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

Robot arm · Waveshare RoArm-M2

wave arm point path

Wave the arm gently side to side in a clear elevated pose using reachable Cartesian points.

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.

wave_arm_point_path.py

META = {"name": "wave_arm_point_path", "description": "Wave the arm gently side to side in a clear elevated pose using reachable Cartesian points.", "params": {"repeats": 2}}

def run(ctx, **params):
    scene = ctx.describe_scene()
    arm = ctx.arms[0]
    r = int(params.get("repeats", 2))
    mid = [0.32, 0.0, 0.32]
    left = [0.25, 0.0, 0.32]
    right = [0.39, 0.0, 0.32]
    ctx.move_to_point(arm, mid)
    for _ in range(max(1, r)):
        ctx.move_to_point(arm, left)
        ctx.move_to_point(arm, right)
    ctx.move_to_point(arm, mid)