Simulation Components
This section covers the local simulation stack itself: the MuJoCo entrypoint, the simulation assets, the dynamics models, and the controller package.
Reading Order
Verify the repository runs end to end on the current machine.
Understand why MuJoCo MJCF is the source asset format and how other representations derive from it.
Read the shared platform parameters and actuator-side dynamics models.
Follow the control stack, mixer behavior, and local runtime wiring.
Scope
Use this section when the main question is how LAV2 itself is modeled and run. From here, RL Tasks continues into training environments and policy workflows.