Phase 1 Prompt and the Python code

example_code_1.py

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+import os
+import numpy as np
+from tray_sim import SIMULATOR_MODEL, run_tray_simulation, classify_stability
+
+def main():
+    sim = SIMULATOR_MODEL()
+    sim.create_pusher('3.0 3.0 0.05')
+    
+    # Tray parameters
+    physical_parameters_for_object_id_tray = {
+        'sliding_friction': 0.1,
+        'armature': 0.1,
+        'stiffness': 0.0,
+        'mass': 0.5,
+        'damping': 20
+    }
+    sim.create_tray(object_physics=physical_parameters_for_object_id_tray)
+    
+    # Object parameters
+    physical_parameters_for_object_id_1 = {  # Bottle
+        'sliding_friction': 0.22,
+        'armature': 0.41,
+        'stiffness': 0.53,
+        'mass': 20.0,
+        'damping': 7.0
+    }
+    physical_parameters_for_object_id_2 = {  # Martini glass
+        'sliding_friction': 0.52,
+        'armature': 0.63,
+        'stiffness': 1.22,
+        'mass': 10.0,
+        'damping': 8.0
+    }
+    physical_parameters_for_object_id_3 = {  # Wine glass
+        'sliding_friction': 0.73,
+        'armature': 1.04,
+        'stiffness': 0.94,
+        'mass': 4.0,
+        'damping': 7.9
+    }
+    
+    # Create objects
+    sim.create_object(
+        object_id=1,
+        object_name='bottle',
+        object_location=('row_1', 'column_3'),
+        object_color='orange',
+        object_physics=physical_parameters_for_object_id_1
+    )
+    sim.create_object(
+        object_id=2,
+        object_name='martini_glass',
+        object_location=('row_1', 'column_2'),
+        object_color='orange',
+        object_physics=physical_parameters_for_object_id_2
+    )
+    sim.create_object(
+        object_id=3,
+        object_name='wine_glass',
+        object_location=('row_1', 'column_1'),
+        object_color='orange',
+        object_physics=physical_parameters_for_object_id_3
+    )
+    
+    # Run simulation and collect trajectories
+    model = sim.model
+    data = sim.data
+    trajectories = {
+        'bottle': [],
+        'martini_glass': [],
+        'wine_glass': []
+    }
+    sample_steps = [0, 25, 50, 75, 100, 125, 150, 175, 199]  # 9 points as in PAGE13
+    
+    for t in range(200):
+        if t == 50:  # PUSH_START_STEP
+            pusher_idx = 3 * 7  # 3 objects * 7 DOF
+            pusher_vel_idx = 3 * 6  # 3 objects * 6 velocities
+            direction = np.array([0.0, 0.0, 0.05]) - np.array([3.0, 3.0, 0.05])
+            direction[2] = 0.0
+            direction /= np.linalg.norm(direction)
+            push_velocity = -4.8 * direction / np.sqrt(2)  # Normalize to match (-4.8, -4.8)
+            data.qvel[pusher_vel_idx:pusher_vel_idx+3] = push_velocity
+        
+        mujoco.mj_step(model, data)
+        
+        if t in sample_steps:
+            for i, obj_name in enumerate(['bottle', 'martini_glass', 'wine_glass'], 1):
+                pos = data.qpos[(i-1)*7:(i-1)*7+3]
+                # Adjust z to match document's center of gravity
+                if obj_name == 'bottle':
+                    pos[2] += 1.1
+                else:
+                    pos[2] += 0.5
+                trajectories[obj_name].append([round(p, 1) for p in pos])
+    
+    sim.create_scene()
+    sim_out = sim.run_simulation()  # Ensure scene is finalized
+    del sim
+    
+    # Format and save trajectories
+    with open('object_traj_example_1.txt', 'w') as f:
+        f.write("bottle_motion_trajectory (x, y, z) = [\n")
+        for pos in trajectories['bottle']:
+            f.write(f"({pos[0]}, {pos[1]}, {pos[2]}),\n")
+        f.write("]\n")
+        f.write("martini_glass_motion_trajectory (x, y, z) = [\n")
+        for pos in trajectories['martini_glass']:
+            f.write(f"({pos[0]}, {pos[1]}, {pos[2]}),\n")
+        f.write("]\n")
+        f.write("wine_glass_motion_trajectory (x, y, z) = [\n")
+        for pos in trajectories['wine_glass']:
+            f.write(f"({pos[0]}, {pos[1]}, {pos[2]}),\n")
+        f.write("]\n")
+    
+    return trajectories
+
+if __name__ == "__main__":
+    trajectories = main()
+    print("Trajectories saved to object_traj_example_1.txt")