Leon Žlajpah — RobotBlockSet Software

Open-source robotics framework

RobotBlockSet for Python

RobotBlockSet (RBS) is a Python framework for modelling robots, generating motion and trajectories, testing algorithms in simulation, and deploying them on real robotic systems. A unified programming interface helps move an application from its initial model to practical execution with minimal changes.

Its modular, object-oriented design makes RBS suitable for robotics research, rapid prototyping, teaching, and industrial applications.

View on GitHub Read the documentation

RobotBlockSet simulation showing a robot following a spatial path

What RBS provides

Robot modelling

Kinematics, robot and platform models, tools, sensors, coordinate frames, and spatial transformations.

Motion generation

Joint-space and Cartesian paths, interpolation, smooth trajectory profiles, radial basis functions, and time-optimal trajectories.

Planning and safety

Collision-free planning through OMPL with collision checking in physics-based simulation environments.

Simulation and hardware

A common high-level interface for simulated systems and physical robots reduces the gap between testing and deployment.

Multi-robot systems

Independent, asynchronous, synchronized, and bimanual operation for coordinated robotic applications.

Experimentation

Trajectory recording, plotting, callbacks, camera support, and tutorial notebooks for developing and evaluating algorithms.

Backends and integration

RBS connects to MuJoCo, CoppeliaSim, and Genesis for simulation, and supports middleware and hardware interfaces including ROS/ROS 2, Franka Panda and FR3, Universal Robots through RTDE, and Robotiq grippers. Camera modules and calibration workflows support vision-based robotic applications.

Examples from the tutorials

RobotBlockSet Cartesian arc trajectory with position and orientation plots — **Cartesian motion generation**Position and orientation are interpolated together to produce smooth, geometrically meaningful robot motion.

MuJoCo simulation of two robots moving simultaneously in RobotBlockSet — **Coordinated multi-robot motion**Two simulated robots execute a synchronized trajectory through the unified multi-robot interface.
Download video (MP4)

MuJoCo simulation of an industrial inspection trajectory viewed from the front — **Inspection trajectory**The MuJoCo rendering tutorial replays a planned inspection motion from a third fixed camera. This front view provides another perspective for checking robot clearance, tool orientation, and coverage of the workpiece.
Download video (MP4)

MuJoCo simulation of a Panda arm mounted on an autonomous mobile platform — **Autonomous mobile manipulator**The final mobile-robot tutorial example coordinates a Panda arm with a Tiago mobile base. Autonomous base motion extends the manipulator's reachable workspace while the arm progresses toward its Cartesian task.
Download video (MP4)

Get started

RBS supports Python 3.10 and newer. Install the base package with pip install robotblockset, then use optional extras for robot models, planning, cameras, simulators, or hardware backends. The documentation includes tutorials from spatial operations and motion generation through collision-free planning and real-robot control.

Open tutorials