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

Add compliant spring element and improve physical realism in MuJoCo XML

Every object now has density included

Move comment

Define quatorian

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

New version

longer & slimmer

Increase axes sizes

Add world axes

Comment out code for tray

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

Remove main_light

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

Experiment with specular

Test out castshadow

Remove ambient and instead try diffuse

Further increase the values

Double the original value to see if it gets darker (previously was getting lighter)

Further reduce the light

Reduce the red, green, and blue intensities by half, resulting in a dimmer, darker ambient light while maintaining the same neutral grayish-white color.

Correctly comment out

Ambient light only

Comment out main_light

Comment out side_fill

Add a Directional Light

Update Pusher object's position

move closer to the screen the puck

Change from negative to positive y-value

We want the disc to appear to "drop in from outside", consider starting slightly above and beyond the edge, e.g., pusher_pos = [0.35, -0.35, 0.08]

vVrsion using a quaternion orientation. This defines a fixed orientation looking roughly toward the center of the tray, assuming a diagonal tilt (approximate iso-style view).

MuJoCo XML schema does not support a shadows attribute under <quality>. That attribute might have existed in older MuJoCo forks or be a confusion with <lighting> blocks in other simulation engines.

10 dynamic objects (mixed boxes and spheres, with bright colors). A light grey tray with side walls. A black disc pusher. Bright skybox background. A top-down tilted camera. Offscreen rendering resolution set to 640×640.

MuJoCo XML parser does not understand Jinja-style templating (i.e. {% for ... %} or {{ ... }}), so you must replace that block with explicit, valid XML.

Multiple randomized dynamic objects. A pusher that activates mid-simulation. Full support for parameterized object count and rendering.

Add MuJoCo XML model of a tray + object