mjswan playground

A collection of tasks built with mjswan.

Tasks

Task ID	Robot	Description	Preview & Link
husky	Unitree G1	Skateboarding under whole-body control (HUSKY, RSS 2026)	mjswan.com/s/oM-paPA
wbc	Unitree G1	One wbc-mjlab tracking policy over various motions	mjswan.com/s/XWwo7dV
pacman	Unitree G1	Dodging thrown balls from a head depth camera (PAC-MAN, 2026)	mjswan.com/s/GOTofiq
microduck	Microduck	Every policy the robot ships: walk, stand, sit, ground pick, ball kick, roulade, roller skate (Microduck)	mjswan.com/s/DOGILsh
musclemimic	MyoFullBody	A 354-muscle body tracking a walking clip with the public 2.05e9-step checkpoint (MuscleMimic, 2026)	mjswan.com/s/gOrSan8
spinkick	Unitree G1	A double spin kick motion tracking (g1_spinkick_example)	mjswan.com/s/-wXxa8L
bipedhrl	Unitree H1-2	Walking to velocity commands with the checkpoint run on the real robot (biped_hrl)	mjswan.com/s/AacPm-T
upkie	Upkie	A wheeled biped balancing and driving to velocity commands (mjlab_upkie)	mjswan.com/s/BIPHv2M
duet	Unitree G1	Walking and squatting down to a 0.18 m crouch while its arms move on their own (DUET)	mjswan.com/s/whAfOf-
jumper	Jumper	A crab robot walking with a commanded body posture, walking on five legs, dancing, gesturing and jumping (Jumper)	mjswan.com/s/7wT9SwQ
microduckpg	Microduck	Every experiment of a community playground: running, swing, basketball, stilts, desk and chimney climbs, long jump, backflip (microduck-playground)	Moves: mjswan.com/s/_klQQmL Parkour: mjswan.com/s/mqwst_Y Stilts: mjswan.com/s/qK0Uwr7
unitreerl	Unitree G1	A G1 walking to velocity commands and dancing a LAFAN1 clip (unitree_rl_mjlab)	mjswan.com/s/opR2oo7
terra	MyoFullBody	A 354-muscle body walking myosuite's terrain course, stairs, a beam and two jumps, and a flat route, with the TERRA-4B checkpoint (TERRA, on myosuite)	mjswan.com/s/azSCj6u
wuji	Wuji Hand 1, Wuji Hand 2	A dexterous hand turning a cube in its palm to random goal orientations, and spinning a pen along clips recorded on the real hand (wuji-mjlab)	Reorient: mjswan.com/s/XbIngWj Penspin: mjswan.com/s/JiGR41o
asimov	Asimov 1	Walking (asimov1-locomotion-0818), and falling safely and getting up (asimov-v1-policies)	mjswan.com/s/fePFavL
booster	Booster K1	Walking to velocity commands, dancing and fighting with Booster Robotics' own policies (booster_deploy)	WIP

CLI

Run a task in the browser without installing anything:

uvx mjswan-playground run jumper

In a clone, uv run msp <subcommand>. wbc takes its extra as uvx --from 'mjswan-playground[wbc]' msp run wbc; spinkick, musclemimic and terra pull code PyPI does not carry, so run them from a clone.

Python

mjswan_playground can be imported as a Python package, and each task's builder can be used to build and launch the demo:

import mjswan_playground

builder = mjswan_playground.load("husky")
builder.build(output_dir="dist").launch()

Each task also lives at mjswan_playground.<task_module>.main (the task ID with underscores, e.g. mjswan_playground.husky.main), exposing setup_builder().

License

This project is licensed under the Apache-2.0 License. The upstream assets each task fetches carry their own licenses. Please see each task's README and follow the respective license terms.