https://github.com/modular-robotics-group/modular-robotics

A set of tools to aid in research related to modular robots
https://github.com/modular-robotics-group/modular-robotics

computational-geometry robotics visualization

Last synced: 4 months ago
JSON representation

A set of tools to aid in research related to modular robots

• Host: GitHub
• URL: https://github.com/modular-robotics-group/modular-robotics
• Owner: Modular-Robotics-Group
• License: mit
• Created: 2024-06-10T15:58:41.000Z (8 months ago)
• Default Branch: main
• Last Pushed: 2024-10-21T15:34:56.000Z (4 months ago)
• Last Synced: 2024-10-22T16:58:48.395Z (4 months ago)
• Topics: computational-geometry, robotics, visualization
• Language: JavaScript
• Homepage:
• Size: 6.51 MB
• Stars: 0
• Watchers: 2
• Forks: 2
• Open Issues: 36
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# Modular Robotics Simulation

This repository hosts a set of tools which can be used to simulate modular robot reconfiguration.

Example use cases include:

- Finding the shortest path from an initial configuration to a desired configuration

- Analyzing and comparing the effectiveness of different models (ex: sliding vs pivoting)

- Determining if a configuration is "super-rigid"

## Usage

This section briefly describes how to find a shortest path between two configurations.

For more specific information about each step of the process, see the relevant tools [wiki page](https://github.com/gShahr/modular-robotics/wiki).

1. Set up initial and desired configurations using the [3D Tiler](https://Modular-Robotics-Group.github.io/modular-robotics/3DTiler/Index.html).

2. Run [Pathfinder](https://github.com/Modular-Robotics-Group/modular-robotics/wiki/Pathfinder) with the configurations.

3. Visualize the generated path in [WebVis](https://Modular-Robotics-Group.github.io/modular-robotics/WebVis/index.html).

## Install

Both the 3D Tiler and WebVis are web applications, and as such do not need to be installed unless

you need a local modified version. The process for building and running Pathfinder is described

[here](https://github.com/Modular-Robotics-Group/modular-robotics/wiki/Pathfinder#compiling).

## 3DTiler

3DTiler can be used to set up configurations for modular robots, plan out possible configurations,

or just make stuff out of cubes (or rhombic dodecahedra).



  

  


    A configuration built in 3DTiler

  


[Documentation](https://github.com/gShahr/modular-robotics/wiki/3D-Tiler)

[Open 3DTiler](https://Modular-Robotics-Group.github.io/modular-robotics/3DTiler/Index.html)

## Pathfinder

Pathfinder will find the shortest path between two configurations, if such a path exists.

[Documentation](https://github.com/Modular-Robotics-Group/modular-robotics/wiki/Pathfinder)

[How to compile](https://github.com/Modular-Robotics-Group/modular-robotics/wiki/Pathfinder#compiling)

## Visualization

WebVis helps validate paths found using Pathfinder by animating the sequence of moves found.



  

  


    A sequence of moves generated by Pathfinder being animated in WebVis

  


[Documentation](https://github.com/gShahr/modular-robotics/wiki/Visualization-Tool)

[Open WebVis](https://Modular-Robotics-Group.github.io/modular-robotics/WebVis/index.html)