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Sleeping
Sleeping
Commit History
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Minor changes
Verified signature5df8c16 -
Put tilt on the whole tray body, not individual geoms
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Sides of tray are now tilted
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Try is now tilted and try and puck now have friction
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Add keyframe
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Match tray_sim z-coordinate for puck
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Decrease size of coordinate marker
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Increase size of world center marker
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Add origin marker at world coordinate system
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Set puck to (0, 0, 0) coordinate
Verified signature03ffe9e
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moved pos x from 0.5 to 0.10
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move x 0.2 to 0.5
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Change puck's position and size
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We’ll define a single cylinder named "puck" with properties combining the puck’s and pusher’s characteristics.
Verified signature4d05036
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Move the comments outside of the <geom>
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Remove tendon
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Comment out obj0_site
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Comment out objects 0-9
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Remove friction from <material> for tray_material, obj_material, and pusher_material
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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
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Every object now has density included
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Move comment
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Define quatorian
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update timestep="0.001" to timestep="0.004"
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New version
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longer & slimmer
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Increase axes sizes
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Add world axes
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Comment out code for tray
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For a planar impulse (e.g., shake left/right)
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Remove main_light
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Apply direct light but without specifying diffuse, ambient, castshadow, and specular
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Experiment with specular
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Test out castshadow
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Remove ambient and instead try diffuse
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Further increase the values
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Double the original value to see if it gets darker (previously was getting lighter)
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Further reduce the light
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Reduce the red, green, and blue intensities by half, resulting in a dimmer, darker ambient light while maintaining the same neutral grayish-white color.
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Correctly comment out
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Ambient light only
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Comment out main_light
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Comment out side_fill
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Add a Directional Light
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Update Pusher object's position
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move closer to the screen the puck
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Change from negative to positive y-value
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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]
Verified signatureddcba48
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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).
bf686e9 -
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.
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