remove some default initial conditions

Author: baggepinnen

docs/src/examples/wheel.md

@@ -264,6 +264,7 @@ prob = ODEProblem(ssys, [
 ], (0.0, 15.0))
 sol = solve(prob, Rodas5Pr())
 render(model, sol, show_axis=false, x=0, y=0, z=4, traces=[model.slipBasedWheelJoint.frame_a], filename="slipwheel.gif")
+nothing # hide
 ```
 
 ![slipwheel animation](slipwheel.gif)
@@ -275,8 +276,8 @@ A more elaborate example with 4 wheels.
 @mtkmodel TwoTrackWithDifferentialGear begin
     @components begin
         body = Pl.Body(m = 100, I = 1, gy = 0)
-        body1 = Pl.Body(m = 300, I = 0.1, r = [1, 1], v = [0, 0], phi = 0, w = 0, gy = 0)
-        body2 = Pl.Body(m = 100, I = 1, gy = 0)
+        body1 = Pl.Body(m = 300, I = 0.1, r = [1, 1], v = [0, 0], phi = 0, w = 0, gy = 0,)
+        body2 = Pl.Body(m = 100, I = 1, gy = 0,)
         wheelJoint1 = Pl.SlipBasedWheelJoint(
             radius = 0.25,
             r = [0, 1],
@@ -383,4 +384,8 @@ prob = ODEProblem(ssys, defs, (0.0, 5.0))
 sol = solve(prob, Rodas5P(autodiff=false))
 @test SciMLBase.successful_retcode(sol)
 Multibody.render(model, sol, show_axis=false, x=0, y=0, z=5, filename="twotrack.gif")
-```
+nothing # hide
+```
+
+![twotrack animation](twotrack.gif)
+```

src/PlanarMechanics/components.jl

@@ -58,7 +58,7 @@ Body component with mass and inertia
 # Connectors:
   - `frame`: 2-dim. Coordinate system
 """
-@component function Body(; name, m, I, r = zeros(2), v=nothing, phi = 0, w=nothing, gy = -9.807, radius=0.1, render=true, color=Multibody.purple, state_priority=2)
+@component function Body(; name, m, I, r = zeros(2), v=nothing, phi = nothing, w=nothing, gy = -9.807, radius=0.1, render=true, color=Multibody.purple, state_priority=2)
     @named frame_a = Frame()
     pars = @parameters begin
         m = m, [description = "Mass of the body"]

src/PlanarMechanics/joints.jl

@@ -24,7 +24,7 @@ https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b70839146
 """
 @component function Revolute(;
         name,
-        axisflange = false, render = true, radius = 0.1, color = [1.0, 0.0, 0.0, 1.0], phi=0, w=0,
+        axisflange = false, render = true, radius = 0.1, color = [1.0, 0.0, 0.0, 1.0], phi=nothing, w=nothing,
         iscut = false,
         state_priority = 10)
     @named partial_frames = PartialTwoFrames()
@@ -112,8 +112,8 @@ https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b70839146
 @component function Prismatic(;
         name,
         r = [0,0],
-        s = 0,
-        v = 0,
+        s = nothing,
+        v = nothing,
         axisflange = false,
         render = true,
         radius = 0.1,

test/test_PlanarMechanics.jl

@@ -466,7 +466,7 @@ import ModelingToolkitStandardLibrary.Mechanical.Rotational
             revolute = Pl.Revolute(phi = 0, w = 0)
             fixed = Pl.Fixed()
             engineTorque = Rotational.ConstantTorque(tau_constant = 2)
-            body = Pl.Body(m = 10, I = 1, gy=0)
+            body = Pl.Body(m = 10, I = 1, gy=0, phi=0, w=0)
             inertia = Rotational.Inertia(J = 1, phi = 0, w = 0)
             constant = Blocks.Constant(k = 0)
         end
@@ -672,13 +672,15 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica as Transl
 
     guesses = ModelingToolkit.missing_variable_defaults(model)
     ps = parameters(model)
-    initsys = generate_initializesystem(ssys)
-    u0 = merge(Dict(guesses), ModelingToolkit.defaults(model))
-    initprob = NonlinearLeastSquaresProblem(initsys, u0, [ps; t => 0.0])
+    fulldefs = defaults(model)
+    defs = Dict(filter(p->!ModelingToolkit.isparameter(p[1]), collect(ModelingToolkit.defaults(model))))
+    u0 = merge(Dict(guesses), defs)
+    initsys = generate_initializesystem(ssys; guesses=u0)
+    initprob = NonlinearLeastSquaresProblem(initsys, u0, [[p => fulldefs[p] for p in ps]; t => 0.0])
     u0sol = solve(initprob)
 
 
-    prob = ODEProblem(ssys, unknowns(ssys) .=> u0sol[unknowns(ssys)], (0.0, 5.0))
+    prob = ODEProblem(ssys, unknowns(ssys) .=> u0sol[unknowns(ssys)]*0.7, (0.0, 5.0))
     sol = solve(prob, Rodas5P(), initializealg = ShampineCollocationInit())
     @test SciMLBase.successful_retcode(sol)
 end