mujoco-mcp

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mujoco_configure_experiment

DestructiveIdempotent

Set up reproducible trial conditions—friction, joint offsets, ctrl bias, sensor noise, mocap poses—and reset to the seeded initial state for consistent experiments.

Instructions

Configure generic trial conditions and reset to the realized seeded start.

Close viewer first. Supports named geom friction [sliding,torsional,rolling],
named explicit pair_friction [sliding1,sliding2,torsional,rolling1,rolling2],
hinge/slide initial joint_offsets and Gaussian joint_noise_std (rad/m), mocap
body poses (m, wxyz), additive ctrl_bias in actuator input units, and named
sensor_noise_std in each sensor's units. Noise affects observations only;
physical state and force guarding remain raw. Missing options return to model
defaults. Repeating the same config reproduces initial conditions. metadata
stores caller tags such as trial_id/param_version, without enforcing policy.

Input Schema

TableJSON Schema

Name	Required	Description	Default
`config`	Yes
`session_id`	Yes

Output Schema

TableJSON Schema

Name	Required	Description	Default
`result`	Yes

Schema Changelog

Changes observed during successful MCP inspections.

First observedv0.1.0Sep 20, 2026

TDQS

A4.8/5.0

Behavior5/5

Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?

The description richly supplements the annotations by explaining that noise affects observations only, physical state and force guarding remain raw, missing options return to defaults, and metadata is not policy-enforced. It also clarifies the destructive reset action implied by destructiveHint: true. No contradiction with annotations exists.

Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.

Conciseness5/5

Is the description appropriately sized, front-loaded, and free of redundancy?

The description is dense but efficient, with the core purpose front-loaded and every subsequent sentence adding operational or behavioral value. It avoids repetition and gets an extreme amount of useful information into a compact space.

Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.

Completeness5/5

Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?

Given the tool's complexity, the description covers preconditions (close viewer), all major configurable categories, noise behavior, idempotence, defaults, and metadata semantics. An output schema exists, so return-value documentation is not a gap. This is complete enough for an agent to invoke the tool correctly.

Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.

Parameters5/5

Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?

The description adds substantial meaning beyond the schema: units for joint offsets and noise (rad/m), mocap poses in meters and wxyz quaternions, ctrl_bias in actuator input units, and sensor noise in sensor-specific units. It also defines the semantics of key config fields such as metadata, force guarding, and reproducibility, which the raw schema alone does not convey.

Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.

Purpose5/5

Does the description clearly state what the tool does and how it differs from similar tools?

The description opens with a specific verb-resource pair: 'Configure generic trial conditions and reset to the realized seeded start.' This clearly distinguishes the tool from siblings like mujoco_reset or mujoco_set_state, since it both configures and resets in one operation.

Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.

Usage Guidelines4/5

Does the description explain when to use this tool, when not to, or what alternatives exist?

It gives concrete operational guidance such as 'Close viewer first', explains when options are omitted ('Missing options return to model defaults'), and clarifies that repeated configs reproduce initial conditions. It does not explicitly name alternative tools or state when not to use it, so it stops short of a 5.

Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.

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