Task setup

TaskObjects

Robot & environment

Robot

Robot specifications

Scene

Blender-built cell. Supply bins and fixtures are visual; manipulation uses the flat bench surface.

Build with a prompt

Supported prompt vocabulary

Robot prompts: SO-101, Panda, UR5e, xArm 6. Scenes: kitting cell, lab, factory, kitchen, Mars. Objects: blocks, cans, oranges, pegs, bottles, modules, spools, mixed parts. Tasks: move, sort, stack, reach, kit, unpack. Add a color or “seed N”; “random” enables seeded variation.

Choose a preset or describe a scene.

Robot tools

Robot physics

Control model · applies on reset Actuator effort cap

Dynamic mode selects Panda. Menagerie link inertias and mesh collisions; 480 Hz by default. Cannon constraint experiment, not MuJoCo-equivalent. No self-collision or hardware calibration. Existing motion plans may fail. Reset after changing these settings.

Physical model · source and Apache-2.0 license

Object physics

Object frictionObject mass (kg)

Joint control · radians / metres

RL experiment · reach

CEM searches three feedback gains through real environment steps. Evaluates three held-out goal seeds. Panda only. Runs locally; no neural model or server.

Ready · 4 generations × 6 candidates

Developer API

const e = window.armature;
e.reset({task:'reach', seed:42});
const a = e.observe().state;
const r = e.step(a);
// observation, reward,
// terminated, truncated, info

Use record:true on reset to capture external policy steps. Call finishRecording() then download(). Object poses are privileged observations.

Robot files & licenses

About this simulation

Three.js rendering and Cannon physics. Choose kinematic control or experimental Dynamic Panda. Model provenance is available under Robot physics.
Download standalone HTML

Playback & overlays

Motion speed 1.0× Show next grasp pose Show tool trajectory

LIVE WORKSPACE

Precision lab

FRANKA PANDA / 7-DOF + GRIPPER

View

01 / OVERHEAD

02 / WRIST

Live RGB · optional synchronized capture

Drag to orbit · Scroll / pinch to zoom

Ready

Ready to pick3 objects · planned transfer path

TCP —J1 — J2 — J3 —0 / 3 PLACED

Precision lab

Dataset capture · Panda