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If you encounter issues with simulation stability, e.g. warnings about NaN values, consider fine-tuning the hyperparameters, including control gains and regularization terms, to achieve more stable and reliable simulations.
== MuJoCo Menagerie ==
The MuJoCo Menagerie is a collection of pre-built models and simulation environments showcasing the capabilities of the MuJoCo physics engine. This resource is valuable for researchers, engineers, and enthusiasts exploring robotics, biomechanics, and machine learning applications.