intel4coro / blockly-playground

blockly-playground

Block-based programming for household robots.

Examples on Binderhub:

• https://binder.intel4coro.de/v2/gh/IntEL4CoRo/blockly-playground.git/main?urlpath=lab/tree/examples/playground.jpblockly

Software Components

Blockly

Blockly is a library from Google for building beginner-friendly block-based programming languages.

Docs: https://developers.google.com/blockly/guides/overview

Repo: https://github.com/google/blockly

Giskardpy

Giskard is an open source motion planning framework for ROS, which uses constraint and optimization based task space control to generate trajectories for the whole body of mobile manipulators.

Repo: https://github.com/SemRoCo/giskardpy/tree/mujoco_actions_devel

Mujoco (2.3.7) simulator

MuJoCo stands for Multi-Joint dynamics with Contact. It is a general purpose physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and other areas which demand fast and accurate simulation of articulated structures interacting with their environment.

Repo: https://github.com/HoangGiang93/mujoco_sim

Development

Build Docker Image Locally (Under repo directory)

• Run Docker image with X-forwarding

  xhost +local:docker && \
  docker compose -f ./binder/docker-compose.yml up  --build && \
  xhost -local:docker

• Open Web browser and go to http://localhost:8888/lab/

• To stop and remove container:

  docker compose -f ./binder/docker-compose.yml down