https://github.com/advrhumanoids/modular_hhcm
Tool for URDF generation of modular robots
https://github.com/advrhumanoids/modular_hhcm
Last synced: about 1 year ago
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Tool for URDF generation of modular robots
- Host: GitHub
- URL: https://github.com/advrhumanoids/modular_hhcm
- Owner: ADVRHumanoids
- Created: 2022-10-24T17:03:05.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2024-10-17T12:11:02.000Z (over 1 year ago)
- Last Synced: 2024-10-19T16:22:03.484Z (over 1 year ago)
- Language: JavaScript
- Size: 80.7 MB
- Stars: 2
- Watchers: 7
- Forks: 1
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
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README
modular
Redefining flexible automation.
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Table of Contents
## About The Project
This project focuses on the development of an app for rapid model generation of modular robots, starting from a set of basic robotic modules.
This app will genereate URDF, SRDF and a complete ROS package, which can be used to simulate and control the robot.
This is handled in 2 different scenarios: online or offline.
In 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.
An 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.
Moreover, 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)
## Installation
Currently 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).
There are 2 ways to install modular:
### Option 1. **pip install**
1. __Get the code__. Clone the repo using:
`git clone --recursive git@github.com:ADVRHumanoids/modular_hhcm.git`.
This 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)
2. __Install__. After cloning the repo, from the main directory run:
`pip install .`
The package can be installed in system, local, or virtualenv site-packages directory.
If you plan to make modifications it and don't want to re-install it every time, install it in 'editable mode' :
`pip install -e .`
### Option 2. **Use the binaries**
Get the `RobotBuilder` app from the latest release and make it executable (`chmod +x RobotBuilder`).
## Usage
### Configs
Several configurations can be modified for each deployment by creating a config file `src/modular/web/web_config.ini`. The most important ones are:
```ini
[MODULAR_API] # Mandatory section
# version of the API
version = 1
# When deploying the robot, return a zip file with the generated ROS package
download_on_deploy = true
# Use flash sessions to have multiple users on a single server
enable_sessions = true
# secret_key is used to sign the session cookie, it should be a random string
secret_key = FOO_BAR_BAZ
# base_route adds a prefix to all API routes, it is best to leave it commented
# base_route = /linfa/api/v${MODULAR_API:version}/modular
```
### Run the GUI
To use modular you need to start the python server.
1. If you installed with **pip install**:
```bash
python modular/src/modular/web/RobotDesignStudio.py
```
or even better, run:
```
robot-design-studio
```
Note: You might need to modify the PATH ;)
2. If you instead **use the binaries**:
run
```
./RobotBuilder
```
Then open from a browser to acces the graphical interface.
### Use the python API
Examples of how to use the python API are provided in the [scripts](https://github.com/ADVRHumanoids/modular_hhcm/tree/master/scripts) folder.
- `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
- `generate_concert_robot.ipynb` shows how to build and deploy the CONCERT modular robot
## Documentation
Static documentation for API calls has been added and is stored in the `modular/src/modular/web/docs` directory.
It can be accessed locally as follow:
1. clone the repo and navigate to the docs folder:
```bash
git clone git@github.com:ADVRHumanoids/modular.git
cd modular/src/modular/web/docs
```
2. start a local python HTTP server:
```bash
python -m http.server
```
3. open from a browser
## Roadmap
See the [open issues](https://github.com/ADVRHumanoids/modular_hhcm/issues) for a list of proposed features (and known issues).
## Contributing
Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are **greatly appreciated**.
1. Fork the Project
2. Create your Feature Branch (`git checkout -b feature/AmazingFeature`)
3. Commit your Changes (`git commit -m 'Add some AmazingFeature'`)
4. Push to the Branch (`git push origin feature/AmazingFeature`)
5. Open a Pull Request
## Contact
Alberobotics team - alberobotics@iit.it
Project Link: [https://github.com/ADVRHumanoids/modular_hhcm](https://github.com/ADVRHumanoids/modular_hhcm)