MuJoCo MJCF Model Tuning

Overview

This skill provides structured guidance for optimizing MuJoCo MJCF model files to achieve performance improvements while preserving simulation accuracy. The core challenge is balancing computational speed against numerical correctness, which requires systematic analysis rather than trial-and-error parameter tweaking.

Critical Principles

Correctness Before Speed

Always prioritize accuracy requirements over speed targets. A fast but incorrect simulation is worthless. Before any optimization:

1. Understand the exact accuracy requirements (tolerance thresholds)
2. Establish a baseline for correctness verification
3. Test accuracy AFTER every parameter change
4. Never submit a solution that fails accuracy tests, even if it meets speed targets

Systematic Profiling First