PSL Notes, the PHYSICS SiM Lab company blog. Notes on development, lessons from experiments, and early ideas.https://notes.pslab.ai/enhttps://notes.pslab.ai/en/posts/wuji-tactile-conversion/https://notes.pslab.ai/en/posts/wuji-tactile-conversion/Mapping Wuji Hand's tactile contract into MuJoCo 4.0.0: contact forces, 176 sensing points, 15 resultant components, force images, and their validation limits.Wed, 11 Nov 2026 06:03:06 GMThttps://notes.pslab.ai/en/posts/mujoco4-paper-fold/https://notes.pslab.ai/en/posts/mujoco4-paper-fold/A MuJoCo CPU experiment that records only deep pressing and releases the grip according to supported contact travel. Videos and measurements show IPC retries, crease retention after release, and remaining thickness errors.Wed, 11 Nov 2026 01:14:02 GMThttps://notes.pslab.ai/en/posts/wuji-hand-kettle/https://notes.pslab.ai/en/posts/wuji-hand-kettle/A simulation experiment measuring contact forces, tilt, and return error as four fingers of Wuji Hand 2.1 wrap around a 500 g kettle's handle and lift it.Mon, 09 Nov 2026 07:28:00 GMThttps://notes.pslab.ai/en/posts/newton-cloth-hanger/https://notes.pslab.ai/en/posts/newton-cloth-hanger/Comparing shirt folds on the same mesh in Newton VBD and Style3D, then validating hanger contact and grasp release with official women's T-shirt and sweatshirt assets.Mon, 09 Nov 2026 02:00:00 GMThttps://notes.pslab.ai/en/posts/newton-ipc-implementation/https://notes.pslab.ai/en/posts/newton-ipc-implementation/Implementation and porting of a Newton-connected IPC solver that jointly resolves triangular film and spherical contents, with inputs, energies, collision handling, and validation from a 481-vertex bag experiment.Mon, 09 Nov 2026 01:00:00 GMT