Stability Classification at End of Simulation

tray_sim.py

@@ -46,7 +46,7 @@ def run_tray_simulation(seed=0, num_objects=N_OBJECTS, azimuth=45, elevation=-25
     tray_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "tray")
 
     # Apply a transient force to the tray
-    tray_force_applied = False   # One-time trigger
+    tray_force_applied = True # False   # One-time trigger
     
     # Locate pusher DOF index (last one in qpos if you have 10 objects)
     # Compute DOF offsets
@@ -126,6 +126,11 @@ def run_tray_simulation(seed=0, num_objects=N_OBJECTS, azimuth=45, elevation=-25
 
     renderer.close()
 
+    stability_flags = classify_stability(data, model)
+
+    # Optional: print or return
+    print("Stability:", stability_flags)
+
     # Save to GIF
     gif_path = os.path.join(tempfile.gettempdir(), f"tray_sim_{seed}.gif")
     imageio.mimsave(gif_path, frames, fps=20)