Running the Project in Docker

This project supports running the interactive 3D viewer directly from inside a Docker container. Follow the instructions below for your operating system to set up the GUI window forwarding correctly.

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🪟 Windows (Easiest Method)

To see the MuJoCo viewer pop up on your Windows desktop from Docker, you need an X-server running.

1. Install VcXsrv (a free Windows X-server) from here: VcXsrv Download
2. Once installed, double-click the windows_gui.xlaunch file included in this repository. (This launches VcXsrv with "Disable access control" pre-checked, which is required for Docker).
3. Open your Command Prompt or PowerShell and run:

   docker compose run --rm locomotion

4. The interactive menu will appear in your terminal, and the simulation windows will pop up on your screen when you select a task!

Note for WSL2 Users: If you run the command directly from inside a WSL terminal (e.g., Ubuntu app), WSLg will automatically intercept the window without needing VcXsrv!

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🍎 macOS

macOS also requires an X-server to render Linux GUI windows.

1. Install XQuartz via Homebrew or their website:

   brew install --cask xquartz

2. Open XQuartz (it will appear in your Dock).
3. Go to XQuartz > Preferences > Security and check "Allow connections from network clients".
4. Restart XQuartz to apply the settings.
5. In your terminal, run this command to whitelist your local machine:

   xhost + 127.0.0.1

6. Now you can run the container:

   docker compose run --rm locomotion

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🐧 Linux

Linux users have it the easiest because the X11 server is already running natively. The docker-compose.yml is pre-configured to mount your local /tmp/.X11-unix socket.

1. You may need to grant local access to the X server:

   xhost +local:root

2. Run the container:

   docker compose run --rm locomotion