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Docker environment

The Docker environment provides a pre-built base with ROS 2 Humble, mc_rtc (built from source), and MuJoCo. It's useful for running mc_mujoco without a host install, developing mc_mujoco itself, or using it as a base for your own mc_rtc controllers.

Prerequisites: Docker with Compose v2 (Docker ≥ 20.10), and an X11 display for the GUI.

Running mc_mujoco

cd docker
make run

This will:

  1. Build the environment image on first run (slow — downloads and compiles mc_rtc)
  2. Mount the local source into the container
  3. Configure and build mc_mujoco with Ninja
  4. Drop you into a bash shell inside the container

Then run the simulator:

mc_mujoco

The image is cached after the first build. Subsequent make run calls are fast unless MC_RTC_VERSION, MUJOCO_VERSION, or docker/Dockerfile change.

Developing mc_mujoco

The repo is live-mounted at /workspace/mc_mujoco inside the container. Edit files on your host normally. To rebuild, first enter the container via make run, then from the shell it drops you into:

cmake --build /workspace/mc_mujoco/build && cmake --install /workspace/mc_mujoco/build

Build artifacts are stored in a Docker-managed volume, so incremental builds persist across container restarts without cluttering your working tree.

To reconfigure (e.g. after adding a CMake option), just re-run make run. It reruns cmake configure before dropping you into the shell.

Using the image for your own mc_rtc controller

After make run has been run once, the image mc-rtc-mujoco:latest contains a full mc_rtc + MuJoCo environment. You can use it as a base for your own controller:

FROM mc-rtc-mujoco:latest

COPY . /workspace/my_controller
RUN cmake -S /workspace/my_controller -B /workspace/my_controller/build -G Ninja \
        -DCMAKE_BUILD_TYPE=RelWithDebInfo && \
    cmake --build /workspace/my_controller/build && \
    cmake --install /workspace/my_controller/build

Or mount your controller source the same way mc_mujoco does: add a bind mount and build volume to a new docker-compose.yml that extends docker-compose.yml.

Running CI locally

cd docker
make ci-test

Builds mc_mujoco from scratch inside the CI container and runs the standalone CMake test suite — the same steps as the GitHub Actions workflow. Build artifacts go into /ci-build inside the container and are discarded when it exits.

Version management

File Controls
MUJOCO_VERSION MuJoCo version downloaded and installed
MC_RTC_VERSION Branch, tag, or commit SHA of mc_rtc built from source

Changing either file invalidates the corresponding Docker layer cache and triggers a rebuild of that layer (and everything after it) on the next make run or make ci-test.

To pin mc_rtc to a specific commit for reproducibility:

echo "abc1234" > MC_RTC_VERSION