pyondsel

Python bindings for OndselSolver, the multibody kinematics engine behind FreeCAD's Assembly workbench. Define a mechanism (parts, joints, a motor), solve it, and read back where every part is at each instant.

Author in Python or in native ASMT. Build a model from Part / Marker / Joint / Motion objects, or hand it OndselSolver's own .asmt text (portable to and from FreeCAD).
All 26 joint kinds. Lower pairs (revolute, cylindrical, translational, spherical, screw, ...), higher pairs (point/line/plane incidence), and coupling joints (gear, rack-and-pinion, constant velocity, ...), so the full OndselSolver constraint set is reachable from Python.
Fault-isolated. The solver runs in a worker subprocess, so an ill-posed model raises SolveError instead of crashing your program.
Structured results. Get a Trajectory: the time samples plus each part's position and orientation at every frame.

Getting started

Install

pip install -e .        # or: uv pip install -e .

This compiles the vendored OndselSolver C++ into a single extension module (scikit-build-core + pybind11). You need a C++17 compiler and CMake >= 3.18. No other system libraries are required.

Your first mechanism

A crank on a pivot, driven one full turn per second:

The authoring classes are imported from their modules (pyondsel's top-level package is intentionally empty; import each class from its submodule):

from pyondsel.model.asmt_model import AsmtModel
from pyondsel.model.joint import Joint
from pyondsel.model.marker import Marker
from pyondsel.model.motion import Motion
from pyondsel.model.part import Part
from pyondsel.model.simulation import Simulation

model = AsmtModel(name="Rig")
model.add_ground_marker(Marker("pivot"))                        # a fixed point to pin the crank to

crank = model.add_part(Part("crank", mass=1.0,
                            moments_of_inertia=(0.001, 0.02, 0.02),
                            mass_center=(0.5, 0.0, 0.0)))
crank.add_marker(Marker("hub"))                                 # where the crank meets the pivot

model.add_joint(Joint("j1", "revolute",
                      model.ground_path("pivot"),
                      model.part_path("crank", "hub")))          # 1 rotational DoF about the hub Z
model.add_motion(Motion.constant_speed("spin", "j1", turns_per_time=1.0))
model.simulation = Simulation(t_start=0.0, t_end=1.0, frames=36)

trajectory = model.solve()
crank = trajectory.parts["/Rig/crank"]
for t, angle in zip(trajectory.times, (b[2] for b in crank.bryant_angles)):
    print(f"t={t:.2f}s  crank angle={angle:.3f} rad")

The later snippets assume these imports (and the model above).

How-to

Read a part's pose at each frame

Trajectory.parts maps each part's full path (/<assembly>/<part>) to a PartTrajectory with positions (x, y, z) and bryant_angles (Bryant / Tait X-Y-Z angles) per frame. For a full 3x3 rotation, use rotation_matrix:

from pyondsel.asmt_solver import rotation_matrix

part = trajectory.parts["/Rig/crank"]
for pos, ang in zip(part.positions, part.bryant_angles):
    R = rotation_matrix(ang)          # R = Rx(bx) . Ry(by) . Rz(bz)
    ...

Choose the joint and motion

A Joint couples two markers under a kind that maps to an OndselSolver ASMT joint block. All 26 kinds the solver recognizes are exposed, in four groups:

Lower pairs: fixed (lock / ground), revolute, cylindrical, translational, spherical, universal, screw, planar.
Compound lower pairs: cylspherical, revcylindrical, sphspherical, revrevolute.
Higher pairs (point / line / plane incidence): point_in_line, point_in_plane, in_line, line_in_plane, in_plane. These keep a point or line on another marker's line or plane, e.g. a crank pin riding a yoke slot.
Coupling / relational: gear, rack_pinion, constant_velocity, no_rotation, parallel_axes, perpendicular, angle, at_point, compound.

Motion kinds are rotational (drives the angle about Z) and translational (drives the slide along Z); the expression is a function of time, e.g. "2.0*pi*time", "0.5*time", "sin(time)".

model.add_joint(Joint("slide", "translational", a_path, b_path))
model.add_motion(Motion("push", joint="slide", expression="0.05*time", kind="translational"))

Joints that carry extra parameters (gears, screws, and friends)

Some kinds need extra scalars beyond the two markers; they are optional Joint fields the writer emits only for the kinds that declare them, and a missing required one raises ValueError:

Kind	Field(s)	Meaning
`screw`	`pitch`	translation per radian about Z
`gear`	`radius_i`, `radius_j`	the two pitch radii (their ratio is the gear ratio)
`rack_pinion`	`pitch_radius`	the pinion pitch radius
`angle`	`angle`	the constrained angle between the marker Z axes
`in_plane`	`offset`	offset of the point from marker J's plane
`compound`	`distance_ij`	the fixed distance between the two markers

# a meshing gear pair: a coupling joint whose two pitch radii set the ratio
model.add_joint(Joint("mesh", "gear",
                      model.part_path("pinion", "axis"), model.part_path("gear", "axis"),
                      radius_i=0.024, radius_j=0.036))

Ground a part

Fix a part to the world by joining one of its markers to a ground marker with a fixed joint:

model.add_joint(Joint("anchor", "fixed", model.ground_path("origin"),
                      model.part_path("base", "seat")))

Control the number of frames

Simulation(t_start, t_end, frames) records frames evenly spaced samples over the span, so the trajectory length is predictable regardless of the solver's internal step size.

Handle failures

from pyondsel.errors import AsmtInputError, SolveError

try:
    trajectory = model.solve()
except AsmtInputError:         # malformed model / ASMT text
    ...
except SolveError as exc:      # solver could not solve, or crashed on an ill-posed model
    print(exc.returncode, exc.detail)

Work with native ASMT directly

model.to_asmt() returns OndselSolver's text format; solve_asmt(text) (from pyondsel.solve import solve_asmt) solves raw ASMT and returns the solved ASMT (carrying the trajectory). Pre-solved files (with a stored trajectory) are accepted: pyondsel strips the old series and re-solves. This is the interchange with FreeCAD and the upstream solver.

Format

pyondsel does not invent a format; it speaks OndselSolver's ASMT. See extern/OndselSolver for the upstream project and tests/data/*.asmt for reference models (crank-slider, four-bar, and others).

License

LGPL-2.1-only. pyondsel statically links OndselSolver (LGPL-2.1), so it adopts the same license; see NOTICE.md for what that means for use and redistribution (and why the label is -only, not -or-later).

Operating System
- MacOS
- POSIX :: Linux
Programming Language
- C++
- Python :: 3
Topic
- Scientific/Engineering

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The following attestation bundles were made for pyondsel-0.0.3-cp310-cp310-macosx_11_0_arm64.whl:

Publisher: publish.yml on deepsaia/pyondsel

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

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This release

0.0.3 This release

Jul 24, 2026 9 files

pyondsel 0.0.3

pyondsel

Getting started

Install

Your first mechanism

How-to

Read a part's pose at each frame

Choose the joint and motion

Joints that carry extra parameters (gears, screws, and friends)

Ground a part

Control the number of frames

Handle failures

Work with native ASMT directly

Format

License

Key dates

1 maintainer

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Requires

Provides Extra

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