diff --git a/README.md b/README.md
index 59e6c63d7..c824d2ab4 100644
--- a/README.md
+++ b/README.md
@@ -28,7 +28,7 @@ curl -LsSf https://astral.sh/uv/install.sh | sh
 Run the demo (no installation needed):
 
 ```bash
-uvx --from mjlab --with "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@f2f795796fc433adf8e235f01fae3747585ae5db" demo
+uvx --from mjlab --with "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@24e07def301f3c073d8bc0f948831c5611737ff0" demo
 ```
 
 This launches an interactive viewer with a pre-trained Unitree G1 agent tracking a reference dance motion in MuJoCo Warp.
@@ -56,7 +56,7 @@ uv run demo
 **From PyPI:**
 
 ```bash
-uv add mjlab "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@f2f795796fc433adf8e235f01fae3747585ae5db"
+uv add mjlab "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@24e07def301f3c073d8bc0f948831c5611737ff0"
 ```
 
 A Dockerfile is also provided.
diff --git a/docs/index.rst b/docs/index.rst
index d485b1aa5..f7472d41d 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -23,7 +23,7 @@ You can try mjlab *without installing anything* by using `uvx`:
 
    # Run the mjlab demo (no local installation needed)
    uvx --from mjlab \
-       --with "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@9fc294d86955a303619a254cefae809a41adb274" \
+       --with "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@24e07def301f3c073d8bc0f948831c5611737ff0" \
        demo
 
 If this runs, your setup is compatible with mjlab *for evaluation*.
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
index c461a7bcb..86bf7e81a 100644
--- a/docs/source/installation.rst
+++ b/docs/source/installation.rst
@@ -92,7 +92,7 @@ install. These options are interchangeable: you can switch at any time.
 
       .. code:: bash
 
-         uv add mjlab "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@9fc294d86955a303619a254cefae809a41adb274"
+         uv add mjlab "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@24e07def301f3c073d8bc0f948831c5611737ff0"
 
       .. note::
 
@@ -104,7 +104,7 @@ install. These options are interchangeable: you can switch at any time.
 
       .. code:: bash
 
-         uv add "mjlab @ git+https://github.com/mujocolab/mjlab" "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@9fc294d86955a303619a254cefae809a41adb274"
+         uv add "mjlab @ git+https://github.com/mujocolab/mjlab" "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@24e07def301f3c073d8bc0f948831c5611737ff0"
 
       .. note::
 
@@ -201,7 +201,7 @@ Install mjlab and dependencies via pip
 
       .. code:: bash
 
-         pip install git+https://github.com/google-deepmind/mujoco_warp@9fc294d86955a303619a254cefae809a41adb274
+         pip install git+https://github.com/google-deepmind/mujoco_warp@24e07def301f3c073d8bc0f948831c5611737ff0
          pip install mjlab
 
    .. tab-item:: Source
@@ -210,7 +210,7 @@ Install mjlab and dependencies via pip
 
       .. code:: bash
 
-         pip install git+https://github.com/google-deepmind/mujoco_warp@9fc294d86955a303619a254cefae809a41adb274
+         pip install git+https://github.com/google-deepmind/mujoco_warp@24e07def301f3c073d8bc0f948831c5611737ff0
          git clone https://github.com/mujocolab/mjlab.git
          cd mjlab
          pip install -e .
diff --git a/pyproject.toml b/pyproject.toml
index 4e04d2d0a..1f58dcd4b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -117,7 +117,7 @@ url = "https://py.mujoco.org"
 explicit = true
 
 [tool.uv.sources]
-mujoco-warp = { git = "https://github.com/google-deepmind/mujoco_warp", rev = "f2f795796fc433adf8e235f01fae3747585ae5db"}
+mujoco-warp = { git = "https://github.com/google-deepmind/mujoco_warp", rev = "24e07def301f3c073d8bc0f948831c5611737ff0"}
 warp-lang = { index = "nvidia", marker = "sys_platform != 'darwin'" }
 mujoco = { index = "mujoco" }
 torch = { index = "pytorch-cu128", extra = "cu128", marker = "sys_platform != 'darwin'" }
diff --git a/uv.lock b/uv.lock
index 6dd34f94d..6371df8d9 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1289,7 +1289,7 @@ requires-dist = [
     { name = "autodocsumm", marker = "extra == 'docs'" },
     { name = "moviepy" },
     { name = "mujoco", specifier = ">=3.4.0", index = "https://py.mujoco.org/" },
-    { name = "mujoco-warp", git = "https://github.com/google-deepmind/mujoco_warp?rev=f2f795796fc433adf8e235f01fae3747585ae5db" },
+    { name = "mujoco-warp", git = "https://github.com/google-deepmind/mujoco_warp?rev=24e07def301f3c073d8bc0f948831c5611737ff0" },
     { name = "myst-parser", marker = "extra == 'docs'", specifier = ">=4.0.1" },
     { name = "onnxscript", specifier = ">=0.5.4" },
     { name = "prettytable" },
@@ -1500,7 +1500,7 @@ wheels = [
 [[package]]
 name = "mujoco-warp"
 version = "0.0.1"
-source = { git = "https://github.com/google-deepmind/mujoco_warp?rev=f2f795796fc433adf8e235f01fae3747585ae5db#f2f795796fc433adf8e235f01fae3747585ae5db" }
+source = { git = "https://github.com/google-deepmind/mujoco_warp?rev=24e07def301f3c073d8bc0f948831c5611737ff0#24e07def301f3c073d8bc0f948831c5611737ff0" }
 dependencies = [
     { name = "absl-py" },
     { name = "etils", extra = ["epath"] },