  MoleMOD is a heterogeneous self-reconfigurable modular robotic system to be
employed in architecture and civil engineering. In this paper we present two
components of the MoleMOD infrastructure - a test environment and a planning
algorithm. The test environment for simulation and visualization of active
parts as well as passive blocks of MoleMOD is based on Gazebo - a powerful
general-purpose robotic simulator. The key effort has been put into preparation
of realistic models of passive and active components taking into account their
physical characteristics. Moreover, given a starting configuration of the
MoleMOD system and a final configuration an approach to plan collision-free
trajectories for a fleet of active parts is introduced.
