A second MuJoCo scene: why does the actuator overshoot?

01 / QUESTION

Compare mass and PD damping in a planar force-controlled actuator, separating target crossing from stable completion.

METHOD

Freeze protocol and source before execution, save raw records, then independently recompute metrics and verify hashes.

RESULT

Two undamped cases fail among six rollouts; Kd18 at 2kg overshoots 74mm but eventually settles.

OBSERVATIONS

Two undamped cases fail among six rollouts; Kd18 at 2kg overshoots 74mm but eventually settles.

CONCLUSION

Conclusions are limited to the stated variables and acceptance criteria, retaining failures and unverified scope.

LIMITATIONS

Teaching-scale fixed conditions, not online model quality, production throughput or hardware safety. The complete assistant and VL01 remain unfinished.

REPRODUCE

The article provides a pinned revision, environment, runner and independent audit commands.

1. Engineering cases

   A second MuJoCo scene: why does the actuator overshoot?

   Compare mass and PD damping in a planar force-controlled actuator, separating target crossing from stable completion.

   2026-10-079 MINPublished
2. PROJECT / 003

   Hohoo Embodied Experiments

   Two MuJoCo teaching scenes—pick-and-place and planar force control—record contracts, tuning, clearance and delayed-feedback outcomes, including failures.

   2026-09-28Experiment
3. Engineering cases

   Embodied AI practice (14): does landing in the bin mean the task is complete?

   Eight MuJoCo trajectories, three passive readouts and recorded-state replay separate historical placement, current evidence and qualified completion.

   2026-10-0513 MINPublished