Changelog¶

Version 2.6.14 (2026-10-06)¶

• Added support for MuJoCo 3.15.0
• Added cg_x, cg_y, and cg_z to Inertial, and x, y, and z to Pos
• The time column is now tagged with the scalar transform_type, like the other built-in signals
• Added missing return type annotations across the package, so get_logger now returns a logging.Logger instead of an unknown type
• Breaking: read_column_metadata() is now MojoDataFrame.read_column_metadata()
• Security patches

Version 2.6.13 (2026-09-30)¶

• Added support for MuJoCo 3.14.0
  • Added the ipc flag to <option><flag>
• reloaded's workdir/stochas directory is now cleared before each reload's regeneration - it previously only overwrote files for the distributions that still existed, so a dropped distribution category/type, or a reload producing no distributions at all, could leave stale CSV tables or a stale dists.json behind

Version 2.6.12 (2026-09-29)¶

• EqualityBase.set_active() now updates the tracked active field, not just the live mjData.eq_active - it previously went stale after a runtime toggle, so saving the model back to XML wrote the wrong value
• Added Light.set_active()/enable()/disable()/is_active(), matching the existing pattern on EqualityBase
• Fixed Dojo requiring pydantic-ai (the sensai extra) to start at all; SensAI is now an optional feature that disables itself with a warning when it isn't installed
• Added Body.rt_qvel(): the free joint's raw mjData.qvel slice, for the cases where MuJoCo's own (lin, ang) / mixed-frame convention is wanted instead of rt_spatial_vel's
• Added a "What's Changed" button to the Dojo footer showing the installed version, with a modal listing the live changelog, a pulsing badge when a newer release is available, and a setting to auto-open it on updates

Version 2.6.11 (2026-09-20)¶

• Fixed the return type annotation of rotatable_columns (#96)
• RotationFilter now raises on a missing quaternion column or a zero/NaN quaternion, instead of returning unrotated data or NaN (#93)
• Added transform_type (point/vector/quaternion/scalar) metadata to built-in signals. scalar marks a frame-independent value, and a group tagged scalar is left untouched by change_frame() and is not offered for rotation in the Dojo (for example three independent angles named :x/:y/:z) (#94)
• Added change_frame(), which translates positions, rotates vectors, and composes quaternions according to their transform_type (#92, #94)
• Removed with_rotation in favor of change_frame, which rotated every vector-shaped column, including positions, without translating them (#92)
• Dojo reference frames are now an orientation and an origin, chosen with two dropdowns, so positions are translated as well as rotated. Saved profiles using the old single-signal frame are no longer accepted (#92)
• Added ColumnMetadata, a typed model for signal metadata. The metadata helpers now return it instead of dicts (combine them with |), while request(metadata=...) still accepts dicts
• Added metadata fields (unit, dimension, quantity, transform type) to the Lab's Signal Out node
• Added Column, a model of a telemetry column's name parts and metadata. A name part containing / or : now raises (#97)
• Added PoseQuat.from_row(row, "Sites/A"), df.mojo.pose_at(), and df.mojo.pose_arrays() to read a pose from telemetry (#95)
• Added df.mojo.select(*columns) and df.mojo.columns for selecting by Column (#97)
• The typed selectors (select_body, ...) now match names literally and include an object's scalar channels (#97)
• Breaking: SignalManager.post(value, column) and track(getter, column) now take a Column in place of category, subgroups, attr, and metadata. Build the Column once, since post runs every timestep (#97)
• Added a Column Manifest export to the Mosaic export menu
• Security patches

Version 2.6.10 (20206-09-11)¶

• Added a new option for the rotation filter that will also perform a reference frame translation after the rotation
• Added support for skipping the rotation entirely in the rotation filter, for a pure translation (leave the quaternion column unset and only set the origin column)
• Added a standalone Translation filter (adds or subtracts another position column) for use outside the rotation filter, e.g. computing a displacement between two points; the rotation filter now uses the same math internally for its own translation option

Version 2.6.9 (2026-09-10)¶

• Added support for MuJoCo 3.13.0
• Fixed transitive dependency issue warned by Dependabot
• Added changelog

Version 2.6.8 (2026-09-09)¶

• Added a new example for the user guide based on my thesis research
• Removed many obsolete dependencies
  • Fixed Dependabot warnings
• Dojo Updates:
  • Added SensAI feature, which adds a chatbot to Dojo
    • This feature is still considered experimental
  • Added a system to allow multiple plots to be open at once via tabs, like in the Lab
  • Added a settings editor and upgraded folder-like elements to use a folder navigation system
  • Lots of style improvements and deep integration with tooltip helpers
  • Reworked Dojo to use a better color system (mainly helpful for development)
• Settings Updates:
  • Updated to add lots of new CLI settings
  • Settings now allow for project-specific settings
  • Replaced the original Slurm overrides JSON file
  • Project settings now take priority over Global settings
• Fixed asset bundling to use a folder structure, preventing files with the same name from being overwritten
  • Added an option to symlink instead of copy on POSIX systems
• Fixes for reloaded recording telemetry
• Updated the Frame class so it is actually useful
• Significant improvement to cold start time

Version 2.6.7 (2026-08-26)¶

• Partial compatibility with MuJoCo v3.12.0
  • Added Orientation and PID actuators
  • Removed VND texture support
  • Updated DCMotor definition
• Updated defaults
• Fixed mesh builtins
• Updated developer MJCF schema checking tool to use the new schema published by MuJoCo developers
• Typing fixes and missing attrs

Version 2.6.6 (2026-08-11)¶

• Fixed Dependabot warnings
• Fixed lost unit system

Version 2.6.3 (2026-07-26)¶

• Added an option to quickly relaunch Reloaded in case the viewer crashes
• Fixed a bug with face-to-face proximity not clipping to zero
• Cached Tracer's per-segment LineConfig objects instead of rebuilding the whole trail on every render call
• Added more flexibility to the Slurm submission script to allow users to define global and per-job overrides using settings and/or a JSON file
• Fixes for macOS unit tests

Version 2.6.0 (2026-07-03)¶

• Added requirements feature allowing for automatic run analysis to alert users to specification failures
  • Allows for latching to prevent re-evaluation when it doesn't matter
• Added pinned trials option in Dojo
• Moved rotation feature calculations from DataFrame to RotationFilter
• Added downsampling, bulk unit conversions, and metadata display to Dojo
• Added model unit system feature
  • Telemetry signals now have a metadata option to include extra information about each column
  • Includes info for dimensional analysis and automatic unit conversion
  • Dojo now shows units (if known) and automatically hints a unit conversion in the quick filter if it's known
• Loads can now have their lengths and widths scaled independently for force and torque
• Fixed a bug where reset_rng worked backwards

Version 2.5.7 (2026-06-26)¶

• Model config name is no longer required. It will not be written by default.
• Fixed a bug where the SignalManager buffer did not flush due to a Windows file lock
  • SignalManager now writes partial Parquet files (up to 8 MB/user defined)
  • When close() is called (such as when a runtime manager context closes), the partials are read back in and stitched together
• Added Coulomb joint friction
• Added new requests for actuators and joints
• Renamed ActuatorLoad to ActuatorControl
• MP4 and WebM videos are now streamed to disk rather than saved in the frame buffer, which saves memory
• Ensured FFmpeg is installed for CI

Version 2.5.6 (2026-06-24)¶

• Improved labeling for video recording
• Updated test to use EGL mode for rendering during tests
• Removed ballscrew. Added loads to __all__
• Added missing __init__ imports

Version 2.4.5 (2026-06-23)¶

• Added tracer mode so you can see how a site/traceable type moves through the sim
• Now writing stochas folder in Reloaded too
• Fixed a bug where a missing signal manager just raised an error
• Added RuntimeManager and SignalManager context managers system
  • Updated docs to reflect this
• Added actuator loads

Version 2.4.4 (2026-06-21)¶

• Fixes for when named values are lists instead of single values
• Added caching for proximities within a single timestep
• Fixed a Windows bug where running dojo.sh prevented workdir cleanup on a rerun
• Added a developer tool to periodically check the official XML reference documentation to compare against the mjcf module objects. Caught a bunch of errors right off the bat.
• Added a check to warn the user if the video recorder requests a higher resolution than the offscreen renderer is configured for
• Added additional checks to make sure XML attributes are always present. Fixed missing Joint and other classes missing attributes list

Version 2.4.3 (2026-06-16)¶

• Added a distribution viewer to see where a given trial's named values fit within the distribution
  • Now reports the stochas distributions in the workdir along with the categorical tables for report generation
• Fixed missing AnyDist

Version 2.4.1 (2026-06-14)¶

• Added warning when proximity calculations are being discarded (potentially by accident, as the calculation is expensive)
• Updates for Reloaded to allow early termination, printing Dojo, and better dark mode for viser
• Inertial now has an option to avoid resetting the RNG
• Slurm submission fixes and added throttle argument

Version 2.3.10 (2026-06-13)¶

• Added plot resizing handle
• Dojo no longer writes to the job status file
• Added schema validation, better marker behavior, and better shape/note editing
• Added new filters: First, Last, Sort, and Reverse
• Fixed bugs where rotations didn't work
• Added the rotation filter as an option in the signal Lab

Version 2.3.9 (2026-06-12)¶

• Added JSON logging for each trial
• Added logs section in trial viewer

Version 2.3.8 (2026-06-12)¶

• Upgraded VideoRecorder to allow for different playback speeds, recording triggers, frame labels, and max frames
  • Now closes the MuJoCo Renderer when the RuntimeManager context manager closes
• Updated images on the docs site. Added a new section to README
• Added UUID to prevent Dojo from hanging on to old job status files
• Prevented unpicklable parameters from being serialized when leaving multiprocessing
• Fixed the select_attribute() method so that it actually selects attributes
• Added a command to allow tracking a single float easily
• Added triangle inequality check to Inertial

Version 2.3.7 (2026-06-09)¶

• Bug fix for dynamically reloading imported packages
• Added matrix rain and new logo print

Version 2.3.6 (2026-06-07)¶

• Rewrote the Signal Lab's dirty-state and undo system to fix bugs where unsaved-change detection was wrong or stuck
• Added new statistics filter (min, max, mean, etc.)
• Updated Reloaded to work more like the regular runner to prevent drift

Version 2.3.5 (2026-06-03)¶

• Added request options for contact forces
• Added Pose Context to allow elements to be added anywhere in the kinematic tree. Now also supports friction forces/torques

Version 2.3.4 (2026-06-01)¶

• Fixed paths for Windows

Version 2.3.3 (2026-05-31)¶

• Converted to MjState for MjModel and MjData
• Updated to use UserData class in loads instead of hodgepoged callable args
• Added visualization configuration and fixed some load bugs

Version 2.3.2 (2026-05-30)¶

• Added tabs to Lab so you can edit multiple labs at a time
• Added ability to save a lab as a template to be used later as a single node
  • Allows complex filters to be reused in different scenarios and single units of complex groups to be tested more easily

Version 2.3.1 (2026-05-29)¶

• Added settings that are saved to ~/.mujoco-mojo/settings.toml
• Added an animation viewer to Dojo
  • Shows frame markers on plot
  • Includes playback speed options
• Added trial status to trial viewer
• Added watchfiles to enable auto-refreshing on file saves in Reloaded

Version 2.3.0 (2026-05-24)¶

• Added a basic signal editor called Lab to Dojo
  • This new feature allows you to create custom signals after a run has completed
  • Uses a graph system to connect filters and signals together
  • Allows plotting of the new signal (note that these are in-memory only, not persisted to the DataFrame)
  • Includes auto-arrange and fit view
• Can now integrate or differentiate with respect to a signal rather than just Riemann integration
• Added option to apply filters to the X-axis
• Added polar chart option in trial viewer
• Added fullscreen button to all Dojo pages
• Fixed DataFrame namespace so you can chain methods without losing type hints
• Fixed double click, added Plotly notifications, improved shape editor with color selector, added better keyboard shortcuts, and improved profile saving (validation, session sharing, directories)

Version 2.2.3 (2026-05-20)¶

• Added an init command to start fresh projects
• Now renumbering trial numbers on a trial expansion
• Updated docs to include an API reference

Version 2.2.2 (2026-05-19)¶

• Added profile saving for configurations that users like and want to persist between sessions
• Added a notification history and more toast messages
• Unapplied changes are stored in a draft state
• Refactored Dojo to use TypeScript, a semantic CSS design system, and template partials

Version 2.2.1 (2026-05-17)¶

• Added the ability to create custom meshes using trimesh. Also added constructors for frustums and boxes

Version 2.2.0 (2026-05-10)¶

• Significant performance improvement for SignalManager
  • Switched to a contiguous memory buffer for signal recording and cached column names to avoid string composition on every loop
  • Dropped support for Pydantic models in recording to increase speed
• Added a new proximity system to determine minimum distance between geometries
  • Also supports concave hulls (not used for contacts)
• Added support for proximity visualization in Reloaded
• Fixes for thread safety

Version 2.1.1 (2026-05-02)¶

• Added Hatch as a dev dependency
• Added support for Python 3.14 and MuJoCo v3.8.0

Version 2.1.0 (2026-05-02)¶

• Added a new DataFrame wrapper for supercharged data analysis
  • Works as a namespace with Polars, allowing for Mojo methods while avoiding having to cast back to a MojoFrame every time
• Simplified MojoFrame so it includes the method to create a new instance from itself
• Added a UnitFilter, which allows users to easily switch column units
• Added Savitzky-Golay (savgol) filter

Version 2.0.4 (2026-05-01)¶

• Completed the tennis racket theorem example
• Refined nomenclature
• Added a method to walk through bodies recursively
• Fully renamed ResultManager to SignalManager to prevent confusion with RuntimeManager
• Fixes to the rt_inertia_world method
• Assets will only copy when changed

Version 2.0.3 (2026-04-29)¶

• Added the ability to run a Reloaded session from a model config file
• Handoff data is serialized using the new mojo.UserData class

Version 2.0.1 (2026-04-20)¶

• Support for new stochas distributions

Version 2.0.0 (2026-04-19)¶

• Added optimization toolkit
• Added user guide and new arguments for optimizer
• Additional stability for thread-safe operations
• Added the ability to view optuna-dashboard inside Dojo

Version 1.7.6 (2026-04-17)¶

• Added a method to create an orientation from a rotation object
• Switched to using Parquet instead of DuckDB for signal outputs
• Updated to match MuJoCo v3.7.0 and updated dependency
  • Added DCMotor to actuator class
  • Added support for DCMotor

Version 1.7.5 (2026-04-16)¶

• Added resolution download options for plots
• Built basic line editor dropdown

Version 1.7.4 (2026-04-13)¶

• Added a chip to Dojo to indicate whether a live connection is present
• Converted Mesh to a discriminated union type
• Added new matrix types and improved the initial velocity setter

Version 1.7.2 (2026-04-12)¶

• Added user guides on how to use MuJoCo Mojo to the docs
• Fixed asset links to be relative instead of absolute

Version 1.7.1 (2026-04-11)¶

• Added load arrows to the mjviser viewer
  • Note: They appear to be centered at the wrong location due to the world origin being misplaced.
• Force and torque arrows now appear in the OpenGL viewer (same as when rendering a video)
• Added playback speed options to Reloaded
  • Incorporated runtime into Reloaded. Users can now playback generation and runtime in the viewer
• Added option to use MjViewer for the web viewer (in case X11 is unavailable)

Version 1.7.0 (2026-04-10)¶

• Added mujoco-mojo reloaded, allowing you to run a script that automatically reloads a view of your model while you edit
• Added ability to change the reference frame for valid quaternions in Dojo
• Defaults to returning a quaternion instead of a full rotation matrix

Version 1.6.0 (2026-04-08)¶

• Dojo updates:
  • Added password protection option for the site as well as an error page
  • Added polish to shapes by showing the active mode on the button, adding a cancel button, and adding a label option
• Added toggle option for equalities to allow simple runtime modification
• Added Geom output options

Version 1.5.0 (2026-04-05)¶

• Added a shape and annotation configurer to Dojo
• Improved formatting and highlighting of errors in JSON
• Added undo/redo feature to Dojo trial viewer
• Added unit tests
• Static typing no longer requires as many np.asarray checks
• Added coordinate system tools expanding both Pose and Orientations

Version 1.3.5 (2026-04-03)¶

• Added a system for outputting simulation data
• Added a new system for using custom forcing functions without needing to edit MuJoCo buffers
• Added support for a new video recording feature
• Added helper methods for generating custom inertia from random draws, addition, and subtraction
• Added a method to set the initial velocity condition of bodies
• Added a method to get the runtime center of mass of multiple bodies
• Added a method to use defined cameras as "recorders" at runtime
• New dashboard features:
  • Renamed dashboard to Dojo
  • Mosaic: Plot result data in an interactive viewer
  • Added ability to add filters or plot against many trials at once
  • Added buttons for easier customization
  • Uses a JSON format as the source of truth for simple saving and detailed editing
  • Plot views can be shared with other users via a web URL
  • Mobile support
  • Keyboard shortcuts for easier navigation
  • Confetti!
• Updated to new stochas package
• Theming updates to dashboard
• Fixed logging on Windows
• Dashboard performance improvements
• Added color utilities
• Added ability to submit jobs with Slurm

Version 1.1.0 (2026-03-03)¶

• Added a basic dashboard to monitor job execution status
• Updated CLI to use typer
• Added a system to perform Monte Carlo studies with parallel execution support
• Added a run summary file that can be used as a lightweight alternative to the dashboard
• Added a method to decompose a mesh into multiple meshes, allowing non-convex volumes to be used
• Fixed XML generation so tuples export correctly
• Fixed resume functionality (previously the registry was overwritten with only finished runs, omitting runs lacking a status file)
• Raised exceptions now include tracebacks
• Fixed local time zone conversion differences between Windows and Linux handling
  • Dashboard and reports now use time zone abbreviations
• Added option to run specific trial numbers
• Added dependency asset handling via DepPath
  • Dependency assets now have an option to remap their location to a shared asset folder
  • Allows multiple trials to pull from the same dependency location to save storage space while keeping the workdir portable
• Added mjtObj attribute to named classes
• Fixed job status updating and querying

Version 1.0.0 (2026-02-04)¶

• Initial release of mujoco-mojo with support for nearly the full MJCF definition
• Generates XML files using Pydantic classes for type safety
• Serialized XML is compact because default values are ignored (relying on MuJoCo default behavior)
• Documented objects to describe how MuJoCo interprets them