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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 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 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 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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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 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 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 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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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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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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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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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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Commits on Apr 24, 2025

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

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  quagla

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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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Commits on Apr 8, 2025

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

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  thowell

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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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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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