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Block code

Build a visual program and test it in simulation.

Checked 2026-10-16

Open this tool in Lab

First project

  1. Open Block code and choose Simulation.
  2. Drag blocks from categories into the workspace and connect them. Start with one small movement followed by a wait.
  3. Select the joint or target coordinates and check field units. The pictured example moves Shoulder pan by 10 degrees and waits 500 ms.
  4. Select Run and observe the Simulation view. Stop before editing the program.
  5. Use Save… to preserve the project and Load… to reopen it.
Block code — Screen detail
Block code — Screen detail

Available building blocks

Joint commands, inverse kinematics, sensor readings, conditions and loops can be combined. Sensors require a corresponding data source. If IK finds no solution, the target was not reached: adjust it and test again safely.

Physical robot

Connect hardware and choose Real robot only after checking model and calibration. No physical robot connected means a virtual connection does not satisfy this mode. An endless movement loop is not a suitable first test.

Buttons, fields and results

Control How to use it and what happens
Blocks Opens the program workspace. Select a category on the left, drag a block into the workspace and connect it to the previous block.
Motion Movement blocks use degrees for joint angles and millimetres for end-link coordinates. Commands also open or close the gripper and return home.
Sensing Blocks read a joint angle, an end-link coordinate or estimated gripper pressure. The gripper pressure value from 0 to 10 is an estimate, not a reading in newtons.
Control / Logic / Math / Variables Use waits in milliseconds, loops and conditions; insert logic and maths blocks into compatible fields. Create variables in Variables.
Simulation — mode selector beside Run In this mode, commands move only the virtual model. It works without a physical connection.
Real robot — mode selector Sends commands to physical hardware. A virtual connection is not accepted for this mode. The mode selector is disabled during execution.
Run Converts connected blocks into a program and runs it; the interface switches to the 3D scene. If there are no blocks or the physical connection is unavailable, a message explains why.
Simulation — top tab Shows the 3D scene. This tab only changes the view; the separate mode selector beside Run determines whether execution is real or virtual.
Stop Stops execution. If you see only the scene, return to Blocks to access the stop button.
Save… Downloads the block structure as program.json. Save it before loading another program.
Load… Opens a program JSON file in the workspace. An invalid format produces an import error; plain Python text or trajectory JSON is not suitable.
Output; Clear Program messages and errors appear below the workspace. Clear removes messages while retaining the blocks.
Workspace zoom and trash Zoom buttons change the displayed size of blocks. Drag an unwanted block to the trash to remove it; this edits the program rather than commanding the robot.