Incompatibility between InstinctMJ and mjlab: missing `_frame_type` in GroupedRayCasterCamera

[Ruixiang-OY]

Hi, thanks for the great project.

I encountered an error when running the training script for tasks regarding perceptive information. (e.g. Instinct-Parkour-Target-Amp-G1-v0, Instinct-Perceptive-Shadowing-G1-v0)

Error:
AttributeError: 'NoisyGroupedRayCasterCamera' object has no attribute '_frame_type'

After investigating, it seems this is caused by a version mismatch between InstinctMJ and mjlab. It seems _frame_type may have been removed or refactored in mjlab, but downstream usage in InstinctMJ was not updated accordingly.

Details:

• In the current mjlab version, RayCasterSensor.__init__() does NOT define _frame_type.
• However, in InstinctMJ, _frame_type is still accessed in: _compute_view_world_poses() inside grouped_ray_caster_camera.py

So _frame_type is used but never initialized, leading to a runtime error.

This suggests an API incompatibility between the two repositories. For your reference, I found the atrribute _frame_type was removed at the commit 346a21947ecd4072d05fc3330092245f25b381ef in mjlab.

Environment:

• InstinctMJ commit: ba9b5ec
• mjlab commit: 6abd0ebfde7ef07b3ecb6032c0efe3fda2794c5c

Questions:

1. Which mjlab version is compatible with the current InstinctMJ?
2. Should _frame_type still be defined somewhere (e.g., via config), or has the API changed?
3. Would it be possible to add version constraints or update the code to reflect the new API?

Thanks!

[liuyufei-nubot]

I met the same problem

[cmjang]

hello,I've fixed this issue.

The root cause is indeed a breaking change in the recent updates of mjlab.