MuJoCo GPU and TPU batch simulation with MJX (mujoco.mjx in JAX) and MJWarp (mujoco_warp in CUDA): parallel rollouts (jax.vmap), trajectory scan (jax.lax.scan), differentiability, device memory (put_model, put_data), static contact sizing (max_contact_points, max_geom_pairs, nconmax, njmax), float32 precision, XLA compilation caching. Use only for MuJoCo MJX or MJWarp GPU/TPU batch rollouts, RL environments, and differentiable MuJoCo physics. Don't use for custom non-MuJoCo JAX or CUDA Warp simulations (e.g. custom 2D games, molecular dynamics, orbital mechanics, DEM granular solvers, or shallow-water PDEs that do not import `mujoco.mjx` or `mujoco_warp`), CPU simulation (mujoco-python), cross-engine parity debugging (mujoco-parity), rendering (mujoco-rendering), or GUI (mujoco-gui).
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Dear ImGui and ImPlot user interface design for MuJoCo Studio and MuJoCo viewer plugins (C++ ux/ components and Python ViewerPlugin build_gui panels): immediate-mode widget layout, multi-row widget/column alignment (Tables API), tooltip length and aspect ratio, build_gui vs render separation, ID stack rules (## label disambiguation vs ### seed reset override), list virtualization (ImGuiListClipper), theming, and input capture (WantCaptureKeyboard). Use only when building, aligning, styling, or debugging Dear ImGui widgets and ImPlot charts inside MuJoCo Studio, MuJoCo viewer plugins, or MuJoCo/robotics simulation and control tools. Don't use for general-purpose C++ or Python Dear ImGui / ImPlot / imgui_bundle desktop applications unrelated to MuJoCo or robotics, or for Studio plugin lifecycle/messaging (use mujoco-studio) or core physics stepping (use mujoco-python).
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Cross-engine physics parity comparison between MuJoCo (CPU, float64) and accelerated backends (MJWarp CUDA, MJX JAX, float32): stage-by-stage mj_forward vs mjw.forward isolation, normalized tolerances, stiff affine actuator and ill-conditioned mass matrix (qM) float32 bounds, actuation-conditioned forward passes, order-insensitive contact matching per geom pair, includemargin contact filtering, batched single-step evaluation, and float32-perturbed CPU rollouts. Use only when comparing MuJoCo CPU physics against MuJoCo MJWarp or MJX backends, or debugging MuJoCo sim-to-sim trajectory divergence, missing contacts, or force/qacc discrepancies. Don't use for float64-vs-float32 parity testing of non-MuJoCo C/C++/CUDA/JAX physics or PDE solvers, general GPU batch setup (mujoco-accelerated), or CPU-only simulation (mujoco-python).
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MuJoCo Python (`import mujoco`) simulation lifecycle (MjSpec, MjModel, MjData), stepping (mj_step, mj_step1, mj_step2, mj_forward), named access (data.body, model.geom), bind(), multi-threaded CPU batch simulation (mujoco.batch.Batch, mujoco.rollout), optimization and system ID (mujoco.minimize, mujoco.sysid, mjd_transitionFD), contact/touch sensors, sensordata, keyframe resets, integrators, mju_ spatial math (quaternions, poses), and energy diagnostics. Use only for MuJoCo Python physics simulation, MjModel/MjData state access, MuJoCo CPU batching, stepping loops, and MuJoCo sensors/sysid. Don't use for custom non-MuJoCo Python/NumPy/C++ ODE or rigid-body simulators, custom finite-difference sysid, or general spatial math without `mujoco`, nor for spec editing (mujoco-spec-editing), rendering (mujoco-rendering), GPU/TPU (mujoco-accelerated), parity (mujoco-parity), or GUI/viewers (mujoco-gui, mujoco-studio).
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MuJoCo offscreen image rendering using mujoco.Renderer in Python and the MuJoCo C/C++ rendering pipeline (mjrContext, mjvScene, mjr_render, mjr_readPixels): RGB, metric depth maps, segmentation masks (mjtObj), MJCF offwidth/offheight framebuffer sizing, MUJOCO_GL (osmesa, egl), MuJoCo cameras (fixed, tracking, free, MjvCamera), and mjvOption flags/geomgroup. Use only for headless camera rendering, dataset recording, and visual observations in MuJoCo simulations. Don't use for generic OpenGL/EGL/OSMesa offscreen rendering, glReadPixels depth/segmentation post-processing, or synthetic dataset pipelines that do not use the `mujoco` library, or for interactive viewers/Studio (mujoco-studio) or ImGui controls (mujoco-gui).
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Builds and launches interactive MuJoCo Studio viewers and plugins in Python and C++, covering decoupled sim/viewer threads, Snapshot and Event messaging, lifecycle events, WebViewer browser streaming, and Python hot reload. Use only when launching MuJoCo Studio viewers (mujoco_studio.launch_web, launch_native, launch_passive, LaunchStudio) for a MuJoCo MjModel/MjData/MjSpec simulation, authoring MuJoCo Studio Python ViewerPlugin/SimPlugin or C++ RegisterPlugin (mjPLUGIN_LIB_INIT) extensions, synchronizing MuJoCo sim/viewer state (ViewerHandle.sync, @messages.handler), hot-reloading plugins/models (HotReloadEvent), configuring WebViewer WASM streaming, or debugging Studio logs. Don't use for non-MuJoCo simulations or generic web viewers/sidecars not using MuJoCo, Dear ImGui/ImPlot layout (mujoco-gui), core stepping (mujoco-python), or headless rendering (mujoco-rendering).
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