---
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```