MJLab Setup

Testing for quadruped with mjlab.

Contains the mjcf model of the quadruped as well as some tasks to train. Please see mjlab for more documentation.

Installation

Ensure that uv is installed.

Clone the repository then run uv sync

If you don’t have a nvida gpu, the torch dependencies may break. If this is the case, please make sure that the cpu version of torch is specified in the pyproject.toml file.

Train Task

uv run train mjlab_quad_stand --env.scene.num-envs 512

Play Task

uv run play mjlab_quad_stand --checkpoint-file <checkpoint_file>