Give the arm a task.
Install a placement skill, create a scene, then watch the arm ground its motion in the object and target positions.
6 joints + 1 jaw command
objecttargetdrag to orbit
Preparing environment…0.00 s
Task outcome—
Object to target—
Simulation / wall—
Execution time—
Arm and gripper feedback
Create an environment to inspect joint positions and gripper contacts.
Six arm joints rotate in radians. Two jaw slides share one width command in metres. Placement keeps the tool upright; exact object pose and contact feedback come from the simulator.
This first adapter uses a box proxy for the placement task, an authored controller and exact simulator observations. Native jaw contacts move the free object. Qualification for a physical robot and training from demonstrations come next.