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Modular Reconfigurable Robots (MRRs) represent an exciting path forward forindustrial robotics, opening up new possibilities for robot design. Compared tomonolithic manipulators, they promise greater flexibility, improvedmaintainability, and cost-efficiency. However, there is no tool or standardizedway to model and simulate assemblies of modules in the same way it has beendone for robotic manipulators for decades. We introduce the Toolbox forIndustrial Modular Robotics (Timor), a Python toolbox to bridge this gap andintegrate modular robotics into existing simulation and optimization pipelines.Our open-source library offers model generation and task-based configurationoptimization for MRRs. It can easily be integrated with existing simulationtools - not least by offering URDF export of arbitrary modular robotassemblies. Moreover, our experimental study demonstrates the effectiveness ofTimor as a tool for designing modular robots optimized for specific use cases.

Timor Python: A Toolbox for Industrial Modular Robotics