Merge branch 'feat/linfization'

.dockerignore

@@ -0,0 +1,92 @@
+# Git
+# .git
+# .gitignore
+.gitattributes
+
+
+# CI
+.codeclimate.yml
+.travis.yml
+.taskcluster.yml
+
+# Docker
+docker-compose.yml
+Dockerfile
+.docker
+.dockerignore
+
+# Byte-compiled / optimized / DLL files
+**/__pycache__/
+**/*.py[cod]
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.cache
+nosetests.xml
+coverage.xml
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Virtual environment
+.env
+.venv/
+venv/
+
+# PyCharm
+.idea
+
+# Python mode for VIM
+.ropeproject
+**/.ropeproject
+
+# Vim swap files
+**/*.swp
+
+# VS Code
+.vscode/
+
+# Server config file
+**/web_config.ini

.github/workflows/automerge.yml

@@ -1,29 +1,31 @@
 name: Automerge master into alberobotics
 
-on: 
+on:
   push:
     branches:
       - "master"
 
 jobs:
   merge-master-into-alberobotics:
     runs-on: ubuntu-20.04
-    env: 
-      CI_COMMIT_MESSAGE: Continuous Integration Build Artifacts
-      CI_COMMIT_AUTHOR: Continuous Integration
 
     steps:
-    - uses: actions/checkout@v3
+    - name: Checkout
+      uses: actions/checkout@v3
 
-    - name: Set Git config
+    - name: Set up git
       run: |
-          git config --global user.name "${{ env.CI_COMMIT_AUTHOR }}"
-          git config --global user.email "[email protected]"
-    
+        git config --global user.name $USER_NAME
+        git config --global user.email $USER_EMAIL
+      env:
+        # see https://github.com/orgs/community/discussions/26560#discussioncomment-3531273
+        USER_NAME: 'github-actions[bot]'
+        USER_EMAIL: '41898282+github-actions[bot]@users.noreply.github.com'
+
     - name: Get changed files
       id: changed-files
       uses: tj-actions/changed-files@v35
-    
+
     - name: Merge master into alberobotics
       run: |
 
@@ -39,14 +41,14 @@ jobs:
             "src/modular/modular_data/cartesio/ModularBot_cartesio_multichain_config.yaml"
           )
 
-          git fetch --unshallow 
+          git fetch --unshallow
           git checkout alberobotics
 
           git merge --no-ff --no-commit master
           for file in "${to_keep[@]}"; do
             git reset HEAD $file
-            git checkout -- $file        
+            git checkout -- $file
           done
 
-          git commit -m "merged master"          
+          git commit -m "merged master"
           git push

.github/workflows/create_pr.yaml

@@ -0,0 +1,65 @@
+name: Open PR for new modular_frontend version
+# see https://github.com/orgs/community/discussions/26286#discussioncomment-3251208
+# on:
+#   create:
+#     branches:
+#       - 'ci/deps/modular_frontend-v[0-9]+.[0-9]+.[0-9]+*'
+on: create
+
+jobs:
+  create-pr:
+    runs-on: ubuntu-latest
+    name: Create PR to update modular_frontend
+    # see https://github.com/orgs/community/discussions/26771#discussioncomment-3253330
+    if: startsWith(github.ref_name, 'ci/deps/modular_frontend-')
+    env:
+      TARGET_BRANCH: feat/linfization
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Set up git
+        run: |
+          git config --global user.name $USER_NAME
+          git config --global user.email $USER_EMAIL
+        env:
+          # see https://github.com/orgs/community/discussions/26560#discussioncomment-3531273
+          USER_NAME: 'github-actions[bot]'
+          USER_EMAIL: '41898282+github-actions[bot]@users.noreply.github.com'
+
+      # - name: Updated static docs
+      #   run: |
+      #     RELEASE_VERSION=$(echo $GITHUB_REF_NAME | sed -e s/.*modular_frontend-//)
+      #     sed -i '/version/c\  \"version\" : \"'RELEASE_VERSION'\",' package.json
+      #     npm ci
+      #     npm run build:swagger
+      #     git add docs
+      #     git commit -m "📝 docs(Swagger): update static swagger docs"
+
+      # - name: Commit version bump
+      #   run: |
+      #     RELEASE_VERSION=$(echo $GITHUB_REF_NAME | sed -e s/.*modular_frontend-//)
+      #     sed -i '/version/c\  \"version\" : \"'RELEASE_VERSION'\",' package.json
+      #     git add package.json
+      #     git commit -m "📦 chore: bump version to RELEASE_VERSION"
+
+      # - name: Push changes
+      #   run: |
+      #     git push -u origin HEAD
+
+      - name: Open new PR
+        run: |
+          RELEASE_VERSION=$(echo $GITHUB_REF_NAME | sed -e s/.*modular_frontend-//)
+          gh pr create \
+          --title "⬆️ chore(gui): Bump modular_frontend to $RELEASE_VERSION" \
+          --body-file ./src/modular/web/modular_frontend/frontend_release_notes/CHANGELOG.$RELEASE_VERSION.md \
+          --base ${{ env.TARGET_BRANCH }} \
+          --label refactor  \
+          --assignee "m-tartari" \
+          --reviewer "EdoardoRomiti"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cleanup ssh configs
+        run: |
+          rm -rf ~/.ssh

.gitignore

@@ -160,3 +160,6 @@ venv.bak/
 
 # VS Code folder
 .vscode/*
+
+# Custom setting for API
+src/modular/web/web_config.ini

Dockerfile

@@ -0,0 +1,41 @@
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+ARG RECIPES_BRANCH=master
+ARG RECIPES_PROVIDER=https://github.com/ADVRHumanoids/multidof_recipes.git
+
+ARG FOREST_WS=$HOME/modular_ws
+ARG USER_PWD=user
+ARG MODE=&NoNe&
+ARG JOBS=1
+
+# run apt update as root
+USER root
+SHELL ["/bin/bash", "-ic"]
+RUN sudo apt-get update
+
+USER user
+
+# Add github.com to known hosts
+RUN mkdir -p -m 0700 $HOME/.ssh && ssh-keyscan github.com >> $HOME/.ssh/known_hosts
+
+# Initialize forest workspace
+WORKDIR ${FOREST_WS}
+RUN forest init
+RUN echo "source $FOREST_WS/setup.bash" >> ~/.bashrc
+
+# Add recipes to forest workspace
+RUN forest add-recipes https://github.com/ADVRHumanoids/multidof_recipes.git --tag $RECIPES_BRANCH
+
+# Install dependencies using forest
+RUN --mount=type=ssh,uid=${USER_ID} forest grow concert_description -m ${MODE} -j${JOBS} --pwd ${USER_PWD} --clone-depth 1 \
+    && forest grow iit-dagana-ros-pkg -m ${MODE} -j${JOBS} --pwd ${USER_PWD} --clone-depth 1 \
+    && rm -fr $FOREST_WS/build
+
+# Build local version of modular
+WORKDIR ${FOREST_WS}/src/modular
+COPY --chown=user:user . ${FOREST_WS}/src/modular
+RUN pip install -e .
+
+# Set entrypoint
+CMD ./scripts/entrypoint.sh

README.md

@@ -61,7 +61,7 @@
 ## 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 app will genereate URDF, SRDF and a complete ROS package, which can be used to simulate and control the robot.
 
 ![reconfigurable_pino](https://alberobotics.it/templates/yootheme/cache/reconfigurable_pino-2e1209e8.png)
 
@@ -108,6 +108,29 @@ Get the `RobotBuilder` app from the latest release and make it executable (`chmo
 
 ## 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.
 
@@ -133,7 +156,7 @@ Then open <http://0.0.0.0:5000/> 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 
+- `generate_concert_robot.ipynb` shows how to build and deploy the CONCERT modular robot
 
 ## Documentation
 

docker-compose.yml

@@ -0,0 +1,26 @@
+version: "3.8"
+services:
+
+  modular:
+    image: "${TARGET_IMAGE}"
+    container_name: modular
+    restart: 'unless-stopped'
+    build:
+      context: ./
+      dockerfile: Dockerfile
+      ssh:
+        # mount the default ssh agent
+        - default
+      args:
+        - BASE_IMAGE
+        - RECIPES_BRANCH
+        - RECIPES_PROVIDER
+        - FOREST_WS
+        - USER_PWD
+        - MODE
+        - JOBS
+    ports:
+      - "5003:5003"
+    volumes:
+      # We might want to change the local path of the web_config.ini file
+      - ./src/modular/web/web_config.ini:${FOREST_WS}/src/modular/src/modular/web/web_config.ini

scripts/entrypoint.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+# Start detached roscore
+nohup roscore &
+
+# Start Modular Server
+gunicorn --workers 1 --threads 4 --bind '0.0.0.0:5003' wsgi:app
+
+# Wait for any process to exit
+wait -n
+
+# Exit with status of process that exited first
+exit $?

scripts/generate_concert_robot.ipynb

@@ -29,7 +29,7 @@
    "outputs": [],
    "source": [
     "#add mobile base\n",
-    "urdf_writer.add_mobile_platform()\n"
+    "urdf_writer.add_module('concert/mobile_platform_concert.json', 0, False)\n"
    ]
   },
   {
@@ -119,7 +119,7 @@
    },
    "outputs": [],
    "source": [
-    "urdf_writer.remove_connectors()\n",
+    "urdf_writer.remove_all_connectors()\n",
     "\n",
     "# get srdf and joint_map\n",
     "urdf_writer.write_urdf()\n",

scripts/generate_concert_robot_JSON.ipynb

@@ -29,7 +29,7 @@
    "outputs": [],
    "source": [
     "#add mobile base\n",
-    "urdf_writer.add_mobile_platform()\n"
+    "urdf_writer.add_module('concert/mobile_platform_concert.json', 0, False)\n"
    ]
   },
   {
@@ -119,7 +119,7 @@
    },
    "outputs": [],
    "source": [
-    "urdf_writer.remove_connectors()\n",
+    "urdf_writer.remove_all_connectors()\n",
     "\n",
     "# get srdf and joint_map\n",
     "urdf_writer.write_urdf()\n",