This repository hosts the source code of simgait.org.
The SimGait project is a four year project funded by the SNSF. It aims at creating a musculoskeletal model of the human with neural control to model healthy and impaired gait, for example due to cerebral palsy. simgait.org contains a webservice allowing to run musculoskeletal simulations from the web.
simgait.org runs on a fairly powerful hardware:
- Intel Core i7 950 @ 3.07 GHz
- NVIDIA GeForce GTX 970
The BIOS was configured to reboot the machine after a power outage.
The following software is installed:
-
Ubuntu 18.04 Desktop with
apache2,php,gitandwebots(from the snap store). -
Add
ServerName 127.0.0.1at the beginning of/etc/apache2/apache2.conf. -
Enable SSL:
sudo a2ensite default-ssl,sudo a2enmod ssl,sudo systemctl restart apache2.
A letsencrypt certificate was installed to enable https. Apache was configured with rewrite rules to:
- Redirect all traffic from http to the https.
- Redirect WebSocket traffic from
wss://servername/<port_number>tows://servername:<port_number>.
LoadModule proxy_module modules/mod_proxy.so
LoadModule proxy_http_module modules/mod_proxy_http.so
LoadModule proxy_wstunnel_module modules/mod_proxy_wstunnel.so
<VirtualHost *:80>
ServerName simgait.org
ServerAlias www.simgait.org
ServerAdmin [email protected]
ErrorLog ${APACHE_LOG_DIR}/error.log
CustomLog ${APACHE_LOG_DIR}/access.log combined
Redirect permanent / https://simgait.org
</VirtualHost>
<VirtualHost *:443>
ServerName simgait.org
ServerAlias www.simgait.org
[ ... ]
RewriteEngine on
RewriteCond %{SERVER_NAME} =www.simgait.org
RewriteRule ^ https://simgait.org%{REQUEST_URI} [END,NE,R=permanent]
# port redirection rules (for session_server.py, simulation_server.py and webots)
# websockets (should come first)
RewriteCond %{HTTP:Upgrade} websocket [NC]
RewriteCond %{HTTP:Connection} upgrade [NC]
RewriteRule ^/(\d*)/(.*)$ "ws://%{SERVER_NAME}:$1/$2" [P,L]
# http traffic (should come after websocket)
RewriteRule ^/(\d*)/(.*)$ "http://%{SERVER_NAME}:$1/$2" [P,L]
</VirtualHost>
In addition subversion should be installed as it is used by the new version of simulation_server.py: sudo apt install subversion.
The session server should be configured with simgait.json:
"port": 1999,
"portRewrite": true,
"server": "simgait.org",
"administrator": "[email protected]",
"mailServer": "mail.infomaniak.com",
"mailServerPort": 587,
"mailSender": "[email protected]",
"mailSenderPassword": "********",
"simulationServers": [
"simgait.org/2000"
]
The simulation server should be configured with simgait.json:
{
"port": 2000,
"logDir": "log/",
"portRewrite": true,
"debug": true
}
In order to refer to a specific simulation hosted on a github repository, we should the following protocol:
webots://github.com/user/repo/type/name/folder/subfolder/[...]/subsubfolder/worlds/world.wbt
Examples:
Referring to the master branch: webots://github.com/cyberbotics/webots/branch/master/projects/samples/robotbenchmark/humanoid_sprint/worlds/humanoid_sprint.wbt
Referring to the R2020a-rev1 tag: webots://github.com/cyberbotics/webots/tag/R2020a-rev1/projects/samples/robotbenchmark/inverted_pendulum/worlds/inverted_pendulum.wbt
When specified this way, the whole project will be downloaded (e.g., not only the world file, but all the project folder, including controllers, protos, plugins, etc.).
The main web site is stored on the server in /var/www/master/html.
It is synchronized automatically with the html folder of the master branch of this github repository.
Similarly, the testing web site is stored on the server in /var/www/testing/html.
It is synchronized automatically with the html folder of the testing branch of this github repository.
The deploy.php script is called by a github webhook on the push event.
It performs a git pull in the folder corresponding to the branch of the push event.
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