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MuJoCogoogle-deepmind

Run MuJoCo on your computer

Turn an MJCF scene into a video and a table of its simulated positions and velocities.

See a physics model in motion

Bring a MuJoCo scene, including its meshes and other assets. Run its physics locally and watch the result as a video, or inspect its motion in a spreadsheet. An optional control table lets you drive the model’s actuators over time.

Rendering uses the CPU, so no graphics card or desktop display is required. This is an offline simulation and capture workflow; MuJoCo’s native interactive viewer and custom Python controllers are separate ways to use the project.

You bring

  • a scene folder containing model.xml and all referenced assets; optional options.json sets duration, fps, width, height and camera; optional controls.csv has time then actuator-name columnsscene

You get

  • a video of the model's simulated motionsimulation.mp4
  • time, positions and velocities at every physics steptrajectory.csv
  • the first rendered frameframe.png
  • model dimensions, capture options, input/output checksums and contact countsimulation.json

Licences & source

MuJoCo Apache-2.0 with bundled notices. Mesa MIT and related distribution licences; FFmpeg and libx264 retain their distribution licences. UGT's simulation driver and sample are Apache-2.0.

Setup & verification

Run on clean x86-64 (Intel/AMD) and ARM64 machines on 10 Nov 2026. Its check passed on a known sample and rejected deliberately broken results.

This checks the job this page describes, not every feature of the original project.

Known issues

  • Standard deterministic MJCF models are supported. Custom Python controllers, external native plugins, GPU simulation and the interactive desktop viewer are not supplied by this recipe.
  • CPU rendering is slower at high resolutions. Choose an even width and height from 64 to 1920 pixels, 1–60 fps and a duration from 0.1–600 seconds. Runs are limited to one million physics steps.
  • Controls use the model's own units and actuator limits, held constant between CSV rows. Without a control table, actuator inputs are zero.
Recipe details