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

Robot arm · Franka Emika Panda

red to right tray

Pick the red block and place it in the right tray.

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 · Franka Emika Panda, Apache-2.0.

red_to_right_tray.py

META = {"name": "red_to_right_tray", "description": "Pick the red block and place it in the right tray.", "params": {"arm": "arm"}}

def run(ctx, **params):
    arm = params.get("arm", "arm")
    scene = ctx.describe_scene()
    red = scene["objects"]["red_block"]["position"]
    tray = scene["fixtures"]["tray_right"]["position"]
    open_pos, closed_pos = ctx.gripper_range(arm)
    above = [red[0], red[1], red[2] + 0.12]
    high = [tray[0], tray[1], tray[2] + 0.175]
    release = [tray[0], tray[1], tray[2] + 0.06]
    ctx.gripper(arm, open_pos)
    ctx.move_to_point(arm, above)
    ctx.move_to_point(arm, red)
    ctx.gripper(arm, closed_pos)
    ctx.move_to_point(arm, above)
    ctx.move_to_point(arm, high)
    ctx.move_to_point(arm, release)
    ctx.gripper(arm, open_pos)
    ctx.move_to_point(arm, high)