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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 Sep 21, 2025

• 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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  696bc70

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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 Oct 28, 2024

• Add ability to set references with numpy unicode strings. This allows us directly to use `distributions.UniformChoice(material_names)` to randomize over materials of a geom.

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  Leonard Hasenclever

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  copybara-github

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Commits on Oct 16, 2024

• dm_control: Import of refs/pull/496/head

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  barikata1984

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Commits on Mar 22, 2024

• Add assetdir functionality to pymjcf.

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  DeepMind

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  copybara-github

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  5c155e1

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Commits on Aug 19, 2022

• Output attr="false" from PyMJCF when False is explicitly specified.

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  nimrod-gileadi

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  copybara-github

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  5db4e15

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Commits on Aug 15, 2022

• Add a zero threshold option to `to_xml(_string)`.

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  saran-t

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  copybara-github

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  5a2a5c2

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• Add a floating point precision option to `to_xml(_string)`.

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  saran-t

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  copybara-github

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Commits on Mar 17, 2022

• Allow `mjcf` to load obj files.

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  yuvaltassa

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  copybara-github

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  469a8bd

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Commits on Nov 27, 2020

• Cleanup: use Python 3-style `super()` everywhere

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  alimuldal

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• Cleanup: remove unnecessary subclassing of `object`

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  alimuldal

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Commits on Nov 25, 2020

• Cleanup: remove some trivial uses of `six`

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  alimuldal

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Commits on Nov 24, 2020

• Cleanup: bulk-remove unnecessary __future__ imports, fix misc lint errors

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  alimuldal

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  saran-t

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  97c9bfb

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• Fix PyMJCF handling of the reference attribute in sensors with objtype='xbody'.

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  saran-t

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  60a4f38

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Commits on Jul 31, 2020

• Make PyMJCF apply prefixes to body names that are baked into MuJoCo skin files when entities are attached.

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  saran-t

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  copybara-github

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  1804783

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Commits on Mar 25, 2020

• Internal change for file handling in PyMJCF.

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  saran-t

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  copybara-github

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Commits on Oct 22, 2019

• Add binary MSH format support for PyMJCF meshes.

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  DeepMind

  authored and

  alimuldal

  committed
  57b7ea1

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Commits on Aug 9, 2019

• Allow conflicting values of njmax and nconmax when attaching two MJCF models.

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  saran-t

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  alimuldal

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Commits on May 1, 2019

• Revert memoization of stringified attribute values

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  saran-t

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  alimuldal

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  fa18174

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Commits on Mar 22, 2019

• Memoize stringified attribute values and remove `isinstance` calls to reduce cost.

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  saran-t

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  alimuldal

  committed
  e9f68a0

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Commits on Nov 12, 2018

• Fix formatting of very long arrays in generated XML

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  alimuldal

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Commits on Oct 10, 2018

• Add `dm_control.mjcf`, a library for manipulating MuJoCo MJCF models

  alimuldal

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