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

Bimanual arm · OpenArm v1

move blue next to red

Move the blue block beside the red block using a high clear path.

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.

move_blue_next_to_red.py

META = {"name":"move_blue_next_to_red","description":"Move the blue block beside the red block using a high clear path.","params":{"arm":"right","side_offset":0.06}}

def run(ctx, **params):
    arm = params.get("arm", "right")
    offset = params.get("side_offset", 0.06)
    scene = ctx.describe_scene()
    blue = scene["objects"]["blue_block"]["position"]
    red = scene["objects"]["red_block"]["position"]
    high = max(blue[2], red[2]) + 0.25
    above_blue = [blue[0], blue[1], high]
    grasp_blue = [blue[0], blue[1], blue[2]]
    dest = [red[0], red[1] - offset, red[2]]
    above_dest = [dest[0], dest[1], high]
    release = [dest[0], dest[1], dest[2] + 0.04]
    clear = [dest[0], dest[1], high]
    ctx.gripper(arm, -65)
    ctx.move_to_point(arm, above_blue)
    ctx.move_to_point(arm, grasp_blue)
    ctx.gripper(arm, 0)
    ctx.move_to_point(arm, above_blue)
    ctx.move_to_point(arm, above_dest)
    ctx.move_to_point(arm, release)
    ctx.gripper(arm, -65)
    ctx.move_to_point(arm, clear)