> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Simulation view

> See MuJoCo's own render of your scene, following the camera you are already moving.

Editors enter **Simulate** and **Live** in **Controlling** by default. Choose
**View → Monitoring** to watch without sending robot commands, then **Back to
Controlling** to restore input. The choice is remembered per environment.
Users without edit access remain in Monitoring and can select Simulate only
while a simulation is active, or Live while hardware is connected. Editors can
manage simulation while Monitoring without enabling robot commands.

## One assistant across views

The environment assistant keeps the same conversation in Edit, Simulation and
Live, with labels showing where each request happened. **Monitor** inspects;
**Control** can plan robot actions or propose a new skill. **Review in
Simulation/Live** opens the existing execution controls; a plan is not a command.
Switching sources while Monitoring leaves their workloads running. Taking
control of Live performs the controller handover; use explicit stop/cancel
controls to stop a robot or training job. Scene and workflow changes belong in Edit; review
a workflow's runtime target before running it.

While a simulation is running, the right-hand panel shows a **Simulation view**
tile alongside your robots' camera feeds. It is the simulator's own render of the
scene — with its lighting, shadows, materials and contact geometry — rather than
the 3D scene the browser draws.

## It follows your camera

Orbit, pan or zoom the 3D viewport and the simulation view follows. There is
nothing to aim separately: the tile shows the same viewpoint, rendered by the
physics engine.

A few things worth knowing:

* **It lags slightly while you move.** The video is encoded and streamed, so it
  settles a moment after you stop moving. The 3D scene stays immediate.
* **Everyone shares one camera.** If two people have the environment open, the
  view follows whoever moved last.
* **It is never recorded.** Unlike a robot's camera, this view is not saved to
  your recordings — it exists only while someone is watching.

## When it appears

The tile shows up automatically in the right panel's Simulation tab once a
simulation is running, whether or not any robot carries a camera. Its stream is
off by default; use the header button to enable it. The tile disappears when the
simulation stops.

## Turning it off

The button in the tile's header switches the view off and back on at any point
during a run — no restart, and nothing to set up beforehand. While it is off,
the right-hand panel is closed, or you switch to Agent, its camera updates stop
and the simulator's viewport expires after its idle timeout. Robot-camera
streams and an already-running simulation are independent of this preference.
Your choice is remembered per environment.


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