Choose a nodeSelect a highlighted node on the canvas
Relationships0 relationships
NodeNode
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States
Source terms
A program computes this node's states itself, once per substep, beside its source terms: it reads any node's states and shared parameters, and keeps state of its own across checkpoints.
Source
Its inputs and outputs are the FMU's own; wire each below. Every output sets its state to the value the FMU reports.
Inputs
Outputs
No simulation resultsRun the model to inspect this node's state history.
Semi-implicit updates the node's states one after another in their listed order, each from the states updated before it: list a speed before the position it moves, and an oscillation keeps its energy. Reorder the states on the Model tab with their ↑ and ↓ buttons, or Alt (⌥ on a Mac) with the arrow keys.
The node timestep is the global timestep divided by this integer. Cross-node values remain fixed until the next global synchronization.
Effective timestep —
Choose a CAD or mesh file, or browse the bundled library
Body parts
Shapes for result visualizers such as Pose Visualizer, each drawn where the node's states put its body: the states named by its prefix (armX, armY, armZ and a turn for the prefix arm; x, y, z for none), with its mesh in metres in the body's own frame. The canvas draws the node's own shape above.
Source termSource term
Results mode · Model lockedClose results to make changes.
The computed value replaces the state's value each substep instead of contributing a rate. This state must have no other source term or edge contributing to it.
Parameters
Live parameters can be adjusted during an online simulation; constant parameters can be fitted against measured data.
Equation
Functions: \sin, \cos, \tan, \arcsin, \arccos, \arctan, atan2(y, x), \tanh, \exp, \ln, \log, \sqrt, |x|, \min, \max, and cases for a piecewise value.
Available references
Provider source
Implement describe()/evaluate() using the Konjugate provider SDK. Source is stored with the project and compiled or launched locally.
A relationship provider an installed plugin contributes, pinned to that installed version so an update never changes the results silently. Its bindings and output key are named as the plugin documents them.
Bindings
Each binding exposes one state of this node to the provider under a stable key.
EdgeRelationship
Results mode · Model lockedClose results to make changes.
Parameters
Live parameters can be adjusted while an online simulation is running.
Equation
Functions: \sin, \cos, \tan, \arcsin, \arccos, \arctan, atan2(y, x), \tanh, \exp, \ln, \log, \sqrt, |x|, \min, \max, and cases for a piecewise value.
Available references
Provider source
Implement describe()/evaluate() using the Konjugate provider SDK. Source is stored with the project and compiled or launched locally.
A relationship provider an installed plugin contributes, pinned to that installed version so an update never changes the results silently. Its bindings and output key are named as the plugin documents them.
Bindings
Each binding exposes one state or parameter to the provider under a stable key.
Edge GroupEdge group
Results mode · Model lockedClose results to make changes.
Members
Select exactly one other node on the canvas to enable adding it here.
Equation
Functions: \sin, \cos, \tan, \arcsin, \arccos, \arctan, atan2(y, x), \tanh, \exp, \ln, \log, \sqrt, |x|, \min, \max, and cases for a piecewise value.
Provider source
Implement describe()/evaluate() using the Konjugate provider SDK. Source is stored with the project and compiled or launched locally.
A relationship provider an installed plugin contributes, pinned to that installed version, used on every edge of the group.
Bindings
Each binding exposes one state or parameter to the provider under a stable key.
Shared parameters
Applied identically to every edge in the mesh -- a member can't override a parameter without detaching.
AnalysisCausal inference
Results mode · Model lockedClose results to make changes.
Import a CSV of multivariate time-series data -- a numeric, evenly spaced time column, then one column per variable -- and propose candidate directed relationships from it.
Column mapping
Each column is matched to an existing node's state by exact name, or creates a new node.
Fitted equations are calibrated to this CSV's own sampling interval. Results may drift if the project's own time step is set much finer than that.
Candidate relationships
One row per proposed directed edge. Lagged means the source's past value predicts the target; correlation-only means the two are related but no clear direction was found.
Self terms
Each target's own recovered persistence/decay rate, applied to the node's own state rather than as a relationship between two nodes.
Inputs
Check any column that should replay its own recorded values exactly instead of being explained by a fitted equation -- driven by a generated C++ provider, exact at any simulation step size. This replaces whatever candidate edges or self term would otherwise target that column. Most useful for a column nothing else predicts (its only alternative is a self term that settles toward equilibrium rather than reproducing the real fluctuation, or -- if not even that -- staying frozen at its initial value for the entire run), but any column can be replayed this way, for instance to hold it to ground truth while the rest of the model runs on the fitted equations.
AnalysisParameter tuning
Results mode · Model lockedClose results to make changes.
Fit this model's tunable parameters against measured data. Mark a parameter "Tunable" with bounds in its relationship's editor first, then import a CSV of measured signals here.
Objective
One number the search makes as small or as large as it can. A state changes over the run, so put it in a summary: final value, max, min, mean, or its total over time.
Summaries over the run
States
Parameters
Measured data
Limits
Keep a number from the run within a bound. Breaking one is penalised, so the search settles inside it when it can.
Column mapping
Each column is matched to an existing state by exact name -- read-only for now; rename a CSV column or a state's symbol/name to change a match.
Parameters to tune
Tick Tune on each parameter the search may change, and give the range it may search within. The value it has now is where the search starts.
Fitting…
Simulations
0
Elapsed
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Rate
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Best
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Started at
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Lower by
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Review fitted values
Add to modelSelection
Node
Edge
Waypoint
Add nodeDefine its state
No geometry selected
State variables
Source terms
Contributions are summed into a selected state's time derivative.
Add edgeConnect stateful nodes
Equation
Available references
Provider source
Implement describe()/evaluate() using the Konjugate provider SDK. Source is stored with the project and compiled or launched locally.
Bindings
Each binding exposes one state or parameter to the provider under a stable key.
Custom parameters
Live parameters can be adjusted while an online simulation is running.
Live controlsApplied at the next synchronization step
Fork hereOptionally change a parameter for the new branch
BranchesClick a branch to view it · check others to compare
Parameters
Results mode · model locked. Close results to edit parameters.
Name
Symbol
Value
Unit
Mode
Fit
Belongs to
No parameters match.
ResultsModel locked
Execution summaryAutomatic
Numerical stabilityNo findings
Cumulative for this result -- click a finding to jump to that time and node.
Check whether a flagged node's result actually converged, not just avoided diverging -- this re-runs the model at higher substep counts, so it costs real extra time.
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