prathje

Guide for building and controlling MuJoCo physics simulations in Python. Use this skill whenever the user wants to: create or run a MuJoCo simulation, load an MJCF/XML model, step physics, render frames or take screenshots (offscreen or with viewer), read sensors or joint positions, control joints or actuators, configure the camera, change visualization flags or geom groups, or tune solver/integrator settings. Also trigger when the user mentions mujoco, mjcf, humanoid simulation, robot simulation in mujoco, or physics rendering with mujoco — even if they don't say "MuJoCo" explicitly but describe tasks like "simulate a robot", "render a physics scene", or "read joint angles from the sim".