A true-3D PyBullet research simulator for six quartz-sand and glass-bead conditions. Reviewers can run the complete 18-trial experiment from scratch; it automatically measures each pile, records seeds/settings and raw XYZ replay data, creates browser replays, builds a CSV dataset, and generates validation and research reports comparing the simulation, UCF measurements, and published benchmarks. The preserved completed research is included alongside the clean runnable workflow. This project tests whether a carefully validated digital twin can make angle-of-repose research faster, cheaper, and more reproducible.
