This log was created by MWSolver at Thu Dec 26 19:56:19 2024.

MWSolver started ...

Start to solve the nonlinear system (1, 1) ...

********** iter = 1 **********
prismatic.s = -0.751002
revolute.phi = -0.00199601

Residual:
{ -0.001499, -4.98008e-007 }
||Residual|| = 0.001499

********** iter = 2 **********
prismatic.s = -0.750991
revolute.phi = 0.0039999

Residual:
{ -5.49054e-008, -6.7364e-006 }
||Residual|| = 6.73663e-006

********** iter = 3 **********
prismatic.s = -0.750998
revolute.phi = 0.0040002

Residual:
{ 4.6293e-008, -2.78731e-010 }
||Residual|| = 4.62938e-008

********** iter = 4 **********
prismatic.s = -0.750998
revolute.phi = 0.00400001

Residual:
{ 5.41306e-011, 1.38315e-010 }
||Residual|| = 1.4853e-010

********** iter = 5 **********
prismatic.s = -0.750998
revolute.phi = 0.00400001

Residual:
{ -1.71521e-015, -4.30211e-015 }
||Residual|| = 4.63143e-015

********** iter = 6 **********
prismatic.s = -0.750998
revolute.phi = 0.00400001

Residual:
{ 4.33681e-019, -2.77556e-017 }
||Residual|| = 2.7759e-017
The nonlinear system solved successfully with default config
Nonlinear system iterating statistics:
iter = 6
nfeval = 8
njeval = 1
Residual:
{ 4.33681e-019, -2.77556e-017 }
Time = 0, nonlinear system solved successfully!
Error:assert(abs(revolute1.r_rel_a[3])<=1e-10) was triggered:

The MultiBody.Joints.RevolutePlanarLoopConstraint joint is used as cut-joint of a
planar loop. However, the revolute joint is not part of a planar loop where the
axis of the revolute joint (parameter n) is orthogonal to the possible movements.
Either use instead joint MultiBody.Joints.Revolute or correct the
definition of the axes vectors n in the revolute joints of the planar loop.

Error:Failed to initialize Solver!

Simulation finished at time = 0 (stopTime = 1)
CPU time for Integration: 0.093s
Number of Time Events: 0
Number of State Events: 0
Number of Step Events: 0
Number of Grid Points: 0
Minimum integration stepsize: 0.002
Maximum integration stepsize: 0.002

仿真失败。初始化失败。
照着b站博主做的，失败了。