| name | mujoco-simulation |
| description | MuJoCo-oriented robot-dog dynamics validation, MJCF scenario contracts, contact,
terrain, actuator, stability, torque, slip, and disturbance checks for virtual
prototypes. Use this skill when the user asks for MuJoCo, MJCF, high-fidelity
legged-robot simulation, contact/friction validation, slope/step/drop/push
scenarios, or serious gait simulation beyond PyBullet smoke tests.
|
mujoco-simulation
This skill defines and evaluates MuJoCo-style dynamics scenarios for robot-dog
virtual prototypes. The MVP uses deterministic scenario metadata so tests and
digital-twin gates can run without a local MuJoCo install. It establishes the
file contract that later real mujoco runners will fill with solver output.
When To Use
Use this skill for:
- MJCF/MuJoCo scenario planning and validation.
- Stand, flat-walk, slope, step-obstacle, drop, and push-disturbance checks.
- Contact/friction, foot slip, body roll/pitch, torque margin, and fall checks.
- Generating
mujoco_result.json for robot-dog-digital-twin gates.
Workflow
- Read
<project>/mujoco_scenarios.yaml.
- Evaluate each scenario against stability, posture, contact, torque, slip, and energy limits.
- Write per-scenario
*.sim_result.json plus a project-level mujoco_result.json.
- Mark blockers when any required scenario falls, exceeds posture/contact limits, or violates torque/slip thresholds.
Commands
python skills/mujoco-simulation/scripts/run_scenarios.py skills/mujoco-simulation/examples/quadruped_mvp
python skills/mujoco-simulation/scripts/summarize_results.py skills/mujoco-simulation/examples/quadruped_mvp
Rules
- Keep the MVP deterministic and conservative.
- Do not claim metadata-mode results are real MuJoCo solver output.
- Use PyBullet
simulation for lightweight CI smoke; use this skill for MuJoCo/MJCF contracts and higher-fidelity scenario gates.
- Do not import sibling subskill code. Read files only.
References
references/input-contract.md for mujoco_scenarios.yaml fields.references/scenarios.md for MVP scenario definitions.references/output-contract.md for report fields.references/backend-plan.md for moving from metadata backend to real MuJoCo.references/examples.md for sample project layout.
