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CommunityCookbooks & Demos10 starsVerified 2026-09-22

Askable arm

A ManiSkill demo where plain-English goals drive a simulated Franka Panda: Jev picks one primitive per step from a catalog of about 30 hardcoded skills, and Python executes the move. No training or policy.

Open github.comTarunTomar122/jev-askable-arm
Category
Cookbooks & Demos
Published by
Community
Author
TarunTomar122
Added
2026-09-22
Tagscommunitypythonroboticsdemo

Highlights

  • On ManiSkill's PickCube-v1 and ResetButton-v7 at seed 0, goals resolve into chains of 3 to 7 Jev picks, about 1 second each.
  • One System One request per step chooses the primitive and, when the skill needs a target, the object; Jev never outputs torques or a trajectory.
  • The catalog holds about 30 mutually exclusive skills including open_gripper, up_1cm, hover_over, descend_onto, press_onto, and done.
  • State sent to Jev is privileged sim data - xyz, gripper open/closed, object distances, and the recent chain - and no images go to the model.
  • Click-to-talk uses the browser's on-device speech recognition, so spoken goals are not sent to OpenAI.

Quickstart

bash
git clone https://github.com/TarunTomar122/jev-askable-arm.git
cd jev-askable-arm
uv sync
cp .env.example .env   # put your JEV_API_KEY in here
source scripts/vulkan_env.sh
uv run python scripts/ask_arm_server.py

Watch out

MIT-licensed; needs macOS with MoltenVK for SAPIEN rendering, uv, and JEV_API_KEY or TYPESAFE_API_KEY, and this is simulation with privileged state rather than a real robot or a camera model.

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