Other side MTKv9

[baggepinnen]

Requires

• MTK master branch
• Keep non-array connector variable collected SciML/ModelingToolkitStandardLibrary.jl#296

[baggepinnen]

Benchmark

using ModelingToolkit
using Multibody
using JuliaSimCompiler
using OrdinaryDiffEq

@time "full robot" begin 
    @named robot = Robot6DOF(trivial=false)
    robot = complete(robot)
    ssys = structural_simplify(IRSystem(robot))
    prob = ODEProblem(ssys, [
        robot.mechanics.r1.phi => deg2rad(-60)
        robot.mechanics.r2.phi => deg2rad(20)
        robot.mechanics.r3.phi => deg2rad(90)
        robot.mechanics.r4.phi => deg2rad(0)
        robot.mechanics.r5.phi => deg2rad(-110)
        robot.mechanics.r6.phi => deg2rad(0)
        robot.axis1.motor.Jmotor.phi => deg2rad(-60) * (-105) 
        robot.axis2.motor.Jmotor.phi => deg2rad(20) * (210)
        robot.axis3.motor.Jmotor.phi => deg2rad(90) * (60)
    ], (0.0, 4.0))
    sol = solve(prob, Rodas5P());

    tv = 0:0.01:4
    # Extract data (this time is included in modelica timings)
    data = sol(tv, idxs=[
        robot.pathPlanning.controlBus.axisControlBus1.angle
        robot.pathPlanning.controlBus.axisControlBus2.angle
        robot.pathPlanning.controlBus.axisControlBus3.angle
        robot.pathPlanning.controlBus.axisControlBus4.angle
        robot.pathPlanning.controlBus.axisControlBus5.angle
        robot.pathPlanning.controlBus.axisControlBus6.angle
        robot.mechanics.r1.phi
        robot.mechanics.r2.phi
        robot.mechanics.r3.phi
        robot.mechanics.r4.phi
        robot.mechanics.r5.phi
        robot.mechanics.r6.phi
    ]);
end