Update Pusher object's position

Enable contact visualization in the renderer to debug collisions

move closer to the screen the puck

Change from negative to positive y-value

Move variable definition and initialization up.

This will make the black disc fly in toward the center from the tray’s corner as intended, with clean and controllable motion.

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]

Update to hold fix simulation window size

Apply Graio Block to control how much space is allocated to the simulation screen.

Add the camera's default values to the Gradio slider values

Change camera's perspective default values

Fix parameter inputs format (needs a list)

Add missing comma

Make It Interactive, we want the user to adjust the camera interactively in Gradio

Update simulate_and_render API

Fix error

Update app to allow adjustment of camera perspective

Can can dynamically adjust the camera view of a MuJoCo simulation programmatically

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.Renderer(model, width=640, height=640) is asking for an image size larger than what the MuJoCo model framebuffer allows by default.

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.

These packages provide OpenGL + OSMesa support for offscreen rendering. You don't need an actual display (DISPLAY env var).

Important: MUJOCO_GL must be set before any MuJoCo import. Otherwise, it will still try to use GLFW.

Updated run_tray_simulation() (safe for HuggingFace Spaces)

Change mj_render to mjr_render

Add MuJoCo XML model of a tray + object

Add build LLMPhy app

TraySim module

Add required libraries

initial commit