davidhnguyen2000 / draft

A parametric tool for robot design exploration 
 Paper (arXiv) ·
 Video 
Draft compiles a short declarative robot description into a simulation-ready
MuJoCo model, without CAD. You state link lengths and the torque and speed each
joint needs. Trends fitted to 114 catalogued actuators and 49 published robot
descriptions fill in the masses, motor sizes and reflected inertias, then check
whether the assembled machine could be built. Design variants take seconds to
generate, and every one can be trained with the included quadruped RL tasks.
## Quick start
 [code] 
Training needs a CUDA GPU: add the `rl` extra (`pip install -e ".[rl]" -c
constraints.txt`) and see `docs/tasks.md`.
Everything else runs on a laptop CPU.
## Layout
 [code] 
Vendor robot models are not included. `python scripts/setup_data.py` fetches
them. The full documentation is in `docs/`.
## Citing
If you use Draft or its datasets, please cite the paper:
 [code] 
## License
MIT, see LICENSE. Fetched vendor descriptions keep their own
licences.