Simulation

Simulation runs physics against a saved Builder robot version and preserves the result for replay. This is a Limited local MuJoCo workflow.

Run a saved version

Install MuJoCo through Settings → Tools, save a Builder version, and resolve preflight errors. Open that version in Simulation, choose duration, gravity, and position targets, then run. Playback becomes available after computation finishes.

Saved runs retain the robot snapshot, configuration, and result. Later Builder changes do not rewrite previous runs.

Boundaries

The initial environment uses a fixed root and a floor. Runs last at most 10 simulated seconds. Mesh contacts use convex hulls; sensors and free mobile bases are not simulated. Hardware velocity limits are not enforced.

A completed run establishes physics execution, not task success or physical hardware readiness. For joint-reaching tasks and controller evaluation, continue to Experiences.