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dm_control 1.0.44: Physics Engine Upgrade, Adhesive Contacts & Conveyor Effects

Why it mattersUpdates underlying physics engine MuJoCo to 3.11.0, adds adhesive contacts (magnet-like pull) and conveyor/treadmill effects, and improves smoothness of rotational control like ball joints.

dm_control 1.0.44 updates the physics engine MuJoCo to 3.11.0 and introduces several new features. You can now simulate adhesive contacts (contacts that pull like magnets) and conveyor/treadmill effects via surface velocity. For rotational joints (e.g., ball joints), control signals now handle rotations beyond 180 degrees more smoothly. Additionally, preparations for future MIMO actuators split actuator counts into inputs, objects, and outputs.

What changed

  • Update to MuJoCo 3.11.0, requiring this version
  • Add SO3 transmission and native orientation actuator for rotational control like ball joints
  • Add geom adhesion: contacts that pull via translated friction cones
  • Add geom surfacevel: zero-dof conveyors, treadmills and turntables
  • Interpret position and velocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle, using nearest representative for smooth tracking beyond pi
  • Preparation for MIMO actuators: split actuator counts into nu (inputs), nactuator (objects), nout (outputs)
  • Remove unneeded mjvScene argument from mjv_moveCamera
dm_controlreleaseproject1.0.44GitHubupdate

Source: GitHub Releases · July 29, 2026

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What changed

  • Update to MuJoCo 3.11.0, requiring this version
  • Add SO3 transmission and native orientation actuator for rotational control like ball joints
  • Add geom adhesion: contacts that pull via translated friction cones
  • Add geom surfacevel: zero-dof conveyors, treadmills and turntables
  • Interpret position and velocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle, using nearest representative for smooth tracking beyond pi
  • Preparation for MIMO actuators: split actuator counts into nu (inputs), nactuator (objects), nout (outputs)
  • Remove unneeded mjvScene argument from mjv_moveCamera

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