Program a movement
Python runs in a separate worker on this device. It creates a
sequence for you to inspect.
Loads the example into this editor and runs it in simulation. Change
the beat or number of turns, then build your own version.
Line 1 · Column 1Ctrl/⌘ + Enter to build
Python commands
import robot
robot.move(shoulder_pan=20, duration=3)
robot.grip(70)
robot.wait(1)
print(robot.position())
Joint angles use degrees; gripper uses 0–100%. Omitted joints keep
their previous values. Start state is the current simulated pose.
Output
Ready. Build a sequence to begin.
PHYSICS SCENE
Objects & materials
Add an object, then drag it in the 3D view to position it. Hold
Shift while dragging to change its height. Escape cancels a move.
Placement saves automatically and leaves physics paused. Mass is in
grams; dimensions and coordinates are in millimetres.
Add a block, ball, or cylinder to begin.
The example starts a 50 g block between the jaws, then grips, lifts,
and releases it. Change its mass to compare the motion.
Reset restores this starting pose and the objects' saved placements.
Projects include the scene settings.
Physics model & limits
MuJoCo simulates gravity, link inertia, joint friction, limited
motor torque, and object contacts. Sequence targets change at up
to 15°/s. Manual dragging sends targets immediately while
retaining motor torque, inertia, and contact physics. The servo
model uses published estimates, including a 2.94 N·m torque limit.
Gripper contact shapes come from the curated SO-101 model. Contact
friction, surface compliance, and motor gains are approximations.
Backlash, flexible parts, motor heating, and camera hardware are
not modeled. This model has not yet been fitted to your physical
arm.
Model sources and verification ↗
DIAGNOSTICS
Check your work
Practice finding a fault
Faults affect the measured trace in simulation only. Compare
requested and measured values, then explain what you would check.
Checks cover model joint limits, sampled joint/tool clearance above
the table, and travel speed. They do not certify self-collision,
obstacle clearance, grip force, or payload safety.