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MuJoCo MJCF Model Tuning provides a structured framework for balancing computational speed against simulation accuracy in robotics environments. By emphasizing a systematic profiling approach over trial-and-error, it helps users identify specific bottlenecks in solver iterations, Jacobian computations, and integration steps. This guidance ensures that performance improvements do not compromise the integrity of the physical simulation, offering clear decision trees for parameter adjustments such as timestep scaling and integrator selection.
