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

Robot arm · Trossen ViperX 300s

lift lower then stack rgb in right tray

Lift and lower the arm, place blue in the right tray, then stack red on blue and green on red.

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 · Trossen ViperX 300s, BSD-3-Clause.

lift_lower_then_stack_rgb_in_right_tray.py

META = {"name": "lift_lower_then_stack_rgb_in_right_tray", "description": "Lift and lower the arm, place blue in the right tray, then stack red on blue and green on red.", "params": {"arm": "arm"}}

def run(ctx, **params):
    arm = params.get("arm", "arm")
    scene = ctx.describe_scene()
    ctx.move_to_point(arm, [0.30, 0.02, 0.30])
    ctx.move_to_point(arm, [0.30, 0.02, 0.12])
    scene = ctx.describe_scene()
    blue = scene["objects"]["blue_block"]["position"]
    ctx.pick_up(arm, "blue_block")
    ctx.place_in(arm, "tray_right", "blue_block")
    scene = ctx.describe_scene()
    ctx.pick_up(arm, "red_block")
    ctx.place_on(arm, "red_block", "blue_block")
    scene = ctx.describe_scene()
    ctx.pick_up(arm, "green_block")
    ctx.place_on(arm, "green_block", "red_block")