docker run --rm -v "$(pwd)":/pdf -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY turchinc/xenial-mupdf mupdf /pdf/file_to_open.pdf
You can also add the following to your .bash_profile (or similar) to allow you to quickly run the docker container using mupdf file_to_open.pdf.
mupdf(){
docker run --rm \
-v "$(pwd)":/pdf \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY=unix$DISPLAY \
turchinc/xenial-mupdf mupdf /pdf/"$@"
}