MuJoCo Spec Editing: Building & Modifying Models

[!TIP]

Related skills:

• mujoco-python — Simulation lifecycle, stepping, and diagnostics.
• mujoco-rendering — Offscreen image rendering and camera setup.
• mujoco-studio — Interactive viewers and Studio plugins.

1. Procedural Modeling with MjSpec

MjSpec is a mutable C++ and Python data structure that mirrors the MJCF XML schema, allowing models to be constructed and modified programmatically.