Welcome to mjlab-homierl

mjlab-homierl is an external mjlab task package for the Unitree H1 HOMIE locomotion setup. This repository no longer vendors the full framework: upstream mjlab provides the manager-based environment core, CLI, viewer, and simulation stack, while this package contributes HOMIE-specific task configs, assets, and the HIMPPO runner.

What lives in this repository

  • Two registered tasks: Mjlab-Homie-Unitree-H1 and Mjlab-Homie-Unitree-H1-with_hands

  • The external package under src/mjlab_homierl/

  • H1 and Robotiq 2F85 assets used by HOMIE

  • A package-local HIMPPO runner and ONNX export path

  • Focused regression tests for task registration, env configs, RL configs, and H1 asset assembly

Relationship to upstream mjlab

  • uv run train ... and uv run play ... come from the installed mjlab package

  • Tasks are discovered through the mjlab.tasks entry-point group

  • Framework internals such as ManagerBasedRlEnv, managers, scene, and simulation are upstream concerns, not part of this repo anymore

Install and day-to-day command examples live in the repository README.md at the project root.

Table of Contents

Developer Walkthrough (English)

Developer Walkthrough（中文）