diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index b790cfd..c31d45c 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -60,7 +60,8 @@ jobs:
           docker run --rm \
             ${{ steps.meta.outputs.tags }} \
             bash -c "
-              colcon test &&
+              # Just test our things
+              colcon test --paths src/wilbur/* &&
               colcon test-result --verbose
             "
 
diff --git a/.gitmodules b/.gitmodules
index 45c517e..7b9148e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,3 +10,6 @@
 [submodule "src/external/serial"]
 	path = src/external/serial
 	url = https://github.com/tylerjw/serial.git
+[submodule "src/external/mujoco_ros2_control"]
+	path = src/external/mujoco_ros2_control
+	url = https://github.com/ros-controls/mujoco_ros2_control.git
diff --git a/Dockerfile b/Dockerfile
index 8f65401..a5d6c8a 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -87,14 +87,14 @@ RUN groupadd -g ${USER_GID} ${USERNAME} \
     && useradd -l -u ${USER_UID} -g ${USER_GID} --create-home -m -s /bin/bash -G sudo,adm,dialout,dip,plugdev,video ${USERNAME} \
     && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers && \
     mkdir -p \
-        /home/${USERNAME}/.ccache \
-        /home/${USERNAME}/.colcon \
-        /home/${USERNAME}/.ros \
-        /home/${USERNAME}/.bash \
-        ${ER4_WS}/src \
-        ${ER4_WS}/build \
-        ${ER4_WS}/install \
-        ${ER4_WS}/log && \
+    /home/${USERNAME}/.ccache \
+    /home/${USERNAME}/.colcon \
+    /home/${USERNAME}/.ros \
+    /home/${USERNAME}/.bash \
+    ${ER4_WS}/src \
+    ${ER4_WS}/build \
+    ${ER4_WS}/install \
+    ${ER4_WS}/log && \
     chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}
 
 # Setup the install directory and copy the workspace to it.
@@ -128,6 +128,12 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     ros-${ROS_DISTRO}-rmw-fastrtps-cpp \
     ros-${ROS_DISTRO}-plotjuggler-ros
 
+# Install nanobind from pip rather than rosdep, and include additional deps for the mujoco conversion process.
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    pip3 install nanobind mujoco==3.5.0 obj2mjcf trimesh pycollada
+
 # Copy in the remainder of the src directory
 COPY --chown=${USERNAME}:${USERNAME} src/ src/
 
@@ -160,6 +166,24 @@ RUN echo "source /entrypoint.sh" >> ~/.bashrc
 # Make it obvious when operating in a container
 RUN echo "PS1=\"${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\](docker):\[\033[01;34m\]\w\[\033[00m\]\$ \"" >> ~/.bashrc
 
+# Modify for MuJoCo
+RUN sudo chmod a+rwx /opt/ros/jazzy/opt/mujoco_vendor/bin/mujoco_plugin/
+
+# Added to support headless accelerated rendering in the container. For more information see
+# https://bender.jsc.nasa.gov/confluence/spaces/~eholum/pages/325397633/Graphics+Acceleration+with+FastX
+# Add additional logic to make sure we clone the correct version for our CPU.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    sudo apt-get -y update && \
+    sudo apt-get install -q -y --no-install-recommends \
+        libxv1 \
+        libglu1-mesa \
+        libegl1
+RUN ARCH=$(dpkg --print-architecture); \
+    wget https://github.com/VirtualGL/virtualgl/releases/download/3.1.3/virtualgl_3.1.3_${ARCH}.deb && \
+    sudo dpkg -i virtualgl_3.1.3_${ARCH}.deb && \
+    rm virtualgl_3.1.3_${ARCH}.deb
+
 ENTRYPOINT ["/entrypoint.sh"]
 
 # Source built dev image for automated testing.
@@ -181,11 +205,11 @@ USER root
 RUN OLD_UID=$(id -u ${USERNAME}) && \
     OLD_GID=$(id -g ${USERNAME}) && \
     if [ "${OLD_UID}" != "${USER_UID}" ] || [ "${OLD_GID}" != "${USER_GID}" ]; then \
-        sed -i "s/^\(${USERNAME}:[^:]*:\)[^:]*:[^:]*:/\1${USER_UID}:${USER_GID}:/" /etc/passwd && \
-        sed -i "s/^\(${USERNAME}:[^:]*:\)[^:]*:/\1${USER_GID}:/" /etc/group && \
-        find /home/${USERNAME} \
-            \( -user ${OLD_UID} -o -group ${OLD_GID} \) \
-            -print0 | xargs -0 -P $(nproc) -n 1000 chown ${USER_UID}:${USER_GID}; \
+    sed -i "s/^\(${USERNAME}:[^:]*:\)[^:]*:[^:]*:/\1${USER_UID}:${USER_GID}:/" /etc/passwd && \
+    sed -i "s/^\(${USERNAME}:[^:]*:\)[^:]*:/\1${USER_GID}:/" /etc/group && \
+    find /home/${USERNAME} \
+    \( -user ${OLD_UID} -o -group ${OLD_GID} \) \
+    -print0 | xargs -0 -P $(nproc) -n 1000 chown ${USER_UID}:${USER_GID}; \
     fi
 
 USER ${USERNAME}
diff --git a/docker-compose.yml b/docker-compose.yml
index 3ce2d9c..0ed6508 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -45,6 +45,9 @@ services:
       # default to colorized output of ros logs
       - RCUTILS_COLORIZED_OUTPUT=1
       - NVIDIA_DRIVER_CAPABILITIES=all
+      # For remote graphics acceleration, no effect if not using VGL
+      - VGL_DISPLAY=:0
+      - VGL_COMPRESS=proxy
     volumes:
       # If they are present, mount DDS configurations from the host machine into the container.
       # If not, fallback to the default localhost configurations for both fastrtps and cyclonedds.
diff --git a/src/external/mujoco_ros2_control b/src/external/mujoco_ros2_control
new file mode 160000
index 0000000..58f465b
--- /dev/null
+++ b/src/external/mujoco_ros2_control
@@ -0,0 +1 @@
+Subproject commit 58f465b1b4634a6f366e71919189574f5d95c1e8
diff --git a/src/external/ros2_robotiq_gripper b/src/external/ros2_robotiq_gripper
index 078f2e6..6993c62 160000
--- a/src/external/ros2_robotiq_gripper
+++ b/src/external/ros2_robotiq_gripper
@@ -1 +1 @@
-Subproject commit 078f2e644477ea979dac74969ea833a4f778624a
+Subproject commit 6993c627a7e6cf53b4849076db6515f2b92405b8
diff --git a/src/wilbur b/src/wilbur
index 81fe97b..d0db831 160000
--- a/src/wilbur
+++ b/src/wilbur
@@ -1 +1 @@
-Subproject commit 81fe97b3577e1912b1f51cb7493963ebcb54f854
+Subproject commit d0db8317b41ec94cdba4bfc5d3e25bef15971026