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

place red block in small pocket

Pick up the red block and place it inside the small slot pocket.

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.

place_red_block_in_small_pocket.py

META = {"name": "place_red_block_in_small_pocket", "description": "Pick up the red block and place it inside the small slot pocket.", "params": {"arm": "arm"}}

def run(ctx, **params):
    arm = params.get("arm", "arm")
    scene = ctx.describe_scene()
    red = scene["objects"]["red_block"]["position"]
    slot = scene["fixtures"]["slot"]
    sp = slot["position"]
    open_pos, closed_pos = ctx.gripper_range(arm)
    ctx.gripper(arm, open_pos)
    above_red = [red[0], red[1], red[2] + 0.12]
    ctx.move_to_point(arm, above_red)
    ctx.move_to_point(arm, red)
    ctx.gripper(arm, closed_pos)
    ctx.move_to_point(arm, above_red)
    above_slot = [sp[0], sp[1], sp[2] + 0.04 + 0.02 + 0.01]
    ctx.move_to_point(arm, [sp[0], sp[1], sp[2] + 0.12])
    ctx.move_to_point(arm, above_slot)
    ctx.gripper(arm, open_pos)
    ctx.move_to_point(arm, [sp[0], sp[1], sp[2] + 0.12])