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Commits on Apr 20, 2026

• Enable multiccd by default.

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  kbayes

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Commits on Apr 19, 2026

• Refactor flex strain constraints to be per-cell.

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  quagla

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Commits on Apr 17, 2026

• Implement multi-cell finite element method for interpolated flexes.

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  quagla

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Commits on Apr 14, 2026

• Update to version 1.0.39 following the MuJoCo 3.7.0 release.

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  DeepMind

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Commits on Mar 20, 2026

• Allow actuators to add damping and armature to joint and tendon transmissions.

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  yuvaltassa

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Commits on Mar 18, 2026

• Remove `vertcollide` attribute from flex contact.

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  quagla

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Commits on Mar 16, 2026

• Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

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  yuvaltassa

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Commits on Mar 11, 2026

• Update to version 1.0.38 following the MuJoCo 3.6.0 release.

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  DeepMind

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Commits on Mar 10, 2026

• Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tenso…

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  quagla

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Commits on Feb 13, 2026

• Update to version 1.0.37 following the MuJoCo 3.5.0 release.

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  DeepMind

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Commits on Feb 10, 2026

• correct attribute values in flexcomp/edge/equality

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  yuvaltassa

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Commits on Feb 6, 2026

• Add actuator and sensor delays. Fixes #1004

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  yuvaltassa

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• Make bindings generator ignore X macros except for mj{Model,Data}.

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  saran-t

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Commits on Jan 28, 2026

• Update dm_control MJCF schema

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  yuvaltassa

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Commits on Jan 24, 2026

• Add vertex equality option.

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  quagla

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Commits on Jan 7, 2026

• Add `output` attribute to camera elements.

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  yuvaltassa

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Commits on Jan 6, 2026

• Update to version 1.0.36 following the MuJoCo 3.4.0 release.

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  Gabe Oppenheimer

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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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• [numpy] Replace uses of np.in1d with np.isin(...).ravel().

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  hawkinsp

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Commits on Nov 11, 2025

• Avoid exposing symbols from the timing library to avoid ODR issues.

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  jbcoe

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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 23, 2025

• Allow dm_control.Physics.{get,set}_state to accept a sig parameter.

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  saran-t

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Commits on Oct 15, 2025

• Update dm_control following the MuJoCo 3.3.7 release.

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  Gabe Oppenheimer

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

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  Adrian Collister

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Commits on Sep 18, 2025

• Bump dm_control version

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  DeepMind

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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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Commits on Sep 2, 2025

• Refactor `MJMODEL_POINTERS` into category-specific macros.

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  yuvaltassa

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Commits on Sep 1, 2025

• Add `passive` collision mode for flexes.

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  quagla

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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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Commits on Aug 28, 2025

• Bump dm_control version

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  DeepMind

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• Update requirements.txt and setup.py.

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  saran-t

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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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