优化求解器重试并校正AMESim机械端口

tests/test_contact_solver_causalization.py

@@ -58,7 +58,7 @@ class _PressureCoupledMechanicalLoad(AlgebraicComponent):
                     f"{self.name}.pneumatic.p",
                 ),
                 role="flow",
-                value=self.mechanical.f - self.pneumatic.p,
+                value=self.mechanical.f + self.pneumatic.p,
             ),
             EquationResidual(
                 id=f"{self.name}:pressure_closure",
@@ -163,7 +163,7 @@ class ContactSolverCausalizationTests(unittest.TestCase):
         self.assertTrue(diagnostics.success, diagnostics.message)
         self.assertGreater(diagnostics.evaluations, 0)
         self.assertAlmostEqual(load.pneumatic.p, 41.0, delta=1.0e-3)
-        self.assertAlmostEqual(load.mechanical.f, 41.0, delta=1.0e-3)
+        self.assertAlmostEqual(load.mechanical.f, -41.0, delta=1.0e-3)
         self.assertAlmostEqual(contact.contact_force, 41.0, delta=1.0e-3)
         self.assertAlmostEqual(contact.penetration, 4.1e-10, delta=1.0e-14)
 
@@ -172,7 +172,7 @@ class ContactSolverCausalizationTests(unittest.TestCase):
         expected_force = 10.0 - 20.0 * (1.0 - exp(-1.0))
         load = _PrescribedMechanicalLoad(
             "load",
-            force=expected_force,
+            force=-expected_force,
             displacement=0.0,
             velocity=0.0,
         )
@@ -191,8 +191,8 @@ class ContactSolverCausalizationTests(unittest.TestCase):
             mass=1.0,
             useFriction=0.0,
             stoptype=4.0,
-            x0=0.08,
-            v0=-2.0,
+            x0=-0.08,
+            v0=2.0,
         )
         zero = AmesimF000("zero")