MuJoCo

MuJoCo is a physics engine for robotics, biomechanics and other research involving articulated bodies and contact. Its interactive simulate application loads MJCF and binary models, runs simulations, and displays contacts, forces, sensor data and performance statistics.

This community package runs the official upstream Linux build unmodified. It opens the bundled welcome model when started without a model path. It provides the native simulate application; Python environments and host development toolchains are outside this desktop package.

The viewer uses X11, including Xwayland on Wayland desktops. Bundled engine plugins are available; additional user-provided plugin libraries are not configured by this desktop package.

Models in Documents can be opened by passing a path to the launcher or dragging a model onto the window. Quick-save XML, binary models, diagnostic text and screenshots are kept in ~/.var/app/io.github.google_deepmind.MuJoCo/data.

XML exports retain external asset filenames. Keep mesh and texture files at their referenced paths when reopening an XML export. MJB exports retain mesh and texture data in the binary model.

To use models and their assets elsewhere, grant their directory with flatpak override --user --filesystem=/path/to/models io.github.google_deepmind.MuJoCo. Remove custom overrides with flatpak override --user --reset io.github.google_deepmind.MuJoCo.