wbc-mjlab 0.0.1

Unified whole-body motion tracking on mjlab — one MDP, paper methods as tasks

WBC-Mjlab: Whole Body Control in MuJoCo Lab

One shared MDP for whole-body motion tracking — compare and reproduce recent methods on mjlab.

Recent work has pushed humanoid WBC toward large-scale motion tracking (ZEST, BeyondMimic, SONIC, OmniXtreme, …). Each paper ships its own stack, which makes fair comparison and sim-to-real export painful.

wbc_mjlab unifies that line of work on one training surface: a shared motion-tracking MDP with paper-specific choices as --task switches (RSI, observations, rewards, DR). Export ONNX + config.yaml for optional G1 deploy (wbc-g1-deploy).

Quick start

Requires mjlab (≥ 1.4) and an NVIDIA GPU for training.

git clone https://github.com/wbc-mjlab/wbc-mjlab.git && cd wbc-mjlab
uv run wbc-mjlab-list-envs

uv run syncs from uv.lock on first use. For CUDA/CPU PyTorch and dev deps: make sync / make sync-cpu. See docs/INSTALLATION.md.

Try bundled samples (13 source CSVs — convert to NPZ locally, then train; manifest & credits):

uv run wbc-mjlab-data-to-npz --robot g1 --dataset samples
uv run wbc-mjlab-train --task Wbc-G1 --dataset samples
uv run wbc-mjlab-play --task Wbc-G1 --dataset samples

Docs

Doc	Contents
docs/TASKS.md	Paper references, philosophy, G1 task map
docs/USAGE.md	CLI, train/play, motion conversion, layout
docs/INSTALLATION.md	uv, pip, PyPI, local mjlab
docs/ROADMAP.md	Planned work (SONIC, infra, …)
data/README.md	Motion library layout & downloads
CONTRIBUTING.md	PRs, adding tasks

Full Sphinx docs and a project page are planned; the README stays a short landing page until then.

Related repos

Repo	Role
wbc-mjlab/wbc-mjlab	Training library (this repo)
wbc-mjlab/wbc-g1-deploy	Optional G1 runtime (ONNX + motion clips)
mujocolab/mjlab	Simulation and RL stack