I want to be able to move the yellow block onto the table. However, using simulate we can only translate along one axis before gravity takes over. So, we won't be able to make the vertical then horizontal translation necessary to place the yellow block on the white table - after the vertical translation it drops back down. Also, what is the principle by which you are allowed to use the red translate command? Sometimes the screen allows me to drag to translate, often it doesn't (and I reposition the camera randomly to try to get it to work again).