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---
license: mit
---
```git clone https://github.com/luckyrobots/mjlab.git```
```git switch locomotion```
```uv run sync```
```source .venv/bin/activate```
```mkdir artifacts```
```tar -xvf robot-object-subset.tar -C artifacts/```
```mkdir omniretarget```
```tar -xvf models.tar -C omniretarget/```
start training and watch it blow up
```MUJOCO_GL=egl uv run train Mjlab-Locomanipulation-Flat-Unitree-G1 --motion-file artifacts/robot-object-subset --env.scene.num-envs 4096``` |