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 / parallel jaws
objecttargetdrag to orbit
Preparing environment…0.00 s
Task outcome—
Object to target—
Simulation / wall—
Execution time—
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.