{"id":19963290,"url":"https://github.com/advrhumanoids/modular_hhcm","last_synced_at":"2025-05-03T22:32:03.850Z","repository":{"id":65630870,"uuid":"556866775","full_name":"ADVRHumanoids/modular_hhcm","owner":"ADVRHumanoids","description":"Tool for URDF generation of modular 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PROJECT SHIELDS --\u003e\n\u003c!-- These badges can be used once we make the project public --\u003e\n\u003c!-- [![Contributors][contributors-shield]][contributors-url]\n[![Forks][forks-shield]][forks-url]\n[![Stargazers][stars-shield]][stars-url]\n[![Issues][issues-shield]][issues-url]\n[![MIT License][license-shield]][license-url]\n[![LinkedIn][linkedin-shield]][linkedin-url] --\u003e\n\n\u003c!-- PROJECT LOGO --\u003e\n\u003cbr /\u003e\n\u003cp align=\"center\"\u003e\n  \u003ca href=\"https://github.com/ADVRHumanoids/modular_hhcm\"\u003e\n    \u003cimg src=\"https://alberobotics.it/images/apple-touch-icon.png\" alt=\"Logo\" width=\"80\" height=\"80\"\u003e\n  \u003c/a\u003e\n\n  \u003ch2 align=\"center\"\u003emodular\u003c/h2\u003e\n\n  \u003cp align=\"center\"\u003e\n    Redefining flexible automation.\n    \u003cbr /\u003e\n    \u003ca href=\"https://www.youtube.com/channel/UCNyqcpavE5nsVidipXZQ8OQ\"\u003eView Demo\u003c/a\u003e\n    ·\n    \u003ca href=\"https://github.com/ADVRHumanoids/modular_hhcm/issues\"\u003eRequest Feature\u003c/a\u003e\n    ·\n    \u003ca href=\"https://github.com/ADVRHumanoids/modular_hhcm/issues\"\u003eReport Bug\u003c/a\u003e\n    \u003cbr /\u003e\n    \u003ca href=\"#documentation\"\u003e\u003cstrong\u003eExplore the docs »\u003c/strong\u003e\u003c/a\u003e\n  \u003c/p\u003e\n\u003c/p\u003e\n\n[![Build Status](https://app.travis-ci.com/ADVRHumanoids/modular.svg?token=zJseufwSAzkrEc1mqg8v\u0026branch=python3)](https://app.travis-ci.com/ADVRHumanoids/modular)\n\n\u003c!--\n[![codecov](https://codecov.io/gh/ADVRHumanoids/modular/branch/development/graph/badge.svg?token=aW77dBlb1w)](https://codecov.io/gh/ADVRHumanoids/modular)\n--\u003e\n\n\u003c!-- TABLE OF CONTENTS --\u003e\n\u003cdetails open=\"open\"\u003e\n  \u003csummary\u003eTable of Contents\u003c/summary\u003e\n  \u003col\u003e\n    \u003cli\u003e\n      \u003ca href=\"#about-the-project\"\u003eAbout The Project\u003c/a\u003e\n      \u003c!-- \u003cul\u003e\n        \u003cli\u003e\u003ca href=\"#built-with\"\u003eBuilt With\u003c/a\u003e\u003c/li\u003e\n      \u003c/ul\u003e --\u003e\n    \u003c/li\u003e\n    \u003cli\u003e\u003ca href=\"#installation\"\u003eInstallation\u003c/a\u003e\u003c/li\u003e\n    \u003cli\u003e\u003ca href=\"#usage\"\u003eUsage\u003c/a\u003e\u003c/li\u003e\n    \u003cli\u003e\u003ca href=\"#documentation\"\u003eDocs\u003c/a\u003e\u003c/li\u003e\n    \u003cli\u003e\u003ca href=\"#roadmap\"\u003eRoadmap\u003c/a\u003e\u003c/li\u003e\n    \u003cli\u003e\u003ca href=\"#contributing\"\u003eContributing\u003c/a\u003e\u003c/li\u003e\n    \u003c!-- \u003cli\u003e\u003ca href=\"#license\"\u003eLicense\u003c/a\u003e\u003c/li\u003e --\u003e\n    \u003cli\u003e\u003ca href=\"#contact\"\u003eContact\u003c/a\u003e\u003c/li\u003e\n    \u003c!-- \u003cli\u003e\u003ca href=\"#acknowledgements\"\u003eAcknowledgements\u003c/a\u003e\u003c/li\u003e --\u003e\n  \u003c/ol\u003e\n\u003c/details\u003e\n\n\u003c!-- ABOUT THE PROJECT --\u003e\n\n## About The Project\n\nThis project focuses on the development of an app for rapid model generation of modular robots, starting from a set of basic robotic modules.\nThis app will genereate URDF, SRDF and a complete ROS package, which can be used to simulate and control the robot.\n\n![reconfigurable_pino](./src/modular/web/modular_frontend/reconfigurable_pino-7af6fda5.webp)\n\nThis is handled in 2 different scenarios: online or offline.\n\nIn the offline approach (Building Mode), a user sets up a robot with our reconfigurable modules in the virtual environment: the user selects modules from a library, assembles them to form a mechanism that is immediateley visualised in 3D.\n\nAn online approach (**Discovery Mode**) is also provided that allows the user to query the EtherCAT master for a description of the network topology graph. The  robot built from real physical modules is therefore recognized and displayed in 3D.\n\nMoreover, a **Python API** to programmatically build a robot model from a Python script is also provided. Some example of [how to use the API](#use-the-python-api) are provided in the [scripts](https://github.com/ADVRHumanoids/modular_hhcm/tree/master/scripts) directory. For using the Python API install with [Option 1](#option-1-pip-install)\n\n\u003c!--\n### Built With:\n\n- [Python](https://nodejs.org/en/)\n- [Travis-CI](https://travis-ci.com/)\n- [ROS melodic]()\n- [modular](https://github.com/ADVRHumanoids/modular/)\n--\u003e\n\u003c!-- - [CodeCov](https://about.codecov.io/) --\u003e\n\n\u003c!-- GETTING STARTED --\u003e\n\n## Installation\n\nCurrently we only support Python3 (for the last version supporting Python2 see [v.0.0.4](https://github.com/ADVRHumanoids/modular/releases/tag/v0.0.4)) and it's recommended to have pip version 21.3 or newer if you plan use editable installs (see below).\n\nThere are 2 ways to install modular:\n\n### Option 1. **pip install**\n\n1. __Get the code__. Clone the repo using:\n`git clone --recursive git@github.com:ADVRHumanoids/modular_hhcm.git`.\nThis will ensure the git submodule [modular_resources](git@github.com:ADVRHumanoids/modular_resources.git) is correctly initialized and cloned. (In alternative you can run `git submodule update --init --recursive` from the top directory after cloning)\n\n2. __Install__. After cloning the repo, from the main directory run:\n`pip install .`\nThe package can be installed in system, local, or virtualenv site-packages directory.\nIf you plan to make modifications it and don't want to re-install it every time, install it in 'editable mode' :\n`pip install -e .`\n\n### Option 2. **Use the binaries**\nGet the `RobotBuilder` app from the latest release and make it executable (`chmod +x RobotBuilder`).\n\n## Usage\n\n### Configs\n\nSeveral configurations can be modified for each deployment by creating a config file `src/modular/web/web_config.ini`. The most important ones are:\n\n```ini\n[MODULAR_API] # Mandatory section\n\n# version of the API\nversion = 1\n\n# When deploying the robot, return a zip file with the generated ROS package\ndownload_on_deploy = true\n\n# Use flash sessions to have multiple users on a single server\nenable_sessions = true\n\n# secret_key is used to sign the session cookie, it should be a random string\nsecret_key = FOO_BAR_BAZ\n\n# base_route adds a prefix to all API routes, it is best to leave it commented\n# base_route = /linfa/api/v${MODULAR_API:version}/modular\n```\n\n### Run the GUI\nTo use modular you need to start the python server.\n\n1. If you installed with **pip install**:\n\n```bash\npython modular/src/modular/web/RobotDesignStudio.py\n```\nor even better, run:\n```\nrobot-design-studio\n```\nNote: You might need to modify the PATH ;)\n\n2. If you instead **use the binaries**:\nrun\n```\n./RobotBuilder\n```\n\nThen open \u003chttp://0.0.0.0:5000/\u003e from a browser to acces the graphical interface.\n\n### Use the python API\nExamples of how to use the python API are provided in the [scripts](https://github.com/ADVRHumanoids/modular_hhcm/tree/master/scripts) folder.\n- `create_modularbot.ipynb` shows an example of how to build a 6-DOF robot using Alberobotics modules and deploy URDF, SRDF, etc. into a ROS package\n- `generate_concert_robot.ipynb` shows how to build and deploy the CONCERT modular robot\n\n## Documentation\n\nStatic documentation for API calls has been added and is stored in the `modular/src/modular/web/docs` directory.\nIt can be accessed locally as follow:\n\n1. clone the repo and navigate to the docs folder:\n\n   ```bash\n   git clone git@github.com:ADVRHumanoids/modular.git\n   cd modular/src/modular/web/docs\n   ```\n\n2. start a local python HTTP server:\n\n   ```bash\n   python -m http.server\n   ```\n\n3. open \u003chttp://0.0.0.0:8000/\u003e from a browser\n\n\u003c!-- ROADMAP --\u003e\n\n## Roadmap\n\nSee the [open issues](https://github.com/ADVRHumanoids/modular_hhcm/issues) for a list of proposed features (and known issues).\n\n\u003c!--See the [Roadmap kanban](https://github.com/ADVRHumanoids/modular_hhcm/projects/1) for the state of the development. --\u003e\n\n\u003c!-- CONTRIBUTING --\u003e\n\n## Contributing\n\nContributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are **greatly appreciated**.\n\n1. Fork the Project\n2. Create your Feature Branch (`git checkout -b feature/AmazingFeature`)\n3. Commit your Changes (`git commit -m 'Add some AmazingFeature'`)\n4. Push to the Branch (`git push origin feature/AmazingFeature`)\n5. Open a Pull Request\n\n\u003c!-- TODO:LICENSE - -\u003e\n## License\n\nDistributed under the MIT License. See `LICENSE` for more information. --\u003e\n\n\u003c!-- CONTACT --\u003e\n\n## Contact\n\nAlberobotics team - alberobotics@iit.it\n\nProject Link: [https://github.com/ADVRHumanoids/modular_hhcm](https://github.com/ADVRHumanoids/modular_hhcm)\n\n\u003c!-- ACKNOWLEDGEMENTS - -\u003e\n## Acknowledgements --\u003e\n\n\u003c!-- MARKDOWN LINKS \u0026 IMAGES --\u003e\n\u003c!-- These will be used once we make the project public --\u003e\n\u003c!-- https://www.markdownguide.org/basic-syntax/#reference-style-links - -\u003e\n\n[contributors-shield]: https://img.shields.io/github/contributors/ADVRHumanoids/modular.svg?style=for-the-badge\n[contributors-url]: https://github.com/ADVRHumanoids/modular/graphs/contributors\n[forks-shield]: https://img.shields.io/github/forks/ADVRHumanoids/modular.svg?style=for-the-badge\n[forks-url]: https://github.com/ADVRHumanoids/modular/network/members\n[stars-shield]: https://img.shields.io/github/stars/ADVRHumanoids/modular.svg?style=for-the-badge\n[stars-url]: https://github.com/ADVRHumanoids/modular/stargazers\n[issues-shield]: https://img.shields.io/github/issues/ADVRHumanoids/modular.svg?style=for-the-badge\n[issues-url]: https://github.com/ADVRHumanoids/modular/issues\n[license-shield]: https://img.shields.io/github/license/ADVRHumanoids/modular.svg?style=for-the-badge\n[license-url]: https://github.com/ADVRHumanoids/modular/blob/master/LICENSE.txt\n[linkedin-shield]: https://img.shields.io/badge/-LinkedIn-black.svg?style=for-the-badge\u0026logo=linkedin\u0026colorB=555\n[linkedin-url]: https://linkedin.com/in/othneildrew\n[product-screenshot]: images/screenshot.png --\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fmodular_hhcm","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fmodular_hhcm","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fmodular_hhcm/lists"}