Djembe is a Python library implementing embeddability detection on modular robot designs, originally developed at the University of Pennsylvania as part of an NSF expedition in computing for compiling printable programmable machines. The relevant paper was published and presented in 2015 in IEEE'sInternational Conference on Robotics and Automation. Based on a very efficient two-pass graph algorithm, Djembe can scale to hundreds of modules, making it easy for the researcher to provide a definite yes/no answer in questions of embeddability among acyclic designs, and to subsequently discover hard-to-spot functionality mappings, if they exist.
Please stay tuned and check back. Djembe will be released soon!