Spaces:
Sleeping
Sleeping
Commit History
-
Minor changes
Verified signature5df8c16 -
Put tilt on the whole tray body, not individual geoms
Verified signature94ab24e -
Sides of tray are now tilted
Verified signature28e90b4 -
Try is now tilted and try and puck now have friction
Verified signature9cb5fe7 -
Remove libgl1-mesa-glx
Verified signature8bec9d7 -
Update gradio version
Verified signaturebeed703
-
Add keyframe
Verified signature6c95e8a -
Add reset Data Keyframe
Verified signatureb720a8b
-
Match tray_sim z-coordinate for puck
Verified signature2bae7a5 -
Access attributes programmatically using the MuJoCo Python API
Verified signature294badc -
Fix target location z-position
Verified signatureee20eb5 -
Set initial puck position and orientation (should be the same as in the XML file)
Verified signaturecf3c984 -
Add missing puck_vel_idx initialization
Verified signature83f47a5 -
Resolved joints by body ID → model.body_dofadr and model.body_jntadr.
Verified signatureRemoved unreliable fallback logic with sum(...).ca5ea66 -
Systematically discovers joint offsets (qpos, qvel) for each object.
Verified signatureNotes: - This code assumes unnamed joints but relies on joint order; if you prefer robustness, explicitly name each joint (e.g. <joint name="puck_joint" type="free"/>) and update the mj_name2id() calls accordingly. - joint_qpos_addrs and joint_qvel_addrs are general lists that will support arbitrary numbers of bodies with free joints. - For each object, the simulation handles push dynamics, orientation extraction, and saves a structured state and rendered GIF.34d2632 -
Remove code
Verified signature1c67e52 -
Locate pucks initial position
Verified signaturef791875 -
Decrease size of coordinate marker
Verified signature3aa79dc -
Increase size of world center marker
Verified signature58e41ec -
Add origin marker at world coordinate system
Verified signatureaf46efb -
Remove overriding puck position
Verified signature912953f -
Set puck to (0, 0, 0) coordinate
Verified signature03ffe9e -
Lower the number of simulation steps to 250
Verified signatured79780e -
Update camera distance range and default value set to 2.0 meters
Verified signaturef778066
-
moved pos x from 0.5 to 0.10
Verified signaturefde7025 -
move x 0.2 to 0.5
Verified signature8ff94ff -
Add missing return values
Verified signaturebe66e94 -
Making the GIF Downloadable in Gradio
Verified signatured77e1ff -
Increase simulation steps
Verified signature2b30376 -
List body names to confirm, expect "tray" and "puck".
Verified signatureabe2c78 -
Print model.nbody, model.nq, and model.nv to confirm one dynamic body (puck) plus the tray
Verified signaturea04a7d8 -
change distance from 0.6 to 1.0
Verified signaturef5e170c -
Change puck's position and size
Verified signature1ee7d19 -
Since the puck now takes the role of the pusher, we’ll apply the position and velocity directly to the puck’s DoFs.
Verified signature94b2b7b -
We’ll define a single cylinder named "puck" with properties combining the puck’s and pusher’s characteristics.
Verified signature4d05036
-
Move the comments outside of the <geom>
Verified signature0afa5c4 -
Remove tendon
Verified signaturea69124b -
Add back return physics_state
Verified signature3afe1e3 -
Remove unused code
Verified signature92ea56f -
Comment out obj0_site
Verified signature6c60838 -
Remove superfluous code
Verified signaturebf2e8ae -
Comment out objects 0-9
Verified signature7caf98f
-
Removed Depth and Segmentation Code
Verified signatured74efa4 -
Remove reaming viewer code
Verified signature8121a0e -
remove viewer
Verified signature795a24d -
Remove friction from <material> for tray_material, obj_material, and pusher_material
Verified signature7d297a2 -
Add compliant spring element and improve physical realism in MuJoCo XML
Verified signature- Added <tendon> with spatial spring between tray and obj0 to enable stiffness inference - Defined corresponding <site> elements for tendon attachment points - Introduced <default> block to centralize geom and joint parameters (friction, solref, solimp, damping) - Applied local solref, solimp, condim, margin, and friction to all geoms for stable soft contact behavior - Set density and material properties for all dynamic objects (obj0–obj9, pusher) - Applied consistent visual and physical material definitions - Ensured all bodies have free joints for 6-DOF motion and interaction09ba810
-
Remove visualization flags
Verified signature04971ae -
Add missing ID definition
Verified signatureb36c04e -
Mouse-Based Camera Control:
Verified signaturec98a307