feat(examples): SO-101 cube and Duplo stacking simulation in MuJoCo - #3

Open

ch41n353 wants to merge 16 commits into

Seeed-Projects:mainfrom

ch41n353:so101-sim-duplo

Commits on Sep 9, 2026

feat(viz): allow visualizing every episode at once

ch41n353
and
claude
committed
516989c
feat(examples): SO-101 block-stacking simulation in MuJoCo

ch41n353
and
claude
committed
279f4d4
docs(examples): update SO-101 stacking success table with larger samples

ch41n353
and
claude
committed
6545237
fix(examples): don't push the trained policy by default in the stacking docs

ch41n353
and
claude
committed
f614f5e
refactor(examples): key the stacking scene file by content hash

ch41n353
and
claude
committed
859c86a
fix(examples): seed the stacking expert's yaw from the arm's actual pose

ch41n353
and
claude
committed
4333e84
fix(examples): re-measure the carried block after transit in the stacking expert

ch41n353
and
claude
committed
634e3ca

Commits on Sep 10, 2026

feat(examples): stack a real Duplo 2x2 brick (LDraw 3437) with the SO-101

ch41n353
and
claude
committed
7837873
fix(examples): make the Duplo stack reliable (93% -> 100% over 100 seeds)

ch41n353
and
claude
committed
b284222
test(examples): cover the Duplo brick; document it; record it with --task

ch41n353
and
claude
committed
5725785
fix(examples): set the jaw yaw through wrist_roll instead of solving for it

ch41n353
and
claude
committed
56d52a1
test(examples): pin the wrist-roll decoupling and the far-side cube seeds

ch41n353
and
claude
committed
6e6d128

Commits on Sep 11, 2026

feat(sim): realistic mode for SO-101 Duplo stacking

ch41n353
and
claude
committed
94ae032
fix(sim): write demo videos with faststart so previews play immediately

ch41n353
and
claude
committed
54151ca
feat(sim): Duplo that has to be pushed in, and an expert that pushes

ch41n353
and
claude
committed
811da02

Commits on Sep 12, 2026

fix(sim): rigid bricks; only the stud/tube fit gives

ch41n353
and
claude
committed
b8a4c93