botblocks

botblocks is a rapid-prototyping stack for robots. a python script defines the world and robot behavior; the same robot and loop can run in mujoco, a physics-free viewer, or on local hardware.

the stack is built around four small ideas:

• a Robot is loaded from a project path such as public/so101 or menagerie/unitree_go2
• named subsystems such as Servo, Arm, Camera, and DiffDrive are the robot api
• providers connect those subsystems to mujoco, a kinematic viewer, or hardware
• the workspace combines the editor, 3d viewer, console, camera snaps, inspector, agent, and rl metrics

run a robot in physics

from botblocks import Box, MujocoEnv, Plane, Robot
import math

robot = Robot().load('public/so101')
cube = Box(pos=[0.28, -0.12, 0], size=0.03, color='#f8a')

@robot.loop
def wave(bot, env):
    bot['shoulder'].target(0.35 * math.sin(env.time()))

MujocoEnv([Plane(), cube, robot]).start()

MujocoEnv simulates gravity, contacts, sensors, and actuators. open the workspace inspector to drive joints, or ask the workspace agent to list and call the live subsystem tools.

change the backend

use ViewerEnv when you only need fast kinematic poses and camera previews:

ViewerEnv([Plane(), robot]).start()

run the same loop against usb-connected feetech sts servos with:

LocalEnv([robot], providers=[ServoSTS]).start()

the loop and subsystem calls stay the same. only the environment and providers change.

bring your own robot

the gallery contains the mujoco menagerie. projects can also import urdf, mjcf, xacro, glb, or autodesk fusion data. the project editor defines the part tree and assigns subsystems; arm kinematics are inferred from that geometry.