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

pick up object

Pick up a named object and leave it held by the arm

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.

pick_up_object.py

META = {"name": "pick_up_object", "description": "Pick up a named object and leave it held by the arm", "params": {"object": "red_block", "arm": "arm"}}

def run(ctx, **params):
    arm = params.get("arm", "arm")
    obj = params.get("object", "red_block")
    ctx.describe_scene()
    ctx.pick_up(arm, obj)