diff --git a/Go2Py/sim/mujoco.py b/Go2Py/sim/mujoco.py
index 1830f8a..39f5ae5 100644
--- a/Go2Py/sim/mujoco.py
+++ b/Go2Py/sim/mujoco.py
@@ -210,7 +210,7 @@ class Go2Sim:
         g_in_body = R.T @ np.array([0.0, 0.0, -1.0]).reshape(3, 1)
         return g_in_body
 
-    def getLidarData(self):
+    def getLaserScan(self, max_range=30):
         t, q = self.getPose()
         world_R_body = Rotation.from_quat([q[1], q[2], q[3], q[0]]).as_matrix()
         pnt = t.copy()
@@ -227,10 +227,11 @@ class Go2Sim:
             geomid=geomid,
             dist=dist,
             nray=nray,
-            cutoff=mujoco.mjMAXVAL,
+            cutoff=max_range#mujoco.mjMAXVAL,
         )
         pcd = dist.reshape(-1, 1) * vec
-        return {"pcd": pcd, "geomid": geomid, "dist": dist}
+        idx = np.where(np.logical_and(dist!=-1, dist<max_range))[0]
+        return {"pcd": pcd[idx,...], "geomid": geomid[idx,...], "dist": dist[idx,...]}
 
     def overheat(self):
         return False
diff --git a/examples/02-MuJoCo-sim.ipynb b/examples/02-MuJoCo-sim.ipynb
index d857a0f..1ab3e9f 100644
--- a/examples/02-MuJoCo-sim.ipynb
+++ b/examples/02-MuJoCo-sim.ipynb
@@ -61,18 +61,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "/usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.4\n",
-      "  warnings.warn(f\"A NumPy version >={np_minversion} and <{np_maxversion}\"\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "from Go2Py.sim.mujoco import Go2Sim\n",
     "import numpy as np"
@@ -80,17 +71,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "p_gains: [20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20.]\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "robot = Go2Sim(mode='highlevel')\n",
     "robot.standUpReset()"
@@ -98,36 +81,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "frq: 0.06607245464787131 Hz\n",
-      "frq: 33.44393324455997 Hz\n",
-      "frq: 51.28137914170436 Hz\n",
-      "frq: 57.72269242943451 Hz\n",
-      "frq: 55.13307744886692 Hz\n",
-      "frq: 54.144503969534625 Hz\n",
-      "frq: 54.06006238238857 Hz\n",
-      "frq: 54.02315846417393 Hz\n",
-      "frq: 52.84362243612357 Hz\n",
-      "frq: 56.53615139914811 Hz\n",
-      "frq: 57.84608594913664 Hz\n",
-      "frq: 54.998610054811046 Hz\n",
-      "frq: 52.402598700649676 Hz\n",
-      "frq: 55.65542315755951 Hz\n",
-      "frq: 53.71872078279691 Hz\n",
-      "frq: 57.66079652465597 Hz\n",
-      "frq: 53.88919724534896 Hz\n",
-      "frq: 56.06533798505567 Hz\n",
-      "frq: 57.76641692375496 Hz\n",
-      "frq: 55.159904785702075 Hz\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "import time\n",
     "robot.standUpReset\n",
@@ -138,30 +94,33 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "{'pcd': array([[-1.00000000e+00, -0.00000000e+00, -0.00000000e+00],\n",
-       "        [-9.99981138e-01, -6.14188251e-03, -0.00000000e+00],\n",
-       "        [-9.99924555e-01, -1.22835333e-02, -0.00000000e+00],\n",
-       "        ...,\n",
-       "        [-9.99924555e-01,  1.22835333e-02, -0.00000000e+00],\n",
-       "        [-9.99981138e-01,  6.14188251e-03, -0.00000000e+00],\n",
-       "        [-1.00000000e+00,  2.44929360e-16, -0.00000000e+00]]),\n",
-       " 'geomid': array([-1, -1, -1, ..., -1, -1, -1], dtype=int32),\n",
-       " 'dist': array([-1., -1., -1., ..., -1., -1., -1.])}"
-      ]
-     },
-     "execution_count": 4,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "robot.getLidarData()"
+    "robot.getLaserScan()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import mujoco\n",
+    "mujoco.mjMAXVAL"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "lidar = robot.getLaserScan(max_range=3.)\n",
+    "idx = np.where(lidar['dist']!=-1)[0]\n",
+    "plt.plot(lidar['dist'][idx])"
    ]
   }
  ],