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

trace square in air

Trace a square in the air with the gripper.

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.

trace_square_in_air.py

META = {
    "name": "trace_square_in_air",
    "description": "Trace a square in the air with the gripper.",
    "params": {"arm": "arm", "side": 0.20, "height": 0.45}
}

def run(ctx, **params):
    arm = params.get("arm", "arm")
    side = params.get("side", 0.20)
    height = params.get("height", 0.45)
    ctx.describe_scene()
    cx, cy = 0.55, -0.10
    points = [
        [cx - side / 2, cy - side / 2, height],
        [cx + side / 2, cy - side / 2, height],
        [cx + side / 2, cy + side / 2, height],
        [cx - side / 2, cy + side / 2, height],
        [cx - side / 2, cy - side / 2, height],
    ]
    for p in points:
        ctx.move_to_point(arm, p)