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.

Set up initial and desired configurations using the 3D Tiler.
Run Pathfinder with the configurations.
Visualize the generated path in WebVis.

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.

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).