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1. Commits on Apr 17, 2026

   • Use banded solver for implicit flex integration.

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     quagla

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

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     quagla

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2. Commits on Apr 14, 2026

   • Update MuJoCo version to 3.7.1 following the 3.7.0 release

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     mmossg

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   • Refactor flex stiffness storage to support variable sizes.

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     quagla

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3. Commits on Apr 13, 2026

   • Update dependencies ahead of the 3.7.0 release.

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     mmossg

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4. Commits on Apr 9, 2026

   • Prevent deletion from an attached mjSpec.

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     quagla

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   • Changes to `dcmotor`:

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     yuvaltassa

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5. Commits on Apr 8, 2026

   • Remove ``mjWARN_VGEOMFULL``, handle visual geom buffer full warnings in `mjvScene`.

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     yuvaltassa

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6. Commits on Apr 7, 2026

   • Minor improvements to `dcmotor`

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     yuvaltassa

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7. Commits on Apr 1, 2026

   • Add `<dcmotor>` actuator and related docs and tests.

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     yuvaltassa

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8. Commits on Mar 31, 2026

   • Copybara import of the project:

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9. Commits on Mar 25, 2026

   • Introduce mjpEncoder plugin architecture

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10. Commits on Mar 24, 2026

    • Add test for geom and mesh plugin attributes.

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      quagla

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11. Commits on Mar 23, 2026

    • Update pybind to 3.0.2.

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      mmossg

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12. 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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    • Fix call_guard usage inside .def_property calls.

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13. Commits on Mar 18, 2026

    • Remove `vertcollide` attribute from flex contact.

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      quagla

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14. Commits on Mar 17, 2026

    • Replace autowrap C# binding generator with introspect-based codegen.

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15. Commits on Mar 16, 2026

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

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      yuvaltassa

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16. Commits on Mar 15, 2026

    • Fix pybind11 v3.0 compatibility in callbacks.cc

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      yuvaltassa

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17. Commits on Mar 13, 2026

    • Merge pull request #3141 from ocadotechnology:recompile-release-gil

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18. Commits on Mar 12, 2026

    • Move MjrRect pybind11 definition to structs.cc.

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19. Commits on Mar 11, 2026

    • Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release

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      mmossg

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    • Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.

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20. Commits on Mar 10, 2026

    • Add mjs_getCompiler C API and compiler property to Python spec elements.

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    • fix: release the gil when calling compile in spec.recompile

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    • Update MuJoCo version from 3.5.1 to 3.6.0 prior to next release.

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      mmossg

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    • 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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    • Internal changes.

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21. Commits on Mar 4, 2026

    • Merge pull request #3142 from kevinzakka:simulate-fix

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22. Commits on Mar 3, 2026

    • Move OBJ handling to a mjpDecoder.

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23. Commits on Mar 2, 2026

    • Fix macOS crash on viewer close (NSScreen main-thread assertion)

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    • Fix process hang on viewer close in launch_passive

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24. Commits on Feb 26, 2026

    • Rollback of Move OBJ handling to a mjpDecoder.

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25. Commits on Feb 25, 2026

    • Move OBJ handling to a mjpDecoder.

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