diff --git a/CHANGELOG.md b/CHANGELOG.md index e9f05f1..0d9a95d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,8 +5,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html). ## [Unreleased] + +## [0.1.3-alpha] - 2021-07-10 +This package was lacking real documentation, it is fixed in this version. ### Added - Sphinx documentation! + - Web site hosted on GitHub pages, check [hugofara.github.io/leggedsnake](https://hugofara.github.io/leggedsnake/)! ### Changed - Tests moved from ``leggedsnake/tests`` to ``tests/``. diff --git a/MANIFEST.in b/MANIFEST.in index 79c3570..ec98ec0 100644 --- a/MANIFEST.in +++ b/MANIFEST.in @@ -1,3 +1,4 @@ include README.md include LICENSE include CODE_OF_CONDUCT.md +include docs/* \ No newline at end of file diff --git a/README.md b/README.md index c460f4a..8bf0308 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,20 @@ [![PyPI version fury.io](https://badge.fury.io/py/leggedsnake.svg)](https://pypi.python.org/pypi/leggedsnake/) [![License: MIT](https://img.shields.io/badge/license-MIT-blue.svg )](https://raw.githubusercontent.com/HugoFara/leggedsnake/main/LICENSE.rst) # leggedsnake +LeggedSnake is a project intended to make the simulation of walking linkages fast and easy. We believe that building walking linkages is fun and could be useful. Our philosophy is to provide a quick way of building, optimizing and testing walking linkages. -LeggedSnake is a Python library providing reliable computationnal techniques to build, simulate and optimize planar [leg mechanisms](https://en.wikipedia.org/wiki/Leg_mechanism). It is divided in three main parts: -* Linkage conception in simple Python and kinematic optimization relying on [pylinkage](https://github.com/HugoFara/pylinkage). -* Leg mechanism definition, with ``Walker`` heriting from the ``Linkage`` class. -* Dynamic simulation and its optimization thanks to genetic algorithms. +We handle planar [leg mechanisms](https://en.wikipedia.org/wiki/Leg_mechanism) in three main parts: +* Linkage conception in simple Python relying on [pylinkage](https://github.com/HugoFara/pylinkage). +* Kinematic optimization with ``Walker`` class, inheriting from pylinkage's ``Linkage`` class. +* Dynamic simulation and its optimization using genetic algorithms. + +## Quick links +* For the documentation, check the docs at [hugofara.github.io/leggedsnake](https://hugofara.github.io/leggedsnake/)! +* Source code is hosted on GitHub as [HugoFara/leggedsnake](https://github.com/HugoFara/leggedsnake) +* We also provide a Python package on PyPi, test [leggedsnake](https://pypi.org/project/leggedsnake/). +* If you just want to chill out looking at walking linkages striving to survive, join the [discussions](https://github.com/HugoFara/leggedsnake/discussions). + +Contributors are welcome! ## Installation ### Using pip @@ -27,7 +36,7 @@ Dynamic optimization relies on multiple packages. First of all it uses [Pymunk]( ## Usage -The demo script is [strider.py](https://github.com/HugoFara/leggedsnake/blob/main/leggedsnake/examples/strider.py), which demonstrates all the techniques about the [Strider linkage](https://www.diywalkers.com/strider-linkage-plans.html). +The demo script is [strider.py](https://github.com/HugoFara/leggedsnake/blob/main/docs/examples/strider.py), which demonstrates all the techniques about the [Strider linkage](https://www.diywalkers.com/strider-linkage-plans.html). ### Defining a ``Walker`` First, you need to define joints for your ``Walker`` as described in [pylinkage](https://github.com/HugoFara/pylinkage) documentation. Once your joints (let's say they are in a joint object), you should have something like that: @@ -98,12 +107,12 @@ def dynamic_linkage_fitness(walker): And now, relax while your computer recreates a civilisation of walking machines! ### Visualization -For this part we will focus on the [Strider linkage](https://www.diywalkers.com/strider-linkage-plans.html), an exemple file is provided at ``docs/source/examples/strider.py``. The linkage looks like this: -![A Kinematic representation of Strider linkage](https://github.com/HugoFara/leggedsnake/raw/master/docs/source/examples/images/Kinematic%20unoptimized%20Strider.gif) +For this part we will focus on the [Strider linkage](https://www.diywalkers.com/strider-linkage-plans.html), an exemple file is provided at ``docs/examples/strider.py``. The linkage looks like this: +![A Kinematic representation of Strider linkage](https://github.com/HugoFara/leggedsnake/raw/master/docs/examples/images/Kinematic%20unoptimized%20Strider.gif) Looks cool? Let's simulate it dynamically! -![Dynamic one-leg-pair Strider being tested](https://github.com/HugoFara/leggedsnake/raw/master/docs/source/examples/images/Dynamic%20unoptimized%20one-legged%20Strider.gif) +![Dynamic one-leg-pair Strider being tested](https://github.com/HugoFara/leggedsnake/raw/master/docs/examples/images/Dynamic%20unoptimized%20one-legged%20Strider.gif) Oops! Here is what you get when you forget to add more legs! There is **real danger here**, because your walker crawls well, you will be able to optimize efficiently the "crawler", *which may be not your goal*. @@ -115,7 +124,7 @@ my_linkage.add_legs(3) # Replace "my_linkage" with your Walker object ``` Let's have a look at the artist: -![Dynamic four-leg-pair unoptimized Strider](https://github.com/HugoFara/leggedsnake/raw/master/docs/source/examples/images/Dynamic%20unoptimized%20strider.gif) +![Dynamic four-leg-pair unoptimized Strider](https://github.com/HugoFara/leggedsnake/raw/master/docs/examples/images/Dynamic%20unoptimized%20strider.gif) ## Advice Use the vizualisation tools provided! The optimization tools should always give you a score with a better fitness, but it might not be what you expected. Tailor your optimization and *then* go for a long run will make you save a lot of time. @@ -123,4 +132,4 @@ Use the vizualisation tools provided! The optimization tools should always give **Do not** use optimized linkages from the start! The risk is to fall to quickly into a suboptimal solution. They are several mechanisms to prevent that (starting from random position), however it can always have an impact on the rest of the optimization. Try to minimize the number of elements in the optimizations! You can often use some linkage's properties to reduce the number of simulation parameters. For instance, the Strider linkage has an axial symmetry. While it is irrelevant to use this property in dynamic simulation, you can use "half" your Strider in a kinematic optimization, which is much faster: -![A Kinematic half Strider](https://github.com/HugoFara/leggedsnake/raw/master/docs/source/examples/images/Kinematic%20half-Strider.gif) +![A Kinematic half Strider](https://github.com/HugoFara/leggedsnake/raw/master/docs/examples/images/Kinematic%20half-Strider.gif) diff --git a/docs/.buildinfo b/docs/.buildinfo index 5ea573f..53c0f27 100644 --- a/docs/.buildinfo +++ b/docs/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. -config: 0b01ba4c14c3a169a4bef6ad4f2084c8 +config: 86302c9050715ad45e2b24fdc1cc0046 tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/docs/_sources/index.rst.txt b/docs/_sources/index.rst.txt index 5a7de7e..4bb5faf 100644 --- a/docs/_sources/index.rst.txt +++ b/docs/_sources/index.rst.txt @@ -17,7 +17,6 @@ Welcome to LeggedSnake's documentation! api/dynamiclinkage api/physicsengine api/geneticoptimizer - licenselink .. mdinclude:: ../../README.md diff --git a/docs/_static/css/badge_only.css b/docs/_static/css/badge_only.css new file mode 100644 index 0000000..3c33cef --- /dev/null +++ b/docs/_static/css/badge_only.css @@ -0,0 +1 @@ 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Changelog

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ChangelogSemantic Versioning.

[Unreleased]

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[0.1.3-alpha] - 2021-07-10

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This package was lacking real documentation, it is fixed in this version.

Added

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Added

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Index

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W

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- ©2021, Hugo Farajallah. - - | - Powered by Sphinx 4.0.2 - & Alabaster 0.7.12 - -
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Welcome to LeggedSnake’s documentation!

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Welcome to LeggedSnake’s documentation!Contents:

PyPI version fury.io @@ -84,12 +205,23 @@

Welcome to LeggedSnake’s documentation!

leggedsnake

-

LeggedSnake is a Python library providing reliable computationnal techniques to build, simulate and optimize planar leg mechanisms. It is divided in three main parts:

+

LeggedSnake is a project intended to make the simulation of walking linkages fast and easy. We believe that building walking linkages is fun and could be useful. Our philosophy is to provide a quick way of building, optimizing and testing walking linkages.

+

We handle planar leg mechanisms in three main parts:

+
    +

  • Linkage conception in simple Python relying on pylinkage.

    • +

  • Kinematic optimization with Walker class, inheriting from pylinkage’s Linkage class.

    • +

  • Dynamic simulation and its optimization using genetic algorithms.

    • +
+

Installation

@@ -111,7 +243,7 @@

Requirements

Usage

-

The demo script is strider.py, which demonstrates all the techniques about the Strider linkage.

+

The demo script is strider.py, which demonstrates all the techniques about the Strider linkage.

Defining a Walker

First, you need to define joints for your Walker as described in pylinkage documentation. Once your joints (let’s say they are in a joint object), you should have something like that:

@@ -185,10 +317,10 @@

Dynamic Optimization using Genetic Algorithm (GA)

Visualization

-

For this part we will focus on the Strider linkage, an exemple file is provided at docs/source/examples/strider.py. The linkage looks like this:

-A Kinematic representation of Strider linkage +

For this part we will focus on the Strider linkage, an exemple file is provided at docs/examples/strider.py. The linkage looks like this:

+A Kinematic representation of Strider linkage

Looks cool? Let’s simulate it dynamically!

-Dynamic one-leg-pair Strider being tested +Dynamic one-leg-pair Strider being tested

Oops! Here is what you get when you forget to add more legs! There is real danger here, because your walker crawls well, you will be able to optimize efficiently the “crawler”, which may be not your goal.

Let’s add three more leg pairs. Why three? Many legs means more mass and constraints, so less yield and more intensive computations. On the other hand, we always want the center of mass over the support line, which means that if the walker begins to lift a foot (let’s say a front foot), and another doesn’t come on the ground ahead of it, the linkage will to fall nose to the ground. With more foots we make the “snooping” time shorter, and a total of four leg pairs is a minimum for this unoptimized version.

A simple way to do it is:

@@ -196,7 +328,7 @@

VisualizationDynamic four-leg-pair unoptimized Strider +Dynamic four-leg-pair unoptimized Strider

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AdviceA Kinematic half Strider +A Kinematic half Strider

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Indices and tables -
-

LeggedSnake

- - - - - - - - -

Navigation

-

Contents:

- - -
-

Related Topics

- -
- +
+

+
+ -
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- ©2021, Hugo Farajallah. - - | - Powered by Sphinx 4.0.2 - & Alabaster 0.7.12 - - | - Page source -
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MIT License

@@ -54,81 +176,43 @@

Copyright (c) 2021 Hugo FARAJALLAH -
-

LeggedSnake

- - - - + +
+

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+ - - -
- -
- ©2021, Hugo Farajallah. - - | - Powered by Sphinx 4.0.2 - & Alabaster 0.7.12 - - | - Page source -
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  • Docs »
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  • Python Module Index
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+

Python Module Index

@@ -78,74 +197,43 @@

Python Module Index

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+ - - -
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- ©2021, Hugo Farajallah. - - | - Powered by Sphinx 4.0.2 - & Alabaster 0.7.12 - -
+ + + + - - + \ No newline at end of file diff --git a/docs/readmelink.html b/docs/readmelink.html index 4d3767e..4ecf187 100644 --- a/docs/readmelink.html +++ b/docs/readmelink.html @@ -1,47 +1,198 @@ + + + + + + + + + leggedsnake — LeggedSnake 0.1.3-alpha documentation + + + + + + - - - - - leggedsnake — LeggedSnake 0.1.2-alpha documentation - - - - - - + + + + + + + + + + + + + + + + + + + - + + + + + - - - - +
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PyPI version fury.io License: MIT

leggedsnake

-

LeggedSnake is a Python library providing reliable computationnal techniques to build, simulate and optimize planar leg mechanisms. It is divided in three main parts:

+

LeggedSnake is a project intended to make the simulation of walking linkages fast and easy. We believe that building walking linkages is fun and could be useful. Our philosophy is to provide a quick way of building, optimizing and testing walking linkages.

+

We handle planar leg mechanisms in three main parts:

+
    +

  • Linkage conception in simple Python relying on pylinkage.

    • +

  • Kinematic optimization with Walker class, inheriting from pylinkage’s Linkage class.

    • +

  • Dynamic simulation and its optimization using genetic algorithms.

    • +
+

Installation

@@ -63,7 +214,7 @@

Requirements

Usage

-

The demo script is strider.py, which demonstrates all the techniques about the Strider linkage.

+

The demo script is strider.py, which demonstrates all the techniques about the Strider linkage.

Defining a Walker

First, you need to define joints for your Walker as described in pylinkage documentation. Once your joints (let’s say they are in a joint object), you should have something like that:

@@ -137,10 +288,10 @@

Dynamic Optimization using Genetic Algorithm (GA)

Visualization

-

For this part we will focus on the Strider linkage, an exemple file is provided at docs/source/examples/strider.py. The linkage looks like this:

-A Kinematic representation of Strider linkage +

For this part we will focus on the Strider linkage, an exemple file is provided at docs/examples/strider.py. The linkage looks like this:

+A Kinematic representation of Strider linkage

Looks cool? Let’s simulate it dynamically!

-Dynamic one-leg-pair Strider being tested +Dynamic one-leg-pair Strider being tested

Oops! Here is what you get when you forget to add more legs! There is real danger here, because your walker crawls well, you will be able to optimize efficiently the “crawler”, which may be not your goal.

Let’s add three more leg pairs. Why three? Many legs means more mass and constraints, so less yield and more intensive computations. On the other hand, we always want the center of mass over the support line, which means that if the walker begins to lift a foot (let’s say a front foot), and another doesn’t come on the ground ahead of it, the linkage will to fall nose to the ground. With more foots we make the “snooping” time shorter, and a total of four leg pairs is a minimum for this unoptimized version.

A simple way to do it is:

@@ -148,7 +299,7 @@

VisualizationDynamic four-leg-pair unoptimized Strider +Dynamic four-leg-pair unoptimized Strider

@@ -156,90 +307,57 @@

AdviceA Kinematic half Strider +A Kinematic half Strider

+
+
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