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