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version: 2 | ||
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build: | ||
os: ubuntu-20.04 | ||
os: ubuntu-22.04 | ||
tools: | ||
python: "mambaforge-4.10" | ||
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# Rostok | ||
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Rostok is an open source Python framework for generative design of linkage mechanisms for robotic purposes. It provides a framework to describe mechanisms as a graph, set an environment, perform simulation of generated mechanisms, get a reward as a quantitative value of the generated design, and search for the best possible design. | ||
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A user can utilize the entire framework as a pipeline to generate a set of suboptimal designs, or utilize the modules and submodules as independent parts. The framework allows to implement custom generative rules, modify search and optimization algorithms. | ||
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Currently the framework allows to perform co-design of open chain linkage mechanisms. Co-design consists in simultaneously searching for the mechanical structure and the trajectories of the robot to get the best possible performance. |
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{{ fullname | escape | underline}} | ||
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.. currentmodule:: {{ module }} | ||
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.. autoclass:: {{ objname }} | ||
:members: | ||
:inherited-members: | ||
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{% block methods %} | ||
.. automethod:: __init__ | ||
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{% if methods %} | ||
.. rubric:: {{ _('Methods') }} | ||
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.. autosummary:: | ||
{% for item in methods %} | ||
~{{ name }}.{{ item }} | ||
{%- endfor %} | ||
{% endif %} | ||
{% endblock %} | ||
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{% block attributes %} | ||
{% if attributes %} | ||
.. rubric:: {{ _('Attributes') }} | ||
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.. autosummary:: | ||
{% for item in attributes %} | ||
~{{ name }}.{{ item }} | ||
{%- endfor %} | ||
{% endif %} | ||
{% endblock %} |
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{{ fullname | escape | underline}} | ||
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.. automodule:: {{ fullname }} | ||
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{% block attributes %} | ||
{% if attributes %} | ||
.. rubric:: Module Attributes | ||
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.. autosummary:: | ||
:toctree: | ||
{% for item in attributes %} | ||
{{ item }} | ||
{%- endfor %} | ||
{% endif %} | ||
{% endblock %} | ||
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{% block functions %} | ||
{% if functions %} | ||
.. rubric:: {{ _('Functions') }} | ||
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.. autosummary:: | ||
:toctree: | ||
{% for item in functions %} | ||
{{ item }} | ||
{%- endfor %} | ||
{% endif %} | ||
{% endblock %} | ||
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{% block classes %} | ||
{% if classes %} | ||
.. rubric:: {{ _('Classes') }} | ||
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.. autosummary:: | ||
:toctree: | ||
:template: custom-class-template.rst | ||
{% for item in classes %} | ||
{{ item }} | ||
{%- endfor %} | ||
{% endif %} | ||
{% endblock %} | ||
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{% block exceptions %} | ||
{% if exceptions %} | ||
.. rubric:: {{ _('Exceptions') }} | ||
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.. autosummary:: | ||
:toctree: | ||
{% for item in exceptions %} | ||
{{ item }} | ||
{%- endfor %} | ||
{% endif %} | ||
{% endblock %} | ||
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{% block modules %} | ||
{% if modules %} | ||
.. rubric:: Modules | ||
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.. autosummary:: | ||
:toctree: | ||
:template: custom-module-template.rst | ||
:recursive: | ||
{% for item in modules %} | ||
{{ item }} | ||
{%- endfor %} | ||
{% endif %} | ||
{% endblock %} |
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=== | ||
API | ||
=== | ||
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.. autosummary:: | ||
:toctree: generated | ||
:recursive: | ||
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rostok |
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=========================== | ||
Simulation in ProjectChrono | ||
=========================== | ||
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Simulation scenario | ||
=================== | ||
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.. automodule:: rostok.simulation_chrono.simulation_scenario | ||
:members: | ||
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Simulation | ||
========== | ||
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.. automodule:: rostok.simulation_chrono.simulation | ||
:members: | ||
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Simulation utils | ||
================ | ||
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.. automodule:: rostok.simulation_chrono.simulation_utils | ||
:members: |
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