search

realthunder / FreeCAD_assembly3

Experimental attempt for the next generation assembly workbench for FreeCAD
GNU General Public License v3.0
879 stars 76 forks source link

Symoro as backend #3

Open galou opened 6 years ago

galou commented 6 years ago

Thank you for tackling the improvement of the assembly workbench!

I would like to suggest Symoro as alternative backend (https://github.com/symoro/symoro). Symoro is also based on Sympy. It may be easier to implement than Sympy directly because it uses the Khalil-Kleinfinger notation for serial/tree/closed chains (https://www.researchgate.net/publication/224729906_A_new_geometric_notation_for_open_and_closed-loop_robots).

The advantage of Symoro is that we could also export the kinematics/dynamics equations as symbolic expressions in C++.

realthunder commented 6 years ago

Thanks for the suggestion. I'll take a look once got time. Meanwhile, I first need to get the Solvespace solver fully working first. My SymPy backend is already working under some simple tests. But the kinematics capability of Symoro is definitely worth looking into. Anyway, that's the whole purpose of a multi-backend architecture, to make it easy to try new things.

easyw commented 6 years ago

@galou @realthunder it seems that simoro doesn't support py3

Requirements

python (>= 2.7,    3.* is not supported)

FreeCAD is going toward py3 compatibility...

galou commented 6 years ago

I can't remember exactly why Python 3 is not supported but I guess this is because of one of the dependencies. I'll try to find the time to ensure/test the compatibility with Python 3.

maidenone commented 6 years ago

@galou, did you find time? Looked through the paper and project, should not take long to port the project. I can take a go at porting it as i want to learn the notation / control theory as well as improve my py3..

galou commented 6 years ago

I actually already ported Symoro to Python 3 but my PR (https://github.com/symoro/symoro/pull/15) hasn't been merged. I'll contact the developer.

luzpaz commented 2 years ago

Looks like symoro isn't hacked on anymore @galou. Please advise?

galou commented 1 year ago

Unfortunately time is missing. I don't have the permissions to edit the repo, which also doesn't help.