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 red block in right tray

Pick up the red block and place it into 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_red_block_in_right_tray.py

META = {"name": "put_red_block_in_right_tray", "description": "Pick up the red block and place it into the right tray.", "params": {}}

def run(ctx, **params):
    # Read the scene to ensure up-to-date positions
    ctx.describe_scene()
    arm = "arm"
    # Pick up the red block
    ctx.pick_up(arm, "red_block")
    # Place it into the right tray
    ctx.place_in(arm, "tray_right", "red_block")