mjlab manipulation

A growing collection of manipulation tasks built with mjlab.

Tasks

Reach-{Robot} Move gripper to target.	Lift-{Robot} Lift a cube (state-based).
Lift-{Robot}-RGB Lift a cube (vision-based).	Lift-Any-{Robot}-RGB Lift 12 objaverse objects (vision-based).

{Robot} is one of Droid, xArm, Kuka, Gen3, or UR5e (add your own).

Getting Started

git clone https://github.com/<user>/mjlab_manipulation.git && cd mjlab_manipulation
uv sync

Train a task:

uv run train <task-id> --num_envs 4096

Play back a trained policy:

uv run play <task-id> --wandb-path-checkpoint <wandb-path>

Adding a robot

1. Add a bare-arm MJCF under robots/<name>/xmls/ (no gripper, they get attached at task time).
2. Write robots/<name>/<name>_constants.py returning a RobotCfg with the home pose and tool-attach offset.
3. Add it to the _ROBOTS dict in each task's __init__.py.

Acknowledgements

• Robot MJCF models are sourced from MuJoCo Menagerie.
• Object meshes are sourced from Objaverse.