README

mujoco_vendor

Vendor package for MuJoCo (Multi-Joint dynamics with Contact) physics simulator.

Downloads the official prebuilt MuJoCo binary at build time and exposes it as a CMake imported target (mujoco::mujoco) for use by other ROS 2 packages.

Building

colcon build --packages-select mujoco_vendor

MuJoCo is fetched automatically from GitHub releases during the build — no manual download required.

Using in another package

In your CMakeLists.txt:

find_package(mujoco_vendor REQUIRED)

target_link_libraries(my_target mujoco::mujoco)

In your package.xml:

<depend>mujoco_vendor</depend>

The installed layout under opt/mujoco_vendor/ mirrors the upstream MuJoCo release tarball:

opt/mujoco_vendor/
  include/   # MuJoCo headers
  lib/       # libmujoco.so
  bin/       # simulate, basic, compile, record, testspeed, dependencies

Running the MuJoCo interactive simulator

After sourcing the workspace, all MuJoCo binaries are available via ros2 run:

source install/setup.bash
ros2 run mujoco_vendor simulate

Other available executables:

Command	Description
ros2 run mujoco_vendor simulate	Interactive viewer / simulator
ros2 run mujoco_vendor basic	Minimal headless simulation example
ros2 run mujoco_vendor compile	Compile an MJCF/URDF model to binary
ros2 run mujoco_vendor record	Record a simulation to video
ros2 run mujoco_vendor testspeed	Benchmark simulation speed
ros2 run mujoco_vendor dependencies	Print model file dependencies