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Merged
kevinzakka merged 2 commits into from
Jan 5, 2026
Merged

Add RayCastSensor for terrain and obstacle detection. #456

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2cd0f99
Add RayCastSensor for terrain and obstacle detection.
kevinzakka Jan 4, 2026
fa80d49
Fix yaw alignment singularity at ±90° pitch
kevinzakka Jan 5, 2026
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1 change: 0 additions & 1 deletion .gitignore
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Expand Up @@ -9,7 +9,6 @@ debug.py
*.ipynb_checkpoints/
motions/
*_rerun*
*.mp4
artifacts/
.venv/
render_robots.py
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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -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@55ab24595ea4939ff583f1910e1615361d49d9ad" demo
uvx --from mjlab --with "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@1c6b31692eaa5d3134093958d839165245d196a6" demo
```

This launches an interactive viewer with a pre-trained Unitree G1 agent tracking a reference dance motion in MuJoCo Warp.
Expand Down Expand Up @@ -56,7 +56,7 @@ uv run demo
**From PyPI:**

```bash
uv add mjlab "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@55ab24595ea4939ff583f1910e1615361d49d9ad"
uv add mjlab "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@1c6b31692eaa5d3134093958d839165245d196a6"
```

A Dockerfile is also provided.
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3 changes: 2 additions & 1 deletion docs/index.rst
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Expand Up @@ -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@55ab24595ea4939ff583f1910e1615361d49d9ad" \
--with "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@1c6b31692eaa5d3134093958d839165245d196a6" \
demo

If this runs, your setup is compatible with mjlab *for evaluation*.
Expand Down Expand Up @@ -90,4 +90,5 @@ Table of Contents
source/observation
source/actuators
source/sensors
source/raycast_sensor
source/distributed_training
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8 changes: 4 additions & 4 deletions docs/source/installation.rst
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Expand Up @@ -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@55ab24595ea4939ff583f1910e1615361d49d9ad"
uv add mjlab "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@1c6b31692eaa5d3134093958d839165245d196a6"

.. note::

Expand All @@ -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@55ab24595ea4939ff583f1910e1615361d49d9ad"
uv add "mjlab @ git+https://github.com/mujocolab/mjlab" "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp@1c6b31692eaa5d3134093958d839165245d196a6"

.. note::

Expand Down Expand Up @@ -201,7 +201,7 @@ Install mjlab and dependencies via pip

.. code:: bash

pip install git+https://github.com/google-deepmind/mujoco_warp@55ab24595ea4939ff583f1910e1615361d49d9ad
pip install git+https://github.com/google-deepmind/mujoco_warp@1c6b31692eaa5d3134093958d839165245d196a6
pip install mjlab

.. tab-item:: Source
Expand All @@ -210,7 +210,7 @@ Install mjlab and dependencies via pip

.. code:: bash

pip install git+https://github.com/google-deepmind/mujoco_warp@55ab24595ea4939ff583f1910e1615361d49d9ad
pip install git+https://github.com/google-deepmind/mujoco_warp@1c6b31692eaa5d3134093958d839165245d196a6
git clone https://github.com/mujocolab/mjlab.git
cd mjlab
pip install -e .
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