Grasps and placements, tested in the room you photographed
From a kitchen counter to an electronics bench, rebuild the workspace as an editable twin, choose the object and run pick-and-place tasks with real contact physics.
A grasp that fails in the twin costs nothing but a replay.
Gradeeveryday kitchen · run d9e05837success
Lift0.082m
Required0.080m
Left padcontact
Right padcontact
Control steps329
Simulated16.45s
objects
Rigid lift, graded by contact
Custom scenes run a rigid-object lift task. Choose the object, set the height it must reach, and the simulator checks that both fingertip pads touch it for half a second while it is up. In the recorded kitchen run the mug rose 8.2 centimetres against a requirement of 8.
Height and dual-pad contact, read from simulator state, never from a claim.
Object mass, friction and contact geometry are adjustable estimates.
Original and shifted layouts on the office starter.
Bench task objectsillustration
robot
One reference arm, fully declared
The reference robot is a Franka Panda with a Robotiq 2F-85 gripper, driven at 20 Hz through inverse kinematics and joint servos. Successive targets move at most 8 mm per axis per control step. The controller is the same for every run, so a difference between two attempts belongs to the policy or the scene, not the plumbing.
MuJoCo 3.3.2, 20 Hz control loop, 8 mm per axis per step.
One waypoint generator, inverse kinematics and joint servos for every run.
Robot meshes keep their upstream Menagerie licenses.
Everyday kitchen · recorded trial329 steps · 8.2 cm lift · 16.45 s simulated
recorded
The kitchen, from one photograph
The everyday kitchen was rebuilt from one public photograph. In a single recorded trial the mug was lifted clear of the counter in 329 control steps and 16.45 seconds of simulated motion. The presentation video re-renders the recorded 20 Hz poses in Cycles with thinking pauses omitted. The policy’s own camera frames are unchanged and travel with the evidence.
Spectator render for people, policy frames for the record, kept apart.
The saved program replayed on the same scene and seed with zero new decision calls.
Built environments keep their editable Blender scene, GLB, source images and build script. Nothing is locked to our viewer. Two public reconstructions, the kitchen and the electronics workbench, each came from one photograph and carry the license of the photograph they came from.
Blender scene, GLB, images and source with every environment.
Private to the workspace owner until you choose to publish.
