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User Guide

Installation Guide
Tutorials
- Cartpole: Building Your First Environment
Contributing

Concepts

Architecture Overview
Entity
- Entity Data
Actuators
Sensors
- RayCast Sensor
- RGB-D Camera
Scene
Terrain

The Manager Layer

Environment Configuration
Observations
Actions
Rewards
Terminations
Commands
Events
Domain Randomization
Curriculum
Metrics
Recorders

Training & Debugging

Training with RSL-RL
- Motion Imitation
Viewers
Distributed Training
Cloud Training
NaN Guard
Export Scene

API Reference

API Reference

Further Reading

Why mjlab?
Migrating from Isaac Lab
FAQ & Troubleshooting
Research
Changelog

Repository
Suggest edit
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.rst

Tutorials

Tutorials#

Tutorials to help you get started with mjlab.

Cartpole: Building Your First Environment

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Cartpole: Building Your First Environment

By The mjlab Developers

© Copyright 2025, The mjlab Developers.

Last updated on Apr 15, 2026.