mujoco

name	mujoco
description	Unified workflow for MuJoCo modeling and runtime control. Use when the user mentions MuJoCo, MJCF, scene.xml, robot or robot arm scene setup, opening a viewer, actuator control, minimal control experiments, gripper open/close, or model structure inspection. After triggering, route first to MuJoCo Scene Builder or MuJoCo Robot Control through progressive disclosure.

MuJoCo

This skill covers two MuJoCo task families. Do not load both detailed contexts at once.

First classify the user's task, then load only the relevant reference:

• MuJoCo Scene Builder: Create or modify MJCF / XML, build scenes, place robots/tables/objects, fix body / joint / geom / site / contact / inertial structure, compile/debug models, and open scenes for visual inspection. Read references/scene-builder.md.
• MuJoCo Robot Control: Inspect model structure, start a viewer, execute actuator control, run minimal control experiments, open/close grippers, and distinguish model problems from control-chain problems. Read references/robot-control.md.

If a task includes both parts, use this fixed order:

1. Run Scene Builder first, and make the model or scene compile and open cleanly.
2. Run Robot Control second, start the viewer service, and send control commands.

Shared Rules

• Do not invent MuJoCo tags, attribute names, or default behaviors. If syntax is uncertain, use official docs and existing models in the current workspace as the source of truth.
• Do not guess user intent for scene creation or model edits. If the scene goal, robot choice, task semantics, object layout, physical constraints, output path, or validation expectation is unclear, ask a concise clarification question before creating or changing files.
• The default output directory is ~/Documents/mujoco. If the user does not provide an absolute path, prefer saving, searching, or resolving models there.
• When the user asks to "list all scenes", read only from ~/Documents/mujoco by default, and return only first-level directory names as scene names. Do not recursively expand files.
• When the user only says "open MuJoCo" or "open a scene.xml", infer intent first:
  • If the goal is to check whether a scene opens normally, use Scene Builder.
  • If the follow-up involves robot operation, also load Robot Control.
• When reporting results, always state the final model path, the command or script entry point you actually used, and any risk that remains unverified.

Official References

• MuJoCo modeling: https://mujoco.readthedocs.io/en/stable/modeling.html
• MuJoCo python: https://mujoco.readthedocs.io/en/stable/python.html
• MuJoCo api: https://mujoco.readthedocs.io/en/stable/APIreference/index.html

Scripts And Resources

• Viewer service entry point: scripts/mujoco_viewer.py
• Control and query entry point: scripts/mujoco_cli.py
• Scene physical sanity checker: scripts/mujoco_scene_check.py
• Grasp-chain verifier: scripts/mujoco_grasp_check.py
• Offscreen multi-view renderer: scripts/mujoco_render_views.py
• Environment and path helpers: scripts/env_bootstrap.py, scripts/path_utils.py
• Do not preload the entire scripts/ directory. Open a script only when you need to execute or modify it.