiable

id#

The id of the object.

Type=Int

imarkers#

List of markers between which the Nforce is applied.

Type=Reference (Marker) [0], Required

j#

Marker which serves as the reference frame.

Type=Reference (Marker), Required, Modifiable

kmatrix#

Stiffness matrix.

Type=Reference (Matrix), Required, Modifiable

label#

A string describing the object.

Type=Str

length#

Length values between each pair of markers.

Type=Reference (Matrix), Modifiable

name#

Defines a nametag for the object.

Type=Str

class NuCMS(**kwds)#

Creates a set of flexible body properties with the goal to more accurately capture the mode shapes based on Predictive Component Mode Synthesis theory.

Name	Type	Required	Default
`alimit`	Double		0.1
`cutoff_frequency`	Double
`ext_only`	Bool		False
`fem_file`	FileName	\(\checkmark\)
`fem_only`	Bool		False
`id`	Int		Auto
`increments`	Int		1
`ka`	Double		100000.0
`label`	Str
`lset_file`	Str
`mu`	Double		0.001
`name`	Str
`ncov`	Int		0
`nmode`	Int
`output`	Str
`overwrite`	Bool		True
`preload_file`	Str
`ptol`	Double		0.001
`rtol`	Double		1e-06
`tlimit`	Double		1
`zset`	Int [0]		0

See also

For more details, see also Reference: Flexible Body Data.

alimit#

Rotational mode shape limit.

Type=Double, Default=0.1

cutoff_frequency#

Additional cut-off frequency.

Type=Double

ext_only#

If set to True, internal CGPA are ignored.

Type=Bool, Default=False

fem_file#

Input FEM deck.

Type=FileName, Required

fem_only#

If set to True CMS will only generate the fem file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

increments#

Number of increments.

Type=Int, Default=1

ka#

Stiffness of contact elements used in joints.

Type=Double, Default=100000.0

label#

A string describing the object.

Type=Str

lset_file#

Loadset bdf file generated during precursory flex analysis.

Type=Str

mu#

Friction coefficient of contact elements in joints.

Type=Double, Default=0.001

name#

Defines a nametag for the object.

Type=Str

ncov#

Number of convoluted modes.

Type=Int, Default=0

nmode#

Additional requested normal modes.

Type=Int

output#

Output file name.

Type=Str

overwrite#

If set to True a new CMS calculation will be performed every time.

Type=Bool, Default=True

preload_file#: Type=Str

ptol#

Pivot tolerance.

Type=Double, Default=0.001

rtol#

Tolerance for orthogonalization procedure.

Type=Double, Default=1e-06

tlimit#

Translational mode shape limit.

Type=Double, Default=1

zset#

Subset of ASET1 nodes eliminated by the NuCMS process.

Type=Int [0], Default=0

class Outline(**kwds)#

Creates line segments between the various cm Markers.

Name	Type	Default
`color`	Color
`hidden`	Bool	False
`id`	Int	Auto
`label`	Str
`markers`	Reference - `Marker` [0]
`name`	Str
`outline`	Alias

Example

Create an outline graphic.#

from msolve import *

model = Model(output="outline")

Units(length="MILLIMETER")
ground = Part(ground=True)
global_ref = Marker(part=ground)

part = Part (mass=1, ip=[1e3,1e3,1e3], cm=Marker())

outline = Outline(markers = [global_ref,
                             Marker(part=ground, qp=[10,0,0]),
                             Marker(part=ground, qp=[10,10,0]),
                             Marker(part=ground, qp=[0,10,0]),
                             part.cm]
                  )

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (Outline).

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

markers#

List of markers whose origins shape the polyline.

Type=Reference (Marker) [0]

name#

Defines a nametag for the object.

Type=Str

outline#

Alias of markers.

Type=Alias

class Output(**kwds)#

Specifies if the plt, abf, mrf files are to be generated during the solver run.: Attributes can be used to control the output files preferences.

Name	Type	Default
`abf_unique_time`	Enum	ALL
`abfsave`	Bool	False
`azero`	Double	1e-07
`capture_max_pd`	Bool	False
`contact_gra_output`	Bool	True
`dzero`	Double	1e-07
`fzero`	Double	1e-07
`label`	Str
`mrfsave`	Bool	True
`name`	Str
`plt_unique_time`	Enum	ALL
`pltsave`	Alias
`req_angle_radians`	Bool	False
`req_comment_only`	Bool	False
`reqsave`	Alias
`save`	Bool	False
`vzero`	Double	1e-07
`ypr`	Bool	False

Example

For an example, see Contact.

See also

For more details, see also Output: Results.

abf_unique_time#

Controls which result is written to the abf file when there are more than one result data at a single time step.

Type=Enum, Default=ALL

Permitted values are:

ALL
FIRST
LAST

abfsave#

Specifies if abf file is to be created.

Type=Bool, Default=False

azero#

Output accelerations less than the specified value are set to be equal to zero.

Type=Double, Default=1e-07

capture_max_pd#

MotionSolve monitors and reports the maximum penetration for colliding bodies in between two output steps.

Type=Bool, Default=False

contact_gra_output#

Used to enable or disable contact force vector animation in the h3d file.

Type=Bool, Default=True

dzero#

Output displacements less than the specified value are set to be equal to zero.

Type=Double, Default=1e-07

fzero#

Output forces less than the specified value are set to be equal to zero.

Type=Double, Default=1e-07

label#

A string describing the object.

Type=Str

mrfsave#

Specifies if mrf file is to be created.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

plt_unique_time#

Controls which result is written to the plt file when there are more than one result data at a single time step.

Type=Enum, Default=ALL

Permitted values are:

ALL
FIRST
LAST

pltsave#

Alias to save.

Type=Alias

req_angle_radians#

If True output request will return angular quantities in rad.

Type=Bool, Default=False

req_comment_only#

Specifies whether a Request id prefix is to be added to requests in mrf and abf files.

Type=Bool, Default=False

reqsave#

Alias to save.

Type=Alias

save#

Specifies if plt file is to be created.

Type=Bool, Default=False

vzero#

Output velocities less than the specified value are set to be equal to zero.

Type=Double, Default=1e-07

ypr#

Specifies whether YPR angles are requested.

Type=Bool, Default=False

class Part(**kwds)#

Defines a rigid body object in MotionSolve.: This entity has mass, inertia properties and initial position, orientation and velocity.

Name	Type	Default	Modifiable	Designable
`cm`	Reference - `Marker`
`full_label`	Str
`function`	Function
`ground`	Bool	False
`id`	Int	Auto
`im`	Reference - `Marker`
`ip`	Ips	[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]	\(\checkmark\)	\(\checkmark\)
`label`	Str
`mass`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`name`	Str
`planar`	Enum
`qg`	Location	0.0, 0.0, 0.0		\(\checkmark\)
`reuler`	Angles			\(\checkmark\)
`routine`	Routine
`script`	Script
`virtual`	Bool	False
`vm`	Reference - `Marker`
`vx`	Double		\(\checkmark\)	\(\checkmark\)
`vy`	Double		\(\checkmark\)	\(\checkmark\)
`vz`	Double		\(\checkmark\)	\(\checkmark\)
`wet`	Bool	False	\(\checkmark\)
`wm`	Reference - `Marker`
`wx`	Double		\(\checkmark\)	\(\checkmark\)
`wy`	Double		\(\checkmark\)	\(\checkmark\)
`wz`	Double		\(\checkmark\)	\(\checkmark\)
`xg`	Location			\(\checkmark\)
`xv`	Location			\(\checkmark\)
`zg`	Location			\(\checkmark\)
`zv`	Location			\(\checkmark\)

Example

Create a Part.#

from msolve import *

model = Model(output="part")

Units(length="MILLIMETER")

ground = Part(ground=True)

global_ref = Marker(part=ground)

part = Part (mass=1, ip=[1e3,1e3,1e3], cm=Marker(qp=[10,0,0]), planar="XY")

See also

For more details, see also Body: Rigid.

cm#

Marker locating at center-of-mass.

Type=Reference (Marker)

full_label#

Type=Str

function#

Parameters passed to user defined subroutine.

Type=Function

ground#

Specifies if the part is ground or not.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

im#

Marker where the inertia matrix is computed. When not specified, it defaults to the cm marker.

Type=Reference (Marker)

ip#

Mass moments of inertia matrix.

Type=Ips, Default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Modifiable, Designable

label#

A string describing the object.

Type=Str

mass#

Mass of the part.

Type=Double, Default=0.0, Modifiable, Designable

name#

Defines a nametag for the object.

Type=Str

planar#

Specifies the plane that the part is constrained to.

Type=Enum

Permitted values are:

qg#

Coordinates of local part reference Marker.

Type=Location, Default=0.0, 0.0, 0.0, Designable

reuler#

3-1-3 Euler angles of local part reference Marker.

Info

This attribute is mutually exclusive with { zv , xv }, { xg , zg }.

Type=Angles, Designable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

virtual#

Specifies if the part is virtual.

Type=Bool, Default=False

vm#

Marker used to define initial translational velocity. When not specified, it defaults to the global coordinate system.

Type=Reference (Marker)

vx#

Initial translational velocity along x-axis.

Type=Double, Modifiable, Designable

vy#

Initial translational velocity along y-axis.

Type=Double, Modifiable, Designable

vz#

Initial translational velocity along z-axis.

Type=Double, Modifiable, Designable

wet#

Determine whether fluid loads from the corresponding AcuSolve model will be applied.

Type=Bool, Default=False, Modifiable

wm#

Marker used to define initial angular velocity. When not specified, it defaults to the cm marker.

Type=Reference (Marker)

wx#

Initial angular velocity about x-axis.

Type=Double, Modifiable, Designable

wy#

Initial angular velocity about y-axis.

Type=Double, Modifiable, Designable

wz#

Initial angular velocity about z-axis.

Type=Double, Modifiable, Designable

xg#

Point on the x-axis of local reference marker.

Info

This attribute is mutually exclusive with { zv , xv }, reuler.

Type=Location, Designable

xv#

Vector parallel to the x-axis of local reference marker.

Info

This attribute is mutually exclusive with { xg , zg }, reuler.

Type=Location, Designable

zg#

Point on the z-axis of local reference marker.

Info

This attribute is mutually exclusive with { zv , xv }, reuler.

Type=Location, Designable

zv#

Vector parallel to the z-axis of local reference marker.

Info

This attribute is mutually exclusive with { xg , zg }, reuler.

Type=Location, Designable

class Pforce(**kwds)#

Defines a penalty force whose purpose is to maintain a soft constraint in the system.: This means that when the constraint is satisfied, there is no penalty force. However, if the constraint is violated, a penalty force that tries to reduce the violation is generated. The generalized force acts on all the coordinates involved in the definition of the constraint.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`function`	Function	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`penalty`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`penalty1`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`routine`	Routine
`script`	Script
`smoothing_factor`	Double		1.0	\(\checkmark\)	\(\checkmark\)
`unilateral`	Bool		False	\(\checkmark\)

See also

For more details, see also Force: Penalty.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine or a legal MotionSolve expression that defines the algebraic constraint.

Type=Function, Required, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

penalty#

Penalty factor enforcing zero algebraic constraint.

Type=Double, Default=0.0, Modifiable, Designable

penalty1#

Penalty factor enforcing time derivative of algebraic constraint.

Type=Double, Default=0.0, Modifiable, Designable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

smoothing_factor#

Factor used to smooth penalty force.

Type=Double, Default=1.0, Modifiable, Designable

unilateral#

True indicates an inequality constraint.

Type=Bool, Default=False, Modifiable

class Pinput(**kwds)#

Defines the inputs (type Variable) to a mechanical system or plant.

Name	Type	Default	Modifiable
`function`	Function		\(\checkmark\)
`hold_order`	Int	1	\(\checkmark\)
`id`	Int	Auto
`ip_addr`	Str
`label`	Str
`name`	Str
`offset_time`	Double		\(\checkmark\)
`routine`	Routine
`sampling_period`	Double		\(\checkmark\)
`script`	Script
`variables`	Reference - `Variable` [0]

Example

Define a Plant Input.#

from msolve import *

model = Model(output="pinput")

Units(system="MKS")
ground = Part(ground=True)
global_frame = Marker(body=ground)

part = Part (mass=1, ip=[1e3]*3,cm=Marker())

var_lin = Variable(function = "100*TIME")
var_sin = Variable(function = "SIN(2*PI*TIME)")

pin = Pinput(variables = [var_lin], sampling_period = 0, offset_time = 0)

pout = Poutput(variables = [var_sin], sampling_period  = 0, offset_time = 0)

See also

For more details, see also Control: Plant Input.

function#

Parameters passed to user defined subroutine.

Type=Function, Modifiable

hold_order#

Order of interpolation applied to the control signal(s).

Type=Int, Default=1, Modifiable

id#

The id of the object.

Type=Int

ip_addr#: Type=Str

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

offset_time#

Sample time offset for each input port.

Type=Double, Modifiable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

sampling_period#

Sample time of an input port.

Type=Double, Modifiable

script#

Path and name of the script that contains the routine.

Type=Script

variables#

Input variables to the plant.

Type=Reference (Variable) [0]

class Plane(**kwds)#

Creates a plane graphic expressed in respect to the rm Marker.

Name	Type	Required	Default	Designable
`color`	Color
`hidden`	Bool		False
`id`	Int		Auto
`label`	Str
`name`	Str
`refinement_level`	Int		3
`rm`	Reference - `Marker`	\(\checkmark\)
`xmax`	Double		0.0	\(\checkmark\)
`xmin`	Double		0.0	\(\checkmark\)
`ymax`	Double		0.0	\(\checkmark\)
`ymin`	Double		0.0	\(\checkmark\)

Example

Create a Plane graphic.#

from msolve import *

model = Model(output="plane")

Units(length="MILLIMETER")

ground = Part(ground=True)
global_ref = Marker(body=ground)

graphic = Plane(rm=global_ref, xmin=-50, ymin=-100, xmax=+50, ymax=+100)

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (Plane).

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

refinement_level#

Mesh density used for visualization and, when applicable, for 3D body contact. Must be larger or equal to 0.

Type=Int, Default=3

rm#

Marker serving as a reference point for geometry data.

Type=Reference (Marker), Required

xmax#

End of the spatial extent in x-direction, defined in the rm coordinate system.

Type=Double, Default=0.0, Designable

xmin#

Start of the spatial extent in x-direction, defined in the rm coordinate system.

Type=Double, Default=0.0, Designable

ymax#

End of the spatial extent in y-direction, defined in the rm coordinate system.

Type=Double, Default=0.0, Designable

ymin#

Start of the spatial extent in y-direction, defined in the rm coordinate system.

Type=Double, Default=0.0, Designable

class PlottingMixin(**kwds)#

Base class for SimulationResults and SimulationResultsHistory.

Creates a scatter plot of (x, y, [z]) values.

Required x and y parameters can be defined as numerical vectors as well as string to indicate a ‘result_name.component_name’ quantity.

plot(x, y, z=None, plot_kwds=None, page_kwds=None, curve_kwds=None, plotting_package='matplotlib')#

Parameters

x (str, list) – independent variable e.g. ‘TIME’, ‘request_name.X’ or a vectors of numbers
y (str, list) – y variable e.g. ‘request_name.Y’ or vector of numbers
z (str, list) – optional z variable e.g. ‘request_name.Z’ or vector of numbers for 3d plotting

Keyword Arguments

plot_kwds (dict) –

Additional keyword arguments for plot customization. Example:

{
    'name': 'My Plot',
    'legend': 'legend',
    'grid': True,
    'xaxis': 'str',
    'yaxis': 'str'
}

page_kwds (dict) –
Additional keyword arguments for page customization. Example:
```
{
    'name': 'page name',
    'layout': '1x1'
}
```
curve_kwds (dict) –
Additional keyword arguments for curve customization. Example:
```
{
    'color': 'blue',
    'name': 'str',
    'style': ':'
}
```

class PointGraphic(**kwds)#

Creates a graphic point located at the origin of the reference Marker.

Name	Type	Required	Default
`color`	Color
`hidden`	Bool		False
`id`	Int		Auto
`label`	Str
`name`	Str
`rm`	Reference - `Marker`	\(\checkmark\)

See also

For more details, see also Post: Graphic (Point).

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

rm#

Coordinate system defining the location of this graphic entity.

Type=Reference (Marker), Required

class PointMass(**kwds)#

Defines an entity that has mass but no inertia properties.: Three translational coordinates characterize the position of the PointMass. By default, the orientation of the PointMass is set to be the same as the global coordinate system. It never changes during simulation. Markers on PointMass may have location and orientation coordinates. The orientation of these Markers does not change during the simulation.

Name	Type	Default	Modifiable	Designable
`cm`	Reference - `Marker`
`full_label`	Str
`function`	Function
`id`	Int	Auto
`label`	Str
`mass`	Double	0.0	\(\checkmark\)	\(\checkmark\)
`name`	Str
`qg`	Location	0.0, 0.0, 0.0		\(\checkmark\)
`reuler`	Angles			\(\checkmark\)
`routine`	Routine
`script`	Script
`virtual`	Bool	False
`vx`	Double		\(\checkmark\)	\(\checkmark\)
`vy`	Double		\(\checkmark\)	\(\checkmark\)
`vz`	Double		\(\checkmark\)	\(\checkmark\)
`xg`	Location			\(\checkmark\)
`xv`	Location			\(\checkmark\)
`zg`	Location			\(\checkmark\)
`zv`	Location			\(\checkmark\)

Example

Create a PointMass body.#

from msolve import *

model = Model(output="pointmass")

Units(system="MKS")
ground = Part(ground=True)
global_ref = Marker(body=ground)

pmass = PointMass(mass=1, cm=Marker(qp=[5,0,0]))

sd1 = SpringDamper(type   = "TRANSLATION",
                   i      = Marker(body=pmass,  qp=[5,0,0], zp=[6,0,0]),
                   j      = Marker(body=ground, qp=[0,0,0], zp=[1,0,0]),
                   length = 5,
                   k      = 100,
                   c      = 1
                   )

sd2 = SpringDamper(type   = "TRANSLATION",
                   i      = sd1.i,
                   j      = Marker(body=ground, qp=[10,0,0], zp=[11,0,0]),
                   length = 5,
                   k      = 50
                   )

Linear(eigensol=True, nodamping=True)

model.simulate(type="LINEAR")

See also

For more details, see also Point Mass.

cm#

Marker locating the center-of-mass.

Type=Reference (Marker)

full_label#

Type=Str

function#

Parameters passed to user defined subroutine.

Type=Function

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

mass#

Mass of the PointMass.

Type=Double, Default=0.0, Modifiable, Designable

name#

Defines a nametag for the object.

Type=Str

qg#

Coordinates of local PointMass reference marker.

Type=Location, Default=0.0, 0.0, 0.0, Designable

reuler#

3-1-3 Euler angles of local part reference marker.

Info

This attribute is mutually exclusive with { xg , zg }, { zv , xv }.

Type=Angles, Designable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

virtual#

Specifies if the point mass is virtual.

Type=Bool, Default=False

vx#

Initial translational velocity along x-axis.

Type=Double, Modifiable, Designable

vy#

Initial translational velocity along y-axis.

Type=Double, Modifiable, Designable

vz#

Initial translational velocity along z-axis.

Type=Double, Modifiable, Designable

xg#

Point on the x-axis of local reference marker.

Info

This attribute is mutually exclusive with { zv , xv }, reuler.

Type=Location, Designable

xv#

Vector parallel to the z-axis of local reference marker.

Info

This attribute is mutually exclusive with { xg , zg }, reuler.

Type=Location, Designable

zg#

Point on the z-axis of local reference marker.

Info

This attribute is mutually exclusive with { zv , xv }, reuler.

Type=Location, Designable

zv#

Vector parallel to the z-axis of local reference marker.

Info

This attribute is mutually exclusive with { xg , zg }, reuler.

Type=Location, Designable

class Poutput(**kwds)#

Defines a list of outputs (type Variable) to a mechanical system or plant.

Name	Type	Default	Modifiable
`function`	Function		\(\checkmark\)
`hold_order`	Int	1	\(\checkmark\)
`id`	Int	Auto
`ip_addr`	Str
`label`	Str
`name`	Str
`offset_time`	Double		\(\checkmark\)
`routine`	Routine
`sampling_period`	Double		\(\checkmark\)
`script`	Script
`variables`	Reference - `Variable` [0]

Example

For an example, see Pinput.

See also

For more details, see also Control: Plant Output.

function#

Parameters passed to user defined subroutine.

Type=Function, Modifiable

hold_order#

Order of extrapolations, default is ‘1’.

Type=Int, Default=1, Modifiable

id#

The id of the object.

Type=Int

ip_addr#: Type=Str

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

offset_time#

The sample time offset for each output port. The sample time offset must be strictly less than the sampling_period if the latter is non-zero. If the sampling_period is 0.0 (continuous), then offset_time defaults to 0.0 as well.

Type=Double, Modifiable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

sampling_period#

The sample time for the output plant. A value of zero signifies continuous sampling. Any non zero value signifies discrete sampling.

Type=Double, Modifiable

script#

Path and name of the script that contains the routine.

Type=Script

variables#

Define a list of variables that define the plant output.

Type=Reference (Variable) [0]

class ProximitySensor(**kwds)#

Defines a sensor between two bodies which monitors their minimum separation.: The results of ProximitySensor can be accessed using the PROXIMITY function for use in defining expressions or for plotting. A line representing the closest distance between geometries is created in the animation h3d file.

Name	Type	Default
`active`	Bool	True
`id`	Int	Auto
`iflex`	Reference - `FlexBody`
`igeom`	Reference - `Graphics` [0]
`jflex`	Reference - `FlexBody`
`jgeom`	Reference - `Graphics` [0]
`label`	Str
`name`	Str

Example

For an example, see Contact.

See also

For more details, see also Sensor: Proximity.

active#

Defines the state of this object.

Type=Bool, Default=True

id#

The id of the object.

Type=Int

iflex#

Flexible body used as first body in proximity sensor.

Info

This attribute is mutually exclusive with igeom.

Type=Reference (FlexBody)

igeom#

Graphics on the first body for proximity sensor.

Info

This attribute is mutually exclusive with iflex.

Type=Reference (Graphics) [0]

jflex#

Flexible body used as second body in proximity sensor.

Info

This attribute is mutually exclusive with jgeom.

Type=Reference (FlexBody)

jgeom#

Graphics on the second body for proximity sensor.

Info

This attribute is mutually exclusive with jflex.

Type=Reference (Graphics) [0]

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

class Pstate(**kwds)#

Creates a container for Solver Variables that are used in generating a linear representation of a model about an operating point.

Name	Type	Default
`id`	Int	Auto
`label`	Str
`name`	Str
`variables`	Reference - `Variable` [0]

See also

For more details, see also Reference: PlantState.

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

variables#

A list of state Variables

Type=Reference (Variable) [0]

class Ptcv(**kwds)#

Defines a (Point to Curve) higher pair constraint.: A fixed point on one body slides on a Curve that is fixed on a second body. The point is not allowed to lift off the curve.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`curve`	Reference - `Curve`	\(\checkmark\)		\(\checkmark\)
`disp`	Double [3]		[0, 0, 0]		\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`rm`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`vel`	Double		0.0		\(\checkmark\)
`virtual`	Bool		False
`zaxis`	Enum		UNCONSTRAINED

See also

For more details, see also Constraint: PTCV.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

curve#

Curve that is fixed to the second body.

Type=Reference (Curve), Required, Modifiable

disp#

A guess for the initial contact point on the curve.

Type=Double [3], Default=[0, 0, 0], Designable

i#

Fixed marker that defines the connection on the first body.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

rm#

Coordinate system in which the curve points are defined.

Type=Reference (Marker), Required, Modifiable

vel#

Initial sliding velocity of i relative to the curve.

Type=Double, Default=0.0, Designable

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

zaxis#

Directional constraint imposed on the Z axis of the i marker.

Type=Enum, Default=UNCONSTRAINED

Permitted values are:

PARALLEL
PERPENDICULAR
UNCONSTRAINED

class Ptdcv(**kwds)#

Defines a (Point to Deformable Curve) higher pair constraint.: A point is constrained to only move by sliding along a DeformableCurve. The curve can deform. As the markers move in space, the curve is calculated at every time step using CUBIC spline interpolation through the marker origins. This constraint is useful for simulating connection between a point on a body and a slender, flexible element such as a cable.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`dcurve`	Reference - `DeformableCurve`	\(\checkmark\)		\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`virtual`	Bool		False

See also

For more details, see also Constraint: PTdCV.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

dcurve#

Reference to a DeformableCurve that defines the constraint.

Type=Reference (DeformableCurve), Required, Modifiable

i#

Reference to a Marker constrained to lie on the curve.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Ptdcvf(**kwds)#

Creates a contact force between a Marker

and a DeformableCurve. The volumes in contact are defined by the ellipsoid located at the i marker and the curve representing a cable with local radius defined by the radius_curve_start and radius_curve_end. A tapered curve is defined by different radii. A negative value indicates a hollow curve (cable). The contact force supports two formulations:

Linear: with a stiffness and damping component
Poisson: based on penalty formulation

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`damping`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`dcurve`	Reference - `DeformableCurve`	\(\checkmark\)
`force_model`	Enum			\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`penalty`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius_curve_end`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius_curve_start`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius_x`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius_y`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius_z`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`restitution_coefficient`	Double		0.0	\(\checkmark\)
`stiffness`	Double		0.0	\(\checkmark\)	\(\checkmark\)

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

damping#

Specifies the damping coefficient.

Info

This attribute can only be used when type = LINEAR.

Type=Double, Default=0.0, Modifiable, Designable

dcurve#: Type=Reference (DeformableCurve), Required

force_model#

Specifies the force model for the contact force.

Type=Enum, Modifiable

Permitted values are:

LINEAR
POISSON

i#: Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

penalty#

Specifies the penalty parameter.

Info

This attribute can only be used when type = POISSON.

Type=Double, Default=0.0, Modifiable, Designable

radius#

Radius of the sphere geometry centered at the origin of the I marker.The contact force start acting when there is contact between the ellipsoid volume and the deformable curve.

Info

This attribute is mutually exclusive with { radius_x , radius_z , radius_y }.

Type=Double, Default=0.0, Modifiable, Designable

radius_curve_end#

The radius of the deformable curve at the last marker location.

Type=Double, Default=0.0, Modifiable, Designable

radius_curve_start#

The radius of the deformable curve at the first marker location.

Type=Double, Default=0.0, Modifiable, Designable

radius_x#

x radius of the ellipsoid geometry.

Info

This attribute is mutually exclusive with radius.

Type=Double, Default=0.0, Modifiable, Designable

radius_y#

y radius of the ellipsoid geometry.

Info

This attribute is mutually exclusive with radius.

Type=Double, Default=0.0, Modifiable, Designable

radius_z#

z radius of the ellipsoid geometry.

Info

This attribute is mutually exclusive with radius.

Type=Double, Default=0.0, Modifiable, Designable

restitution_coefficient#

Specifies the restitution coefficient.

Info

This attribute can only be used when type = POISSON.

Type=Double, Default=0.0, Modifiable

stiffness#

Specifies the stiffness coefficient.

Info

This attribute can only be used when type = LINEAR.

Type=Double, Default=0.0, Modifiable, Designable

class Ptdsf(**kwds)#

Defines a (Point to Deformable Surface) higher pair constraint.: This element constrains a fixed point on a body to slide along a DeformableSurface that passes through the origins of a specified set of markers. These markers may belong to different bodies. As the markers move in space, the surface is calculated at every time step using CUBIC spline interpolation through the marker origins. Hence, the surface deforms as the markers move about.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`dsurface`	Reference - `DeformableSurface`	\(\checkmark\)		\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`virtual`	Bool		False

See also

For more details, see also Constraint: PTdSF.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

dsurface#

Reference to a DeformableSurface that defines the constraint.

Type=Reference (DeformableSurface), Required, Modifiable

i#

Reference to a Marker defining the point constrained to the deformable surface.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class Ptdsff(**kwds)#

Creates a soft constraint (force) that attempts to maintain a Marker on a DeformableSurface.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`damping`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`dsurface`	Reference - `DeformableSurface`	\(\checkmark\)
`flip_normal`	Bool		False	\(\checkmark\)
`force_model`	Enum			\(\checkmark\)
`function`	Function			\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`penalty`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius_x`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius_y`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`radius_z`	Double		0.0	\(\checkmark\)	\(\checkmark\)
`restitution_coef`	Alias
`restitution_coefficient`	Double		0.0	\(\checkmark\)
`routine`	Routine
`script`	Script
`stiffness`	Double		0.0	\(\checkmark\)	\(\checkmark\)

See also

For more details, see also Force: PTdSF.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

damping#

Specifies the damping coefficient.

Info

This attribute can only be used when type = LINEAR.

Type=Double, Default=0.0, Modifiable, Designable

dsurface#

Reference to an existing DeformableSurface in the model.

Type=Reference (DeformableSurface), Required

flip_normal#

True if surface normal should be flipped.

Type=Bool, Default=False, Modifiable

force_model#

Specifies the force model.

Type=Enum, Modifiable

Permitted values are:

HERTZIAN
LINEAR
POISSON
UNDEFINED
USERSUB

function#

Parameters passed to user defined subroutine.

Info

This attribute can only be used when type = USERSUB.

Type=Function, Modifiable

i#

Reference to an existing Marker in the model constrained to the surface.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

penalty#

Specifies the penalty parameter.

Info

This attribute can only be used when type = POISSON.

Type=Double, Default=0.0, Modifiable, Designable

radius#

Radius of the sphere geometry centered at the origin of the I marker.

Info

This attribute is mutually exclusive with { radius_x , radius_z , radius_y }.

Type=Double, Default=0.0, Modifiable, Designable

radius_x#

x radius of the ellipsoid geometry.

Info

This attribute is mutually exclusive with radius.

Type=Double, Default=0.0, Modifiable, Designable

radius_y#

y radius of the ellipsoid geometry.

Info

This attribute is mutually exclusive with radius.

Type=Double, Default=0.0, Modifiable, Designable

radius_z#

z radius of the ellipsoid geometry.

Info

This attribute is mutually exclusive with radius.

Type=Double, Default=0.0, Modifiable, Designable

restitution_coef#

Alias to restitution_coefficient.

Type=Alias

restitution_coefficient#

Specifies the restitution coefficient.

Info

This attribute can only be used when type = POISSON.

Type=Double, Default=0.0, Modifiable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

stiffness#

Specifies the stiffness coefficient.

Info

This attribute can only be used when type = LINEAR.

Type=Double, Default=0.0, Modifiable, Designable

class Ptsf(**kwds)#

Defines a (Point to Surface) higher pair constraint.: A fixed point on one body slides on a Surface that is fixed on a second body. The point is not allowed to lift off the surface.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`disp`	Double [3]		[0, 0, 0]		\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`rm`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`surface`	Reference - `Surface`	\(\checkmark\)		\(\checkmark\)
`virtual`	Bool		False
`zaxis_perpendicular`	Bool		False

See also

For more details, see also Constraint: PTSF.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

disp#

A guess for the initial contact point on the surface.

Type=Double [3], Default=[0, 0, 0], Designable

i#

Fixed marker that defines the connection on the first body.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

rm#

Coordinate system in which the surface points are defined.

Type=Reference (Marker), Required, Modifiable

surface#

Surface that is fixed to the second body.

Type=Reference (Surface), Required, Modifiable

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

zaxis_perpendicular#

Imposes perpendicularity between marker I zaxis and tangent plane.

Type=Bool, Default=False

class Request(**kwds)#

Defines an output request entity in MotionSolve.

Requests are written to MotionSolve output files so that they may be used for plotting and signal processing by HyperGraph, HyperGraph 3D, or python.

Requests can be defined using:

runtime expressions,
built-in functions (MOTION, FORCE, FIELD etc.. ) or,
user written functions.

Name	Type	Default	Modifiable
`F1`	Alias
`F2`	Alias
`F3`	Alias
`F4`	Alias
`F5`	Alias
`F6`	Alias
`F7`	Alias
`F8`	Alias
`clabels`	Str [8]
`cnames`	Str [0]
`comment`	Str
`cunits`	Str [0]
`f1`	Function		\(\checkmark\)
`f2`	Function		\(\checkmark\)
`f3`	Function		\(\checkmark\)
`f4`	Function		\(\checkmark\)
`f5`	Function		\(\checkmark\)
`f6`	Function		\(\checkmark\)
`f7`	Function		\(\checkmark\)
`f8`	Function		\(\checkmark\)
`function`	Function
`i`	Reference - `Marker`		\(\checkmark\)
`id`	Int	Auto
`impose_angle_limit`	Bool	False	\(\checkmark\)
`j`	Reference - `Marker`		\(\checkmark\)
`label`	Str
`name`	Str
`results_name`	Str
`rm`	Reference - `Marker`		\(\checkmark\)
`routine`	Routine
`script`	Script
`type`	Enum	EXPRESSION

Example

For an example, see RequestResult.

See also

For more details, see also Post: Output Request.

F1#: Type=Alias

F2#: Type=Alias

F3#: Type=Alias

F4#: Type=Alias

F5#: Type=Alias

F6#: Type=Alias

F7#: Type=Alias

F8#: Type=Alias

clabels#

List of strings defining component labels.

Type=Str [8]

cnames#

List of strings defining component names.

Type=Str [0]

comment#

String defining a comment associated with request.

Type=Str

cunits#

List of strings defining component units.

Type=Str [0]

f1#

String defining the request expression for f1.

Info

This attribute can only be used when type = EXPRESSION.

Type=Function, Modifiable

f2#

String defining the request expression for f2.

Info

This attribute can only be used when type = EXPRESSION.

Type=Function, Modifiable

f3#

String defining the request expression for f3.

Info

This attribute can only be used when type = EXPRESSION.

Type=Function, Modifiable

f4#

String defining the request expression for f4.

Info

This attribute can only be used when type = EXPRESSION.

Type=Function, Modifiable

f5#

String defining the request expression for f5.

Info

This attribute can only be used when type = EXPRESSION.

Type=Function, Modifiable

f6#

String defining the request expression for f6.

Info

This attribute can only be used when type = EXPRESSION.

Type=Function, Modifiable

f7#

String defining the request expression for f7.

Info

This attribute can only be used when type = EXPRESSION.

Type=Function, Modifiable

f8#

String defining the request expression for f8.

Info

This attribute can only be used when type = EXPRESSION.

Type=Function, Modifiable

function#

Parameters passed to user defined subroutine.

Info

This attribute can only be used when type = USER.

Type=Function

i#

Reference to existing i marker.

Info

This attribute can only be used when type = DISPLACEMENT, VELOCITY, ACCELERATION, FORCE.

Type=Reference (Marker), Modifiable

id#

The id of the object.

Type=Int

impose_angle_limit#

When True it bound the angle computed between +-180 deg.

Type=Bool, Default=False, Modifiable

j#

Reference to existing j marker. When not specified, it defaults to the global coordinate system.

Info

This attribute can only be used when type = DISPLACEMENT, VELOCITY, ACCELERATION, FORCE.

Type=Reference (Marker), Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

results_name#: Type=Str

rm#

Reference to existing rm marker. When not specified, it defaults to the global coordinate system.

Info

This attribute can only be used when type = DISPLACEMENT, VELOCITY, ACCELERATION, FORCE.

Type=Reference (Marker), Modifiable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

type#

Defines the type of request.

Type=Enum, Default=EXPRESSION

Permitted values are:

ACCELERATION
DISPLACEMENT
EXPRESSION
FORCE
USER
VELOCITY

class Rv(**kwds)#

Defines a special type of solver state variable.

It is used in the evaluation and computation of design sensitivity as a response variable.

The Response module is a library of classes currently available for creating commonly used responses.

Name	Type	Default
`function`	Function
`ic`	Double	0.0
`id`	Int	Auto
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script
`sensitivity`	Bool	True

Name	Description
`responseValue` (self)	Returns the value of the response.

Example

Create a Response variable (Rv).#

from msolve import *
model = Model(output='rv')

ground = Part(ground=True)
global_ref = Marker(part=ground)
Units(system='mmks')
Accgrav(kgrav=-9810)

part = Part(mass=10, ip=[1e3]*3)
part.cm = Marker()

rv = Rv(function=f'5*VZ({part.cm.id},{global_ref.id})')

See also

For more details, see also Response Variables.

function#

MotionSolve expression that defines the variable used as response for DSA.

Type=Function

ic#

Specifies the initial condition of the Rv object.

Type=Double, Default=0.0

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

responseValue()#: Returns the value of the response. :returns: The value of the response. :rtype: float

Note

RVAL1 of a Response Variable is the value of response variable or the rate of change/Derivative of RVAL

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

sensitivity#

When set to False, MotionSolve ignores this Rv in dsa analysis.

Type=Bool, Default=True

class Scope(**kwds)#

Defines a Scope Plot.: It will be displayed while the simulation is running and updated at every output step.

Parameters

x (Function) – The independent variable for the Scope plot. ‘TIME’ will be used in case x is unspecified.
y (Function) – The dependent variable(s) for the Scope plot, can be a list of functions or result component names. Multiple curves can be plotted on the same plot.
plot_kwds (dict) – An optional dictionary that defines plot attributes such as linewidth, marker style etc..

Note

A Scope object is defined by an independent variable x and the dependent variable(s) y.

The independent variable x is used for the horizontal axis of the plot. If x is omitted, it will default to the current simulation output time step. The dependent variable y is a list of functions or results that will be plotted against x.

Functions from Functions Module can be used, e.g. DX(), DISP(), AZ(), etc. The y parameter can also take other formats, including strings that identify the result_name.component_name, such as “req2.F4”.

Examples

from msolve import *

model = createDemoPendulum()

part = model.getPart(2)  # get the pendulum body with id = 2

plot_keywords = {
    'color': 'blue',            # Defines line color
    'linewidth': 2.0,           # Defines line width
    'linestyle': '-',           # Defines line style (solid line)
    'marker': 'o',              # Defines marker style (circle)
    'markersize': 6,            # Defines marker size
    'markerfacecolor': 'blue',  # Defines marker face color
    'markeredgecolor': 'black', # Defines marker edge color
    'markeredgewidth': 1.0,     # Defines marker edge width
    'alpha': 1.0,               # Defines opacity (1.0 is fully opaque)
}

scope1 = Scope(x='TIME', y='req3_part_displ.Z',
  plot_kwds = plot_keywords
  )
scope2 = Scope(y=f'ACCZ({part.cm.id})')

# Multiple curves will appear if the function returns multiple values
scope3 = Scope(y=f'DISP({part.cm.id})')
scope4 = Scope(y="req4_f2.times_2")

# run the simulation
model.simulate(type="TRANSIENT", duration=3, steps=300)

Warning

The independent variable x doesn’t have to be monotonically increasing.

fig#

Matplotlib top level Artist, which holds all plot elements.

Type: matplotlib.figure.Figure

Name	Type	Required	Default
`active`	Bool		True
`id`	Int		Auto
`label`	Str
`name`	Str
`save`	Bool		True
`x`	Function
`y`	Function [0]	\(\checkmark\)

Example

Create a number of Scopes.#

from msolve import *
model = Model(output='scope_demo')

ground = Part(ground=True)
global_ref = Marker(part=ground)
Units(system='mmks')
Accgrav(kgrav=-9810)

part = Part(mass=50, ip=[1e3]*3)
part.cm = Marker()
bushing = Bushing(k=[1e2,1e2,1e2],
  kt = [1e3,1e3,1e3],
  c  = [2,2,1],
  ct = [10,10,3],
  i  = part.cm,
  j  = global_ref,
)

req = Request(type="EXPRESSION",
       f2=f"BUSH({bushing.id}, 0, 1, 0)",
       name="bushing_fm")

# add a scope for the part cm translational displacements with respect to ground
plot1 = Scope(y=[f"TDISP({part.cm.id})"])

# add a scope for the bushing force magnitude as a function
# of the part displacement in the z direction with respect to ground
plot2 = Scope(y="bushing_fm.F2", x=f"DZ({bushing.i.id})")

model.simulate(type="TRANSIENT", end=3, steps=300, store=True)
plot(y="bushing_fm.F2", x='TIME')

# to allow the plots to be displayed in an interactive session
input("Press any key to close...")

active#

Defines the state of this object.

Type=Bool, Default=True

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

save#

Flag to save the png file to the current working directory

Type=Bool, Default=True

x#

A valid MotionSolve expression or function that defines the independent variable.

Type=Function

y#

A valid MotionSolve expression or function that defines the dependent variable being plotted.

Type=Function [0], Required

class Sensor(**kwds)#

Defines an event sensor in the model.: Once an event of interest occurs, you can take action to respond to the event. For example, you can modify the simulation settings when a user-defined event occurs during the MBD solver run.

Name	Type	Default	Modifiable
`active`	Bool	True	\(\checkmark\)
`dt`	Double	0.0
`error`	Double	0.001
`evaluate`	Alias
`evaluate_function`	Function
`evaluate_routine`	Routine
`evaluate_script`	Script
`function`	Alias
`halt`	Bool	False
`hmax`	Double	0.0
`id`	Int	Auto
`label`	Str
`name`	Str
`operator`	Enum	EQ
`print_`	Bool	False
`restart`	Bool	False
`return_`	Bool	False
`routine`	Alias
`script`	Alias
`sensor_function`	Function
`sensor_routine`	Routine
`sensor_script`	Script
`stepsize`	Double	0.0
`value`	Double	0.0
`verbose`	Bool	False
`zero_crossing`	Double	0.0

See also

For more details, see also Sensor: Event, Sensor: Evaluate.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

dt#

Print interval after the event has occurred.

Type=Double, Default=0.0

error#

The error tolerance for detecting an event.

Type=Double, Default=0.001

evaluate#

Alias to evaluate_function.

Type=Alias

evaluate_function#

Expression that defines the sensor event.

Type=Function

evaluate_routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

evaluate_script#

Path and name of the script that contains the routine for the sensor event.

Type=Script

function#

Alias to sensor_function.

Type=Alias

halt#

If True the simulation will stop after the event has occurred.

Type=Bool, Default=False

hmax#

Maximum step size after the event has occurred.

Type=Double, Default=0.0

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

operator#

The comparison operator (<=>).

Type=Enum, Default=EQ

Permitted values are:

print_#

If True the simulation will print output after the event has occurred.

Type=Bool, Default=False

restart#

If True the simulation will restart after the event has occurred.

Type=Bool, Default=False

return_#

If True the simulation will return and execute the next command after the event has occurred.

Type=Bool, Default=False

routine#

Alias to sensor_routine.

Type=Alias

script#

Alias to sensor_script.

Type=Alias

sensor_function#

Expression that defines the sensor function.

Type=Function

sensor_routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

sensor_script#

Path and name of the script that contains the routine for sensor.

Type=Script

stepsize#

Maximum step size allowed after the event has occurred.

Type=Double, Default=0.0

value#

The sensor event threshold.

Type=Double, Default=0.0

verbose#

Boolean attribute that controls the verbosity of the sensor event.

Type=Bool, Default=False

zero_crossing#

Tolerance for the zero crossing search.

Type=Double, Default=0.0

class Sforce(**kwds)#

Defines a force or torque acting between two Markers.: The force or torque is characterized by a magnitude and a direction. The direction is predefined and dependent on type and action only. The magnitude may be defined using a function expression, a user-defined subroutine, or a Python script. The magnitude can be a function of any system state and time.

Name	Type	Required	Default	Modifiable
`actiononly`	Bool		False	\(\checkmark\)
`active`	Bool		True	\(\checkmark\)
`function`	Function	\(\checkmark\)		\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`j`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script
`type`	Enum		TRANSLATION

Example

Impose force between two markers (Sforce).#

from msolve import *

model = Model(output="sforce")

Units(system="MKS")
ground = Part(ground=True)
global_ref = Marker(body=ground)

body_1 = Part(mass=50, ip=[1e3]*3, cm=Marker(zv=[0,0,1]))
body_2 = Part(mass=10, ip=[5e2]*3, cm=Marker(qp=[5,0,0], zv=[0,0,1]))

sforce = Sforce(i          = body_1.cm,
                j          = body_2.cm,
                type       = "TRANSLATION",
                actiononly = False,
                function   = "100*SIN(2*PI*TIME)")

See also

For more details, see also Force: Two Body Scalar.

actiononly#

True for action only force, False for action and reaction force.

Type=Bool, Default=False, Modifiable

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine or a legal MotionSolve expression that specifies the force.

Type=Function, Required, Modifiable

i#

Marker at which the force is applied.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

j#

Marker at which the reaction force is applied.

Type=Reference (Marker), Required, Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

type#

Type of force.

Type=Enum, Default=TRANSLATION

Permitted values are:

ROTATION
TRANSLATION

class Sfsf(**kwds)#

Defines a (Surface to Surface) higher pair constraint.: The constraint consists of a Surface on one body rolling and sliding on a surface on a second body. The surfaces are required to have a unique contact point.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`id`	Int		Auto
`idisp`	Double [3]		[0, 0, 0]		\(\checkmark\)
`irm`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`isurface`	Reference - `Surface`	\(\checkmark\)		\(\checkmark\)
`jdisp`	Double [3]		[0, 0, 0]		\(\checkmark\)
`jrm`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`jsurface`	Reference - `Surface`	\(\checkmark\)		\(\checkmark\)
`label`	Str
`name`	Str
`no_slip`	Bool		False
`virtual`	Bool		False

See also

For more details, see also Constraint: SFSF.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

id#

The id of the object.

Type=Int

idisp#

Location of the contact point on i Surface.

Type=Double [3], Default=[0, 0, 0], Designable

irm#

Coordinate system in which the i Surface is defined.

Type=Reference (Marker), Required, Modifiable

isurface#

Reference to an existing Surface in the model.

Type=Reference (Surface), Required, Modifiable

jdisp#

Location of the contact point on j Surface.

Type=Double [3], Default=[0, 0, 0], Designable

jrm#

Coordinate system in which the j Surface is defined.

Type=Reference (Marker), Required, Modifiable

jsurface#

Reference to an existing Surface in the model.

Type=Reference (Surface), Required, Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

no_slip#

Specifies if slip or slide is allowed between the two surfaces.

Type=Bool, Default=False

virtual#

Defines whether the constraint is virtual or regular.

Type=Bool, Default=False

class SimulationEvent(**kwds)#

Defines an event in MotionSolve and adds it to a list.

Each event can be executed using the run() method. It’s also possible to execute all the events in the event queue by calling runSimulationEvents() method on the model class. SimulationEvent can be defined using:

keywords
consub
script

Examples:

Keywords:

event = SimulationEvent(type="TRANSIENT", start=1, end=2, steps=10)

Consub (can be callable python function or compiled MotionSolve consub):

event = SimulationEvent(
  function = "USER(5000,0,-9.81,0, 0.01)",
  routine  = control
  )

Script:

event = SimulationEvent(
  script_file = "/home/user/events.py",
  function    = "simulationScript",
  args        = [10, 20, 30],      # use list for homogeneous types
  #args        = (1, "string"),    # use tuple for mixed types
  kwargs      = {'kwarg_1': 100,   # use dict for any keyword, value pair
                 'kwarg_2': 200 }
)

Name	Type	Default	Modifiable
`active`	Bool	True	\(\checkmark\)
`active_contact_iteration`	Bool	False
`acusolve_cosim`	Bool	False
`args`	Property
`constraint_tol`	Double	0.0
`dsa`	Enum	NONE
`dtout`	Double	0.0
`duration`	Double
`end`	Double	0.0
`frequency_input`	Reference - `FrequencyInput`
`function`	Function
`id`	Int	Auto
`implicit_diff_tol`	Double	0.0
`increment_type`	Enum
`kwargs`	Property
`label`	Str
`name`	Str
`numThread`	Int	0
`output`	Enum	ON
`print_increment`	Int	0
`returnResults`	Bool	False
`routine`	Routine
`script`	Script
`script_file`	FileName
`start`	Double	0.0
`steps`	Int	0
`store`	Bool	False
`type`	Enum	TRANSIENT

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

active_contact_iteration#

Specifies whether the contact residual is being updated during the corrector step of the implicit solver.

Type=Bool, Default=False

acusolve_cosim#

Specifies if this simulation is a ACUSOLVE MS co-simulation.

Type=Bool, Default=False

args#

Arguments passed as non keywords to the script function.

Type=Property

constraint_tol#

The tolerance on all algebraic constraint equations that the corrector must satisfy at convergence.

Type=Double, Default=0.0

dsa#

The type of design sensitivity analysis.

Type=Enum, Default=NONE

Permitted values are:

ADJOINT
AUTO
DIRECT
FD
FD_SERIAL
NONE

dtout#

The print interval.

Type=Double, Default=0.0

duration#

The duration of the analysis.

Type=Double

end#

The end time of the analysis.

Type=Double, Default=0.0

frequency_input#: Type=Reference (FrequencyInput)

function#

The name of the callable function or the string passed to the consub.

Type=Function

id#

The id of the object.

Type=Int

implicit_diff_tol#

Modifies the accuracy to which implicit differential equations are to be satisfied.

Type=Double, Default=0.0

increment_type#

Type=Enum

Permitted values are:

LINEAR
LOG

kwargs#

Keyword Arguments passed to the script function.

Type=Property

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

numThread#

Specifies the number of threads for Open MP multi-threaded contact simulation.

Type=Int, Default=0

output#

Specifies protocol of standard output.

Type=Enum, Default=ON

Permitted values are:

FILEONLY
OFF
ON

print_increment#

The frequency of output in terms of the integrator steps that have been taken.

Type=Int, Default=0

returnResults#

Specifies if run data will be returned to the caller.

Type=Bool, Default=False

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

The fully specified path and name of the script executed in run method.

Type=Script

script_file#

The fully specified path and name of the file containing the simulation script.

Type=FileName

start#

The start time of the analysis.

Type=Double, Default=0.0

steps#

The number of output steps to take between start and end.

Type=Int, Default=0

store#

If True, it stores the simulation results in a list on the model.

Type=Bool, Default=False

type#

The type of simulation.

Type=Enum, Default=TRANSIENT

Permitted values are:

ASSEMBLY
DYNAMICS
FREQUENCYRESPONSE
KINEMATICS
LINEAR
STATICS
TRANSIENT
VERIFY

class Sphere(**kwds)#

Creates a 3D graphic whose plane sections are circles and cm Marker at its center.

Name	Type	Required	Default	Designable
`cm`	Reference - `Marker`	\(\checkmark\)
`color`	Color
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`material_inside`	Bool		True
`name`	Str
`radius`	Double		0.0	\(\checkmark\)
`refinement_level`	Int		3

Example

Create a Sphere graphic.#

from msolve import *

model = Model(output="sphere")

Units(system="MKS")
ground = Part(ground=True)
global_ref = Marker(body=ground)

body_1 = Part(mass=10, ip=[1e3]*3, cm=Marker(zv=[0,0,1]))

body_1.geo = sphere = Sphere(cm=body_1.cm, radius=2, refinement_level=4)

H3dOutput(save=True)

See also

For more details, see also Post: Graphic (Sphere).

cm#

Marker at the geometric center.

Type=Reference (Marker), Required

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

radius#

Radius of Sphere.

Type=Double, Default=0.0, Designable

refinement_level#

Type=Int, Default=3

class Spline(**kwds)#

Defines spline with two or three independent variables.: Splines have many varied applications in MotionSolve, for example they can be used to define non-linear characteristics of a Force or a Motion.

Name	Type	Default	Modifiable	Designable
`block`	Str		\(\checkmark\)
`file`	FileName		\(\checkmark\)
`id`	Int	Auto
`label`	Str
`linear_extrapolate`	Bool	False	\(\checkmark\)
`name`	Str
`routine`	Routine
`script`	Script
`x`	Double [0]	0.0	\(\checkmark\)	\(\checkmark\)
`y`	Double [0]	0.0	\(\checkmark\)	\(\checkmark\)

Example

Create a Spline.#

from msolve import *

model = Model(output="spline")

ground = Part(ground=True)
Units(system="MKS")
Accgrav(jgrav=-9.81)

global_frame = Marker(body=ground)

part = Part (mass=1, ip=[1e3,1e3,1e3],cm=Marker())

spline = Spline(x        = [-10,-8,-6,-4,-2,0,2,4,6,8,10],
                y        = [-400,-320,-240,-160,-80,0,80,160,240,320,400],
                linear_extrapolate = True
                )

See also

For more details, see also Reference: Spline.

block#

The optional block string in the file.

Type=Str, Modifiable

file#

CSV file containing the data for the spline.

Type=FileName, Modifiable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

linear_extrapolate#

Specifies if MotionSolve is to linearly extrapolate the spline.

Type=Bool, Default=False, Modifiable

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

x#

A list of x values.

Type=Double [0], Default=0.0, Modifiable, Designable

y#

A list of y values.

Type=Double [0], Default=0.0, Modifiable, Designable

class SpringDamper(**kwds)#

Defines a spring damper acting between two Markers.: The element can be translational (applies a force) or rotational (applies a torque). In both cases, the force is characterized by a stiffness coefficient, a damping coefficient, a free-length (or angle), and a preload.

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`angle`	Double			\(\checkmark\)	\(\checkmark\)
`c`	Double			\(\checkmark\)	\(\checkmark\)
`ct`	Double			\(\checkmark\)	\(\checkmark\)
`force`	Double			\(\checkmark\)	\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`j`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`k`	Double			\(\checkmark\)	\(\checkmark\)
`kt`	Double			\(\checkmark\)	\(\checkmark\)
`label`	Str
`length`	Double			\(\checkmark\)	\(\checkmark\)
`name`	Str
`torque`	Double			\(\checkmark\)	\(\checkmark\)
`type`	Enum

Example

Create a SpringDamper element.#

from msolve import *

model = Model(output="springdamper")

ground = Part(ground=True)
Units(system="MKS")
Accgrav(jgrav=-9.81)
H3dOutput(save=True)

global_frame = Marker(body=ground)

part = Part (mass=1, ip=[1e3,1e3,1e3],cm=Marker(qp=[0,10,0], zp=[0,0,0]))
part.geometry = Box(cm=part.cm, x=30, y=20, z=2)

sd = SpringDamper(type   = "TRANSLATION",
                  i      = part.cm,
                  j      = Marker(body=ground, qp=[0,0,0], zp=[0,1,0]),
                  length = 10,
                  k      = 50,
                  force  = 50
                  )

sd.geo = SpringDamperGraphic(i=sd.i, j=sd.j, da=10.0, db=5.0, dc=3.0, lc=7.0, ld=5.0, coils=8)

See also

For more details, see also Force: Spring Damper.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

angle#

Free angle of the spring.

Info

This attribute can only be used when type = ROTATION.

Type=Double, Modifiable, Designable

c#

Translational damping coefficient.

Info

This attribute can only be used when type = TRANSLATION.

Type=Double, Modifiable, Designable

ct#

Rotational damping coefficient.

Info

This attribute can only be used when type = ROTATION.

Type=Double, Modifiable, Designable

force#

Preload force in the spring-damper.

Info

This attribute can only be used when type = TRANSLATION.

Type=Double, Modifiable, Designable

i#

Marker at which the force or torque is applied.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

j#

Marker at which the reaction force or torque is applied.

Type=Reference (Marker), Required, Modifiable

k#

Translational spring stiffness.

Info

This attribute can only be used when type = TRANSLATION.

Type=Double, Modifiable, Designable

kt#

Rotational spring stiffness.

Info

This attribute can only be used when type = ROTATION.

Type=Double, Modifiable, Designable

label#

A string describing the object.

Type=Str

length#

Free length of the spring.

Info

This attribute can only be used when type = TRANSLATION.

Type=Double, Modifiable, Designable

name#

Defines a nametag for the object.

Type=Str

torque#

Preload torque in the spring-damper.

Info

This attribute can only be used when type = ROTATION.

Type=Double, Modifiable, Designable

type#

Type of the spring-damper.

Type=Enum

Permitted values are:

ROTATION
TRANSLATION

class SpringDamperGraphic(**kwds)#

Creates a spring damper geometry.

Name	Type	Required	Default	Designable
`coils`	Int		0
`color`	Color
`da`	Double		0.0	\(\checkmark\)
`db`	Double		0.0	\(\checkmark\)
`dc`	Double		0.0	\(\checkmark\)
`hidden`	Bool		False
`i`	Reference - `Marker`	\(\checkmark\)
`id`	Int		Auto
`j`	Reference - `Marker`	\(\checkmark\)
`la`	Double		0.0	\(\checkmark\)
`label`	Str
`lb`	Double		0.0	\(\checkmark\)
`lc`	Double		0.0	\(\checkmark\)
`ld`	Double		0.0	\(\checkmark\)
`name`	Str

Example

For an example, see SpringDamper.

See also

For more details, see also Post: Graphic (SPDP).

coils#

Number of coils of the spring graphic.

Type=Int, Default=0

color#

The color of the graphic for H3D animation.

Type=Color

da#

Diameter of the spring graphic.

Type=Double, Default=0.0, Designable

db#

Diameter of the damper graphic at the i marker.

Type=Double, Default=0.0, Designable

dc#

Diameter of the damper graphic at the j marker.

Type=Double, Default=0.0, Designable

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

i#

Start connection Marker for the SpringDamperGraphic.

Type=Reference (Marker), Required

id#

The id of the object.

Type=Int

j#

End connection Marker for the SpringDamperGraphic.

Type=Reference (Marker), Required

la#

Distance between i marker and the end of the closest damper graphic.

Type=Double, Default=0.0, Designable

label#

A string describing the object.

Type=Str

lb#

Distance between j marker and the end of the closest damper graphic.

Type=Double, Default=0.0, Designable

lc#

Height of the damper graphic at the i marker.

Type=Double, Default=0.0, Designable

ld#

Height of the damper graphic at the j marker.

Type=Double, Default=0.0, Designable

name#

Defines a nametag for the object.

Type=Str

class String(**kwds)#

Defines a user defined text string in MotionSolve.: The string may be of any length. It must contain only printable ASCII characters. String is primarily used within user defined subroutines. They are commonly used to pass filenames, messages, block names and DLL names to user defined subroutines.

Name	Type	Default	Modifiable
`function`	Function
`id`	Int	Auto
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script
`string`	Str		\(\checkmark\)

See also

For more details, see also Reference: String.

function#

Parameters passed to user defined subroutine.

Type=Function

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

string#

Specifies the character string to be stored.

Type=Str, Modifiable

class Surface(**kwds)#

Defines a parametric surface element in 3D space.: A parametric surface is defined in terms of two free parameters: u and v. This means that the 3 coordinates (x,y,z) of any point P on the surface is a function of the two free parameters u and v.

Name	Type	Default	Modifiable
`function`	Function
`id`	Int	Auto
`label`	Str
`maxpar`	Double [2]	[1, 1]	\(\checkmark\)
`minpar`	Double [2]	[-1, -1]	\(\checkmark\)
`name`	Str
`routine`	Routine
`script`	Script
`uclosed`	Bool	False	\(\checkmark\)
`vclosed`	Bool	False	\(\checkmark\)

Example

Create a Surface.#

from msolve import *

model = Model(output="surface")

Units(system="MKS")

ground = Part(ground=True)
global_frame = Marker(body=ground)

part = Part (mass=1, ip=[1e3,1e3,1e3],cm=Marker())

sf = Surface(uclosed   = True,
             vclosed   = True,
             minpar    = [-1,-1],
             maxpar    = [1,1],
             function  = "USER(2,100)",
             routine   = "ms_csubdll::SURSUB")

sf.geometry = SurfaceGraphic(surface=sf, rm=global_frame, u_seg=20, v_seg=20)

H3dOutput(save=True)

See also

For more details, see also Reference: Parametric Surface.

function#

Parameters passed to user defined subroutine.

Type=Function

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

maxpar#

Specifies the list of maximum value of u and v.

Type=Double [2], Default=[1, 1], Modifiable

minpar#

Specifies the list of minimum value of u and v.

Type=Double [2], Default=[-1, -1], Modifiable

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

uclosed#

True if the surface is closed in the u parametric space.

Type=Bool, Default=False, Modifiable

vclosed#

True if the surface is closed in the v parametric space.

Type=Bool, Default=False, Modifiable

class SurfaceGraphic(**kwds)#

Creates a surface graphic that represents a Surface.

Name	Type	Required	Default
`color`	Color
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`material_inside`	Bool		True
`name`	Str
`rm`	Reference - `Marker`	\(\checkmark\)
`surface`	Reference - `Surface`	\(\checkmark\)
`u_seg`	Int		10
`v_seg`	Int		10

Example

For an example, see Surface.

See also

For more details, see also Post: Graphic (ParamSurface).

color#

The color of the graphic for H3D animation.

Type=Color

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

rm#

Coordinate system with respect to which the surface is defined.

Type=Reference (Marker), Required

surface#

The represented Surface object.

Type=Reference (Surface), Required

u_seg#

Number of line segments used to approximate the surface.

Type=Int, Default=10

v_seg#

Number of line segments used to approximate the surface.

Type=Int, Default=10

class Tfsiso(**kwds)#

Defines a transfer function as a ratio of two polynomials in the Laplace domain.: Modeling applications of this element include actuators (electrical, hydraulic, and pneumatic), vibration isolators (bushings and shock absorbers), and controllers (PID).

Name	Type	Required	Default	Modifiable	Designable
`active`	Bool		True	\(\checkmark\)
`denominator`	Double [0]	\(\checkmark\)		\(\checkmark\)	\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`numerator`	Double [0]	\(\checkmark\)		\(\checkmark\)	\(\checkmark\)
`static_hold`	Bool		False	\(\checkmark\)
`u`	Reference - `Array`	\(\checkmark\)		\(\checkmark\)
`x`	Reference - `Array`	\(\checkmark\)		\(\checkmark\)
`y`	Reference - `Array`	\(\checkmark\)		\(\checkmark\)

Example

Create a SISO Transfer Function.#

from msolve import *

model = Model(output="tfsiso")

ground = Part(ground=True)
Units(system="MKS")

x = Array(type="x")
y = Array(type="y")
u = Array(type="u", size=1, variables=[Variable(function="20*SIN(2*PI*TIME)")])

tf = Tfsiso(numerator=[1, 0.5], denominator=[1, 2, 3], u=u, x=x, y=y)

See also

For more details, see also Control: SISO.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

denominator#

List of coefficients, of the denominator polynomial of the transfer function.

Type=Double [0], Required, Default=0.0, Modifiable, Designable

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

numerator#

List of coefficients, of the numerator polynomial of the transfer function.

Type=Double [0], Required, Default=0.0, Modifiable, Designable

static_hold#

Specifies if dynamic states x are kept fixed during static/quasi-static solution.

Type=Bool, Default=False, Modifiable

u#

Array used to store the inputs ‘u’ of this Gse.

Type=Reference (Array), Required, Modifiable

x#

Array used to store the states ‘x’ of this Gse.

Type=Reference (Array), Required, Modifiable

y#

Array used to store the states ‘y’ of this Gse.

Type=Reference (Array), Required, Modifiable

class Transient(**kwds)#

Specifies parameters that control the time-domain-based nonlinear dynamic analysis.

Name	Type	Default	Modifiable
`error`	Double		\(\checkmark\)
`hinit`	Double		\(\checkmark\)
`hmax`	Double		\(\checkmark\)
`hmin`	Double		\(\checkmark\)
`kmax`	Int		\(\checkmark\)
`label`	Str
`maxit`	Int		\(\checkmark\)
`name`	Str
`type`	Enum	DSTIFF

See also

For more details, see also Parameters: Transient Solver.

error#

Maximum absolute error allowed.

Type=Double, Modifiable

hinit#

The maximum initial step size.

Type=Double, Modifiable

hmax#

Maximum step size the integrator is allowed to take.

Type=Double, Modifiable

hmin#

Minimum step size the integrator is allowed to take.

Type=Double, Modifiable

kmax#

Maximum order that the integrator is to take.

Type=Int, Modifiable

label#

A string describing the object.

Type=Str

maxit#

Maximum number of iterations for the corrector.

Type=Int, Modifiable

name#

Defines a nametag for the object.

Type=Str

type#

Define the integrator to be used.

Type=Enum, Default=DSTIFF

Permitted values are:

ABAM
CSTIFF
DSTIFF
MSTIFF
VSTIFF

class Triamesh(**kwds)#

Creates a graphic object defined using ‘Nodes’ and ‘Faces’.: You also have the option of employing a graphic_read callable function to populate both nodes and faces.

Name	Type	Required	Default	Modifiable
`auto_clearance`	Double			\(\checkmark\)
`centerline_marker`	Reference - `Marker`			\(\checkmark\)
`color`	Color
`faces`	Faces		0
`function`	Function
`hidden`	Bool		False
`id`	Int		Auto
`is_material_inside`	Alias
`label`	Str
`material_inside`	Bool		True
`name`	Str
`nodes`	Nodes		0.0
`refinement_level`	Int		0
`rm`	Reference - `Marker`	\(\checkmark\)
`routine`	Routine
`script`	Script

Example

Create a triangular surface mesh.#

from msolve import *
model = Model(output="triamesh")
ground = Part(ground=True)
Units()
H3dOutput(save=True)

# node_id   0        1        2       3        4        5        6         7
nodes = [[0,0,0],[0.5,0,0],[0,1,0],[0,0,1],[0.5,1,0],[0,1,1],[0.5,0,1],[0.5,1,1]]
faces = [[0,1,2],[0,1,3],[0,2,3],
         [7,4,5],[7,4,6],[7,5,6],
         [1,2,4],[2,3,5],[3,1,6],
         [4,5,2],[5,6,3],[6,4,1]
         ]

part = Part(mass = 1, ip = [0.1,0.1,0.1], cm=Marker())
fixed = Joint(i=part.cm, j=Marker(part=ground))
rm = Marker(part=ground)

triamesh = Triamesh(rm    = rm,
                    nodes = nodes,
                    faces = faces,
                    centerline_marker = part.cm,
                    auto_clearance    = 0
                    )

See also

For more details, see also Post: Graphic (Triamesh).

auto_clearance#

Specifies the clearance of a cylindrical hole that has been meshed with Triamesh. It superimposes clearance to the triangle meshed body measured from the centerline that is being defined by the z-axis of centerline_marker. The value must be larger or equal to 0.

Type=Double, Modifiable

centerline_marker#

The z-axis of this Marker defines the centerline for auto_clearance.

Type=Reference (Marker), Modifiable

color#

The color of the graphic for H3D animation.

Type=Color

faces#

List of nodes indexes that define the face for the triamesh.

Type=Faces, Default=0

function#

Parameters passed to user defined subroutine.

Type=Function

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

is_material_inside#

Alias to material_inside.

Type=Alias

label#

A string describing the object.

Type=Str

material_inside#

When set to True, the geometry is considered filled with material, with its exterior devoid of material. This results in outward-pointing surface normals. False signifies the opposite.

Type=Bool, Default=True

name#

Defines a nametag for the object.

Type=Str

nodes#

List of node coordinates that define the triamesh.

Type=Nodes, Default=0.0

refinement_level#

Mesh density used for visualization and, when applicable, for 3D body contact. Must be larger or equal to 0. Increasing the level by 1 results in each triangle being divided into 4.

Type=Int, Default=0

rm#

Marker defining the coordinate system for all node coordinates.

Type=Reference (Marker), Required

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

class Units(**kwds)#

Defines the units for the model.: You can specify four types of units: Mass, Length, Time, and Force. Alternatively, you can use a predefined set of units with the system property.

Name	Type	Default
`force`	Enum	NEWTON
`label`	Str
`length`	Enum	METER
`mass`	Enum	KILOGRAM
`name`	Str
`system`	Enum
`time`	Enum	SECOND

Example

Specify the model units.#

from msolve import *

model = Model(output="units")

# specify units explicitly
Units(force="KNEWTON", length="MILLIMETER", mass="KILOGRAM", time="SECOND")

# specify units using a pre-defined system
Units(system='MMKS')

See also

For more details, see also Parameters: Units.

force#

Defines the units for force.

Type=Enum, Default=NEWTON

Permitted values are:

CENTINEWTON
DYNE
KILOGRAM_FORCE
KNEWTON
KPOUND_FORCE
MEGANEWTON
MICRONEWTON
MILLINEWTON
NANONEWTON
NEWTON
OUNCE_FORCE
POUNDAL
POUND_FORCE

label#

A string describing the object.

Type=Str

length#

Defines the units for length.

Type=Enum, Default=METER

Permitted values are:

ANGSTROM
CENTIMETER
FOOT
INCH
KILOMETER
METER
MICROINCH
MICROMETER
MILE
MILLIINCH
MILLIMETER
MILS
NANOMETER
YARD

mass#

Defines the units for mass.

Type=Enum, Default=KILOGRAM

Permitted values are:

GRAM
KILOGRAM
KILOTONNE
KPOUND_MASS
MEGAGRAM
MEGATONNE
MICROGRAM
MILLIGRAM
NANOGRAM
OUNCE_MASS
POUND_MASS
SLINCH
SLUG
TONNE
US_TON

name#

Defines a nametag for the object.

Type=Str

system#

Specifies a predefined set of units.

Type=Enum

Permitted values are:

CGS
FPS
IPS
MKS
MMKS
NONE

time#

Defines the units for time.

Type=Enum, Default=SECOND

Permitted values are:

DAY
HOUR
MICROSECOND
MILLISECOND
MINUTE
NANOSECOND
SECOND

class Upost(**kwds)#

Defines a user-written Post-Subroutine.: It is called at every output step. It can be used to extract MotionSolve results, process the results programmatically for real-time animation or plotting or to write results to an external file.

Name	Type	Required
`function`	Function	\(\checkmark\)
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script

See also

For more details, see also Post: User Output Request.

function#

Parameters passed to user defined subroutine.

Type=Function, Required

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

An alternative name for the user subroutine.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

class Uposts(**kwds)#

Defines a user-written Post-Subroutine.: It can be used to extract MotionSolve results, process the results programmatically for real-time animation or plotting or to write results to an external file.

Name	Type	Required	Default
`at_output`	Bool		True
`function`	Function	\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script

at_output#

True for evaluation only at output steps.

Type=Bool, Default=True

function#

Parameters passed to user defined subroutine.

Type=Function, Required

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

An alternative name for the user subroutine.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

class UserGraphic(**kwds)#

Creates a user-defined (Grasub) geometry.

Name	Type	Required	Default
`color`	Color
`function`	Function
`hidden`	Bool		False
`id`	Int		Auto
`increment`	Int		4
`label`	Str
`name`	Str
`rm`	Reference - `Marker`	\(\checkmark\)
`routine`	Routine
`script`	Script

See also

For more details, see also Post: Graphic (UserGra).

color#

The color of the graphic for H3D animation.

Type=Color

function#

Parameters passed to user defined subroutine.

Type=Function

hidden#

Specifies whether the graphic will be visible in the H3D file.

Type=Bool, Default=False

id#

The id of the object.

Type=Int

increment#

The increment in which the GRASUB will be called.

Type=Int, Default=4

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

rm#

Marker used as coordinate system.

Type=Reference (Marker), Required

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

class UserMsg(**kwds)#

Defines a user-written Message-Subroutine.

Name	Type	Default	Modifiable
`active`	Bool	True	\(\checkmark\)
`function`	Function
`label`	Str
`name`	Str
`routine`	Routine
`script`	Script

See also

For more details, see also Messaging.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine.

Type=Function

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

class Variable(**kwds)#

Defines a variable in terms of a scalar algebraic equation in MotionSolve.

The variable may be defined in four different ways:

Directly as an explicit function of system state and time.
Directly as an implicit function of system state and time.
Indirectly through an algebraic equation applied as a constraint or a penalty.
As the integral of an expression.

Name	Type	Required	Default	Modifiable	Designable
`auto_balance`	Enum		DEFAULT
`function`	Function	\(\checkmark\)		\(\checkmark\)
`ic`	Double		0.0	\(\checkmark\)
`id`	Int		Auto
`implicit`	Bool		False
`label`	Str
`name`	Str
`penalty`	Double			\(\checkmark\)	\(\checkmark\)
`penalty1`	Double			\(\checkmark\)	\(\checkmark\)
`pstate`	Bool		False
`routine`	Routine
`script`	Script

See also

For more details, see also Reference: Solver Variable.

auto_balance#

Type of soft constraint method.

Type=Enum, Default=DEFAULT

Permitted values are:

DEFAULT
DISABLED
PENALTY
UNCONDITIONAL

function#

Parameters passed to user defined subroutine or a legal MotionSolve expression that defines the variable.

Type=Function, Required, Modifiable

ic#

Initial value.

Type=Double, Default=0.0, Modifiable

id#

The id of the object.

Type=Int

implicit#

The variable is defined implicitly.

Type=Bool, Default=False

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

penalty#

Stiffness factor used in soft constraint.

Type=Double, Modifiable, Designable

penalty1#

Damping factor used in soft constraint.

Type=Double, Modifiable, Designable

pstate#

Specifies if this variable is to be used in eigenvalue analysis and state-space matrix system representation.

Type=Bool, Default=False

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

class Vforce(**kwds)#

Defines a vector force that consists of three orthogonal components.: You define the VForce statement through user-specified function expressions or user-written subroutines.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`function`	Function			\(\checkmark\)
`fx`	Function			\(\checkmark\)
`fy`	Function			\(\checkmark\)
`fz`	Function			\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`jfloat`	Reference - `Marker`			\(\checkmark\)
`label`	Str
`name`	Str
`rm`	Reference - `Marker`			\(\checkmark\)
`routine`	Routine
`script`	Script

Example

Create a Vforce.#

from msolve import *

model = Model(output="vforce")

Units(system="MKS")
Accgrav(kgrav=-9.81)

ground = Part(ground=True)
global_frame = Marker(body=ground)

part = Part (mass=1, ip=[1e3,1e3,1e3],cm=Marker(qp=[0,1,0]))

vf = Vforce(i       = part.cm ,
            jfloat  = Marker(body=ground, floating=True) ,
            rm      = global_frame,
            fx      = "10*SIN(2*PI*TIME)",
            fy      = "20*SIN(2*PI*TIME)",
            fz      = "30*SIN(2*PI*TIME)",
            )

See also

For more details, see also Force: Two Body Vector.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine.

Info

This attribute is mutually exclusive with { fz , fx , fy }.

Type=Function, Modifiable

fx#

Specifies x-component force vector.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

fy#

Specifies y-component force vector.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

fz#

Specifies z-component force vector.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

i#

Marker at which the force is applied.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

jfloat#

Marker at which reaction force is applied. Omit for action only.

Type=Reference (Marker), Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

rm#

Reference marker for defining force components. When not specified, it defaults to the global coordinate system.

Type=Reference (Marker), Modifiable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

class Vtorque(**kwds)#

Defines a vector torque that consists of three orthogonal components.: You can define the Vtorque statement through user-specified expressions or user-written subroutines.

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`function`	Function			\(\checkmark\)
`i`	Reference - `Marker`	\(\checkmark\)		\(\checkmark\)
`id`	Int		Auto
`jfloat`	Reference - `Marker`			\(\checkmark\)
`label`	Str
`name`	Str
`rm`	Reference - `Marker`			\(\checkmark\)
`routine`	Routine
`script`	Script
`tx`	Function			\(\checkmark\)
`ty`	Function			\(\checkmark\)
`tz`	Function			\(\checkmark\)

Example

Create a Vtorque.#

from msolve import *

model = Model(output="vtorque")

Units(system="MKS")

ground = Part(ground=True)
global_frame = Marker(body=ground)

part = Part (mass=1, ip=[1e3,1e3,1e3],cm=Marker())

vt = Vtorque(i       = part.cm ,
            jfloat  = Marker(body=ground, floating=True) ,
            rm      = global_frame,
            tx      = "10+0.5*SIN(2*PI*TIME)",
            tz      = "STEP5(TIME, 0, 0, 0.5, 10)",
            )

See also

For more details, see also Force: Two Body Vector.

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

function#

Parameters passed to user defined subroutine.

Info

This attribute is mutually exclusive with { tx , tz , ty }.

Type=Function, Modifiable

i#

Marker at which the torque is applied.

Type=Reference (Marker), Required, Modifiable

id#

The id of the object.

Type=Int

jfloat#

Marker at which reaction torque is applied. Omit for action only.

Type=Reference (Marker), Modifiable

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

rm#

Reference marker for defining the torque components. When not specified, it defaults to the global coordinate system.

Type=Reference (Marker), Modifiable

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

tx#

Specifies x-component torque vector.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

ty#

Specifies y-component torque vector.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

tz#

Specifies z-component torque vector.

Info

This attribute is mutually exclusive with function.

Type=Function, Modifiable

class Yforce(**kwds)#

Creates a Force State Equation.: This element combines Gse and Gforce modeling elements.

Name	Type	Required	Default	Modifiable
`a`	Reference - `Matrix`
`active`	Bool		True	\(\checkmark\)
`b`	Reference - `Matrix`
`c`	Reference - `Matrix`
`d`	Reference - `Matrix`
`function`	Function
`i`	Reference - `Marker`	\(\checkmark\)
`ic`	Reference - `Array`
`id`	Int		Auto
`jfloat`	Reference - `Marker`	\(\checkmark\)
`label`	Str
`name`	Str
`ns`	Int		0
`rm`	Reference - `Marker`
`routine`	Routine
`script`	Script
`static_hold`	Bool		False
`type`	Enum
`u`	Reference - `Array`
`x`	Reference - `Array`	\(\checkmark\)

See also

For more details, see also Force: State Equation.

a#

State Matrix for a linear Yforce.

Info

This attribute can only be used when type = LINEAR.

Type=Reference (Matrix)

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

b#

Input Matrix for a linear Yforce.

Info

This attribute can only be used when type = LINEAR.

Type=Reference (Matrix)

c#

Output Matrix for a linear Yforce.

Info

This attribute can only be used when type = LINEAR.

Type=Reference (Matrix)

d#

Feed-thru Matrix for a linear Yforce.

Info

This attribute can only be used when type = LINEAR.

Type=Reference (Matrix)

function#

Parameters passed to user defined subroutine.

Info

This attribute can only be used when type = USERSUB.

Type=Function

i#

Marker at which the force is applied.

Type=Reference (Marker), Required

ic#

Array containing the initial values of the dynamic system.

Type=Reference (Array)

id#

The id of the object.

Type=Int

jfloat#

Marker at which reaction force is applied.

Type=Reference (Marker), Required

label#

A string describing the object.

Type=Str

name#

Defines a nametag for the object.

Type=Str

ns#

The number of states in the dynamic system.

Info

This attribute can only be used when type = USERSUB.

Type=Int, Default=0

rm#

Reference marker used for defining the components of the force vector.

Type=Reference (Marker)

routine#

The value can be a callable Python function, a Matlab/OML script, or a string that includes the name of a DLL/SO file and the corresponding function name, separated by ‘::’.

Type=Routine

script#

Path and name of the script that contains the routine.

Type=Script

static_hold#

Specifies if dynamic states x are kept fixed during static/quasi-static solution.

Type=Bool, Default=False

type#

Type of the dynamic system.

Type=Enum

Permitted values are:

LINEAR
USERSUB

u#

Array containing the inputs u of the dynamic system.

Type=Reference (Array)

x#

Array containing the states x of the dynamic system.

Type=Reference (Array), Required

plot(x, y, z=None, run=None, plot_kwds=None, page_kwds=None, curve_kwds=None)#

Plots data either from a given run object or from the simulation results history of the current model.

This function retrieves the current model and checks if there is a simulation results history available. If so, it uses the history for plotting and it will generate multiple curves one for each simulation results; otherwise, it uses the provided run object. If z values are defined, the plotly library will be used else matplotlib.

Parameters

x (iterable or str) – The x-coordinates or data for the plot, or a string key to look up the data inside the run or simulation results history object. If a string is provided, it is used as a key to retrieve the corresponding data from the specified data source.
y (iterable or str) – The y-coordinates or data for the plot, or a string key to look up the data inside the run or simulation results history object. If a string is provided, it is used as a key to retrieve the corresponding data from the specified data source.
z (iterable or str, optional) – The z-coordinates or data for the plot, or a string key to look up the data inside the run or simulation results history object. If a string is provided, it is used as a key to retrieve the corresponding data from the specified data source.
run (object, optional) – The run object containing the data to plot. Defaults to None, in which case the function tries to use the simulation results history from the current model.

plot_kwds (dict) –

Additional keyword arguments for plot customization. Example:

{
    'name'   : 'My Plot',
    'legend' : 'legend',
    'grid'   : True,
    'xaxis'  : 'str',
    'yaxis'  : 'str'
}

page_kwds (dict) –
Additional keyword arguments for page customization. Example:
```
{
    'name'   : 'page name',
    'layout' : '1x1'
}
```

curve_kwds (dict) –

Additional keyword arguments for curve customization. Example:

{
    'color' : 'blue',
    'name'  : 'str',
    'style' : ':'
}

Usage:

plot(x_values, y_values, run=my_run,
     plot_kwds={'title': 'My Plot'},)