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mcdp { provides extra_payload [kg] provides workspace [dimensionless] provides grasping_metric [dimensionless] requires cost [USD] robotic_arm_dp = instance `robotic_arm gripper_dp = instance `gripper motor_dp = instance `motor material_selection = instance `material_selection provided extra_payload + mass_motor required by motor_dp * 4 + material_mass required by material_selection <= payload provided by robotic_arm_dp provided workspace <= workspace provided by robotic_arm_dp provided grasping_metric <= grasping_metric provided by gripper_dp minimum_tendon_force required by gripper_dp <= minimum_tendon_force provided by motor_dp pulley_volume required by gripper_dp <= pulley_volume provided by material_selection linkage_volume required by gripper_dp <= linkage_volume provided by material_selection required cost >= material_cost required by material_selection + cost_motor required by motor_dp * 4 + cost required by robotic_arm_dp }		Diagramremove Other informationremove zoom-to-fit re-layout export image Regular Expanded Exploded Pre-processed Processed no icons only simple icons show icons show units hide units Internal representation details Internal representation Internal representation (verbose) YAML representation Compiled DP Compiled DP - YAML representation Poset F Poset R Poset I (implementations) Space B (blueprint-relevant implementations) Map I → B Map solve_f: F → UR Map solve_r: R → LF Map provides: I → F Map requires: I → R Map feasibility: F x R' → Bool Map availability: I → Bool Map solve_f_b: F → UR[B] Map solve_r_b: R → LF[B] Map solve_f_i: F → UR[I] Map solve_r_i: R → LF[I] Figure: ndp_repr_long Figure: ndp_gojs_wrap_expand Figure: ndp_gojs_wrap_expand_never Figure: ndp_gojs_nowrap_expand Figure: ndp_gojs_wrap_noexpand Figure: ndp_gojs_wrap_noexpand_units Figure: ndp_gojs_wrap_noexpand_never Figure: ndp_gojs_nowrap_noexpand Figure: ndp_gojs_nowrap_noexpand_units Figure: ndp_gojs_interface Figure: dp_graph_flow_LR Figure: dp_graph_flow_TB Figure: dp_graph_tree_LR Figure: dp_graph_tree_TB Figure: dp_graph_tree_compact_LR Figure: dp_graph_tree_compact_TB Figure: dp_repr_long (updating)

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