diff --git a/fuse.repos b/fuse.repos
index f00574a1..d569f4ec 100644
--- a/fuse.repos
+++ b/fuse.repos
@@ -7,7 +7,3 @@ repositories:
     type: git
     url: https://github.com/giafranchini/covariance_geometry_ros.git
     version: iron
-  mujoco:
-    type: git
-    url: https://github.com/google-deepmind/mujoco.git
-    version: 3.2.4
diff --git a/fuse_models/CMakeLists.txt b/fuse_models/CMakeLists.txt
index 355ffc8b..838e9b3b 100644
--- a/fuse_models/CMakeLists.txt
+++ b/fuse_models/CMakeLists.txt
@@ -31,7 +31,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_2d REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(mujoco REQUIRED)
+# find_package(mujoco REQUIRED)
 
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -47,7 +47,7 @@ add_library(
   src/graph_ignition.cpp
   src/imu_2d.cpp
   src/imu_3d.cpp
-  src/mujoco_model.cpp
+  # src/mujoco_model.cpp
   src/odometry_2d.cpp
   src/odometry_2d_publisher.cpp
   src/odometry_3d.cpp
@@ -77,7 +77,7 @@ target_link_libraries(
   fuse_publishers::fuse_publishers
   fuse_variables::fuse_variables
   ${geometry_msgs_TARGETS}
-  mujoco::mujoco
+  # mujoco::mujoco
   ${nav_msgs_TARGETS}
   pluginlib::pluginlib
   rclcpp_components::component
@@ -136,7 +136,7 @@ ament_export_dependencies(
   tf2_ros
   Ceres
   Eigen3
-  Boost
-  mujoco)
+  Boost)
+# mujoco)
 
 ament_package()
diff --git a/fuse_models/package.xml b/fuse_models/package.xml
index 7fe1e09f..b2c173c6 100644
--- a/fuse_models/package.xml
+++ b/fuse_models/package.xml
@@ -16,7 +16,7 @@
   <depend>boost</depend>
   <depend>libceres-dev</depend>
   <depend>eigen</depend>
-  <depend>mujoco</depend>
+  <!-- <depend>mujoco</depend> -->
 
   <build_depend>covariance_geometry_ros</build_depend>
   <build_depend>fuse_constraints</build_depend>