Minor changes

Put tilt on the whole tray body, not individual geoms

Sides of tray are now tilted

Try is now tilted and try and puck now have friction

Add keyframe

Match tray_sim z-coordinate for puck

Decrease size of coordinate marker

Increase size of world center marker

Add origin marker at world coordinate system

Set puck to (0, 0, 0) coordinate

moved pos x from 0.5 to 0.10

move x 0.2 to 0.5

Change puck's position and size

We’ll define a single cylinder named "puck" with properties combining the puck’s and pusher’s characteristics.

Move the comments outside of the <geom>

Remove tendon

Comment out obj0_site

Comment out objects 0-9

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.