Timor

The Toolbox for Industrial Modular Robotics (Timor) presents a standardized way to model and simulate assemblies of modules to integrate modular robotics into existing simulation and optimization pipelines.

With Timor, you can

• create, export and load sets of robot modules,
• assemble modules and generate kinematic, dynamic and collision models for you assembly,
• transfer your assembly to a pinocchio-based robot model and perform forwards- and inverse kinematics and dynamics calculations,
• visualize modules and assemblies and animate trajectories,
• define robot tasks and evaluate solutions based on various cost functions.