Example of running the official Mujoco MJX Jupyter Notebook example without Colab with pixi.

Linux system with Nvidia GPU with CUDA support, with at least 4 GB of VRAM (tested on GeForce RTX 3050 Ti).

If you do not have it, install pixi (in a nutshell: curl -fsSL https://pixi.sh/install.sh | bash), then:

git clone https://github.com/traversaro/mujoco-mjx-pixi-example
cd mujoco-mjx-pixi-example
pixi run notebook_tutorial

and then follow the notebook.

If you are running the notebook on a remote machine to which you are connecting via ssh, make sure to setup an SSH tunnel for the port of the notebook, i.e. :

ssh -L 8888:localhost:8888 <REMOTE_USER>@<REMOTE_HOST>
cd mujoco-mjx-pixi-example
pixi run notebook_tutorial --no-browser --port=8888

The notebook is based on https://github.com/google-deepmind/mujoco/blob/3.1.3/mjx/tutorial.ipynb, with some modifications to permit to run the notebook outside Google Colab.