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MuJoCo makes model variants easier to preserve
MuJoCo 3.16.0 adds compile-time scaling for model frames and options that retain an author’s original XML structure when saving. A reusable mechanism can now be resized while its referenced actuators, sensors and other elements scale consistently. The distinction between scaling policies matters: the default preserves dynamics under proportionally scaled gravity, while geometry scaling changes spatial dimensions and inertias. The release also corrects several saving and contact issues that could alter an experiment after editing or reloading.
Why it’s useful. Game and simulation authors can keep an editable source model while producing size variants. Saving and reloading representative variants should become part of the regression check, alongside their motion and contact behavior.
What to keep in mind. The release includes breaking API changes and stiffness corrections that can change existing models. Scaling is conditional on the selected policy; it does not certify a resized model against real hardware. No release tests were reproduced here.
- Version 3.16.0 (October 14, 2026) Google DeepMind / MuJoCo · Source published
In Keep the model, change the test · Coverage –