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:

Changelog for package mujoco_vendor

0.0.9 (2026-07-22)

• Export simulate, lodepng, and path variables for downstream packages (#10)
• Add support for the AMENT_VENDOR_POLICY variable to support unvendoring (#9)
• Contributors: Erik Holum, Silvio Traversaro

0.0.8 (2026-03-08)

• Fix the build tree mujoco binary directory (#8)
• Contributors: Sai Kishor Kothakota

0.0.7 (2026-02-27)

• Update readme (#6)
• Add symlinks to be able to find executables (#5)
• Package prebuilt mujoco binaries (#4)
• Contributors: Sai Kishor Kothakota, Erik Holum

0.0.6 (2025-12-23)

• Merge branch 'bump/mujoco_vendor/3.4.0' into 'master' Bump mujoco_vendor to 3.4.0 See merge request third-party/mujoco_vendor!5
• set the -flto flag to auto
• switch to wayland-dev rosdep
• add wayland dependency as exec depend
• Add libwayland-dev libxkbcommon-dev dependencies
• add libx11-dev dependency
• add pkg-config as build depend
• Update description
• Bump mujoco_vendor to 3.4.0
• Contributors: Sai Kishor Kothakota

0.0.5 (2025-10-21)

• Merge branch 'sma/add_install_simulate_project' into 'master' Add install rule for simulate folder See merge request third-party/mujoco_vendor!4
• Add install rule for simulate folder
• Contributors: Sai Kishor Kothakota, sergiacosta

0.0.4 (2025-10-12)

• Merge branch 'update/license_and_release_information' into 'master' Update maintainers + authors + license information See merge request third-party/mujoco_vendor!3
• Update maintainers + authors + license information
• Contributors: Sai Kishor Kothakota

0.0.3 (2025-07-25)

• add libxrandr dependency
• Contributors: Sai Kishor Kothakota

0.0.2 (2025-07-24)

• Merge branch 'fix/vendor/build' into 'master' Fix vendor build issue on CI See merge request third-party/mujoco_vendor!2
• Bump MuJoCo version
• Add missing dependencies for compiling MuJoCo
• Contributors: Sai Kishor Kothakota

0.0.1 (2025-03-25)

• Merge branch 'update-version' into 'master' updated mujoco version to 3.3.0 See merge request third-party/mujoco_vendor!1
• updated mujoco version to 3.3.0
• Added changes to mujoco_vendor for linking and headers
• added readme
• dded package info
• added cmake instructions
• Initial commit
• Contributors: Sai Kishor Kothakota, sergiacosta