Real physics, in this tab. Nothing to install and no account. The first run downloads the robot runtime, about 14 MB.

Robot arm · SO-101

put green block in right tray

Pick up the named green block and place it inside the right tray.

taught their robot this by typing a sentence. It ran successfully, so it was published. What you see is the same program running against the same physics.

Model and meshes: MuJoCo Menagerie · SO-101, Apache-2.0.

put_green_block_in_right_tray.py

META = {"name": "put_green_block_in_right_tray", "description": "Pick up the named green block and place it inside the right tray.", "params": {"arm": "arm", "object": "green_block", "fixture": "tray_right"}}

def run(ctx, **params):
    arm = params.get("arm", "arm")
    obj_name = params.get("object", "green_block")
    fixture = params.get("fixture", "tray_right")
    ctx.describe_scene()
    ctx.pick_up(arm, obj_name)
    spot = ctx.free_spot(fixture, obj_name)
    ctx.place_in(arm, fixture, obj_name)