Update packages.txt

A newer version of the Gradio SDK is available: 5.42.0

Removed Depth and Segmentation Code

Remove reaming viewer code

remove viewer

Remove friction from <material> for tray_material, obj_material, and pusher_material

Add compliant spring element and improve physical realism in MuJoCo XML

Remove visualization flags

Add missing ID definition

Mouse-Based Camera Control:

Introduced a run_counter in app.py to track the number of simulation runs, ensuring each run has a distinct identifier.

Modify the Gradio interface to handle the unique file paths and ensure the display updates correctly.

Add cache_examples=False

Phase 1 Prompt and the Python code

Using LLMPhy paper's definition of stability to implement classify orientation stability

Explicitly Reset the Simulation State

Every object now has density included

Move comment

Define quatorian

update timestep="0.001" to timestep="0.004"

New version

Comment out code for joints etc

longer & slimmer

Added options to see joint frames and transparent geometries

Increase axes sizes

Add world axes

Remove function

Change to mjv_addGeoms

Correct function call placement of draw_world_axes

Visually render the coordinate axes (X, Y, Z) in the MuJoCo simulation

Add Docstring the simulate_and_render function

LLM prompt formatted as a natural language

Comment out print statement

Downgrade scipy

Downgrade scipy version

Update to include Scipy

Add printouts

Return a list of dictionaries (preferred for LLM-friendly JSON) python Copy Edit

Return gif_path and stability_flags

Return stability flag

Comment out code for tray

Comment out code

Stability Classification at End of Simulation

The MuJoCo Python binding requires positional arguments in a specific order and format (NumPy arrays with shape (3,) or (3,1)), and crucially, you must pass the force and torque as NumPy arrays, not lists.

For a planar impulse (e.g., shake left/right)

Apply a Force to the Tray

Remove main_light

Apply direct light but without specifying diffuse, ambient, castshadow, and specular

Experiment with specular

Test out castshadow