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Commits on Jan 4, 2026

• Fix: Support recursive/nested <include> tags in MJCF parser (#529)

  Ashutosh0x

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Commits on Dec 4, 2025

• Allow material default classes to define texture layers.

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  DeepMind

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Commits on Nov 6, 2025

• Add sleep related data structures

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  yuvaltassa

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Commits on Oct 6, 2025

• Remove unused `mjOption.apirate`.

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  yuvaltassa

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Commits on Sep 21, 2025

• Add `from_zip` to `parser`.

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  Adrian Collister

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  copybara-github

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• Normalize asset paths before looking them up in the asset dict.

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  Adrian Collister

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  copybara-github

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Commits on Sep 15, 2025

• Allow full model-relative paths to be used as keys in asset dicts.

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  Adrian Collister

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  copybara-github

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Commits on Sep 1, 2025

• Add `passive` collision mode for flexes.

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  quagla

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  copybara-github

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Commits on Aug 29, 2025

• Update `mjcf` schema to replace `passive` disable flag with `spring` and `damper` flags.

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  yuvaltassa

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  copybara-github

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Commits on Aug 22, 2025

• Add ability to specify a material assignment to a mesh asset.

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  DeepMind

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Commits on Jul 29, 2025

• Add mjs_makeMesh to create a builtin mesh.

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  quagla

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  copybara-github

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Commits on Jul 9, 2025

• Add `insidesite` sensor for detecting when an object is inside the volume of a site.

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  yuvaltassa

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  copybara-github

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Commits on Jun 20, 2025

• Add "cameraid" attribute to `visual/global` specifying the default camera to use at model load.

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  yuvaltassa

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Commits on May 28, 2025

• Add content_type to hfield and texture schema.

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  kbayes

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Commits on May 27, 2025

• Add `texture` attribute to lights.

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  DeepMind

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  copybara-github

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Commits on May 22, 2025

• Convert light `directional` boolean into a `type` enum.

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  DeepMind

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• Adds color space to textures.

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  DeepMind

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Commits on May 19, 2025

• Remove the Shell plugin and integrate it into the engine.

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  quagla

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Commits on May 15, 2025

• Add deformable/flex/elasticity to dm_control schema.

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  quagla

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Commits on May 14, 2025

• Move bending stiffness from plugin to the compiler.

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  quagla

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• Add `intensity` and `range` parameters to lights.

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  DeepMind

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Commits on May 12, 2025

• Add `vertcollide` option for adding spheres at flex vertices.

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  quagla

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  copybara-github

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Commits on Apr 24, 2025

• Fix 'deformable/flex' types in the pymjcf schema.

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  quagla

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  copybara-github

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Commits on Apr 17, 2025

• allow weld using sites in PyMjcf. Fixes #515

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  yuvaltassa

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  copybara-github

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Commits on Apr 8, 2025

• Add tendon actuator force limits and tendon actuator force sensor.

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  thowell

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  copybara-github

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  259f25c

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Commits on Apr 3, 2025

• Add `mjModel.tendon_armature` (in preparation, not yet implemented)

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  yuvaltassa

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  copybara-github

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• Add XML `compiler/saveinertial` flag. Fixes #2405

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  yuvaltassa

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  copybara-github

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Commits on Mar 26, 2025

• Allow orientation for user composite.

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  quagla

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  copybara-github

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Commits on Mar 7, 2025

• Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.

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  kbayes

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  copybara-github

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Commits on Mar 6, 2025

• Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency.

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  quagla

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  copybara-github

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Commits on Feb 28, 2025

• Copy texture coordinates from OBJ into flex. Fixes #2464.

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  quagla

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  copybara-github

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  8a6824d

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Commits on Feb 24, 2025

• Improve composite docs and changelog.

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  quagla

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  copybara-github

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Commits on Feb 23, 2025

• Remove the particle composite (replaced by `replicate`).

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  quagla

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  copybara-github

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  39a3bc8

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Commits on Feb 17, 2025

• fix schema for meshes with shell inertia

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  powertj

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Commits on Feb 12, 2025

• Changes to inertia inference from meshes.

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  powertj

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  02be546

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