Package: timor-python
Timor PythonThe Toolbox for Industrial Modular Robot Design (Timor) is a python library for model generation and simulation of modular robots.With Timor you can:Create, export and load sets of robot modulesAssemble modules and generate kinematic, dynamic and collision models for you assemblyTransfer your assembly to apinocchio-based robot model and perform forwards- and inverse kinematics and dynamics calculationsVisualize modules and assemblies and animate trajectoriesDefine robot tasks and evaluate solutions based on various cost functionsGet started working with modular robots!InstallationTimor-python is available on PyPI. It requiresat least Python 3.8. For installation, use:pip install timor-pythonSome requirements are not included by default - in order to install them, use:pip install timor-python[option]where option can be one or multiple (comma-separated) of the following:dev: Installs development requirements for local unittestingfull: Installs dev and jupyterlab – needed to run the tutorialsIf you want to work with the bleeding-edge version, you can download the source code from the project repository and install it locally.
Nagivate to the timor-python repository you cloned and enter:pip install -e .to install it in editeable mode. This requiressetuptools>=61andpip>=21.3(previous versions of setuptools require asetup.py-file). To install optional dependencies, proceed in the same manner as for PyPI installs.To run unittest locally, you need tosetup git lfsin order to download assets.If you want to use pre-commit hooks provided with Timor, for installation please use:pip install pre-committhen:pre-commit installAfter that, each time you commit files, it will automatically perform linting and style checks.UsageThetutorials foldercontains jupyter notebooks that cover the most common use cases for Timor.
To open and run the notebooks, you will need jupyter, which can be installed from PyPI:pip install jupyterlabTo inspect, run, or edit the tutorials, navigate to the tutorials folder and start the notebook:jupyter labYou can set custom configurations such as file paths of robot libraries or logging behavior by editing the config file. You can import the file location of the config file asfrom timor.utilities.configurations import CONFIG_FILE.For further information, please visit thedocumentation.UpdatingSome timor updates might require to re-acquire the task, schema, or robot module data-bases. Try to reset the caches by runningtimor.utilities.file_locations.clean_caches()and re-import the timor module.Typical errors indicating this action:ValueError: modules.json invalid.SupportDo you have a question or an issue using Timor? You can eithersubmit an issueor write an email to therepository maintainer.ContributingWe welcome every contribution to Timor. For more details, please refer to ourcontribution guidelines.Authors and acknowledgmentTimor was developed at the chair of robotics, artificial intelligence and embedded systems at TU Munich.
It is designed, developed and maintained by Jonathan Külz, Matthias Mayer, and Matthias Althoff.The Timor Python logo was AI-generated using the OpenAI’s Dall-E 2 API.The developers gratefully acknowledge financial support by the Horizon 2020 EU Framework ProjectCONCERT.