mujocolab / mjlab

Коли додано кожну зірку й форк — зібрано з GitHub і згруповано за днями. Кумулятивне зростання розміщено просто над денними додаваннями, з яких воно складається, тож їх видно одне проти одного: рівномірне органічне накопичення виглядає зовсім інакше, ніж різкий короткочасний сплеск. Там, де цю різницю можна виміряти, її подано як автентичність росту.

Повний розв'язаний набір залежностей із графа залежностей GitHub: 24 прямих і 191 непрямих (транзитивних) пакетів. Транзитивне замикання є повним, коли в репозиторії закомічено lockfile.

Цей репозиторій не публікує пакета, який розпізнає індекс, тож оцінено його власний граф залежностей — 215 пакетів, серед яких є й піниї розробки та тестування, що ніколи не постачаються: 4 мають відомі сповіщення, з них 3 прямі.

Сповіщення означає, що версія, записана в графі залежностей, потрапляє в уражений діапазон. Досяжність не аналізується, а граф містить піниї розробки й тестування — знахідка може стосуватися інструментів, а не поставленого коду.

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          "headline": "Change mjwarp renderer background color to match mujoco native (#1110)",
          "author_name": "Pedro Morais",
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          "body": "The README's MuJoCo Warp badge is hardcoded rather than derived from the\ndependency pin, so the 1.5.3 release left it pointing at 3.10.0.2. Bump the\nlabel and release link to match the 3.10.0.3 floor.",
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          "headline": "Update MuJoCo Warp badge to 3.10.0.3 (#1116)",
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          "headline": "Prepare for 1.5.3 (#1115)",
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          "body": "Bumps gitpython 3.1.50 -> 3.1.54 and setuptools 80.9.0 -> 83.0.0 in the lockfile to resolve open Dependabot alerts. gitpython's constraint is raised to >=3.1.52 accordingly.",
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          "headline": "Bump gitpython and setuptools for security fixes (#1113)",
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          "headline": "Bump pillow, onnx, soupsieve for security fixes (#1112)",
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          "body": "…ion (#1080)\n\n* Make Viser reward bar panel term cap configurable and warn on truncation\n\nThe reward bar panel capped display at the first 20 terms and silently\ndropped the rest. ViserTermOverlays.setup_tabs never forwarded max_terms,\nso there was no way to raise the limit, and environments with >20\n[…]\ne the limit.\n\nAlso reference the issue in the changelog and add tests covering the warn/\ntruncate boundary and the raised-cap path.\n\n---------\n\nCo-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>",
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          "headline": "Make Viser reward bar panel term cap configurable and warn on truncat…",
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          "headline": "Fix Go1 velocity training crashes and velocity-task curriculum/observ…",
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          "headline": "Fix bug where reflectance was not passed to add_material (#1099)",
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          "body": "* Expand actuator acceleration for recomputation\n\n* Document actuator_acc0 in set_const_0 recomputation table\n\n---------\n\nCo-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>",
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          "body": "TerrainGenerator unconditionally renamed every geom in the terrain body to\nterrain_{i}, overwriting any name a sub-terrain function had already set.\nThe rename now only applies to geoms that don't already have a name.\n\nCo-authored-by: Claude Sonnet 5 <noreply@anthropic.com>\nCo-authored-by: Kevin Zakka <kevinzakka@users.noreply.github.com>",
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          "headline": "Preserve custom geom names in TerrainGenerator (#1092)",
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          "headline": "Fix TorchArray world-dim expansion for mujoco_warp 3.10.0.2 (#1091)",
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          "body": "* Add geom_matid dr function and categorical engine\n\n* Explain why texid randomization isn't implemented\n\n* Fix typo\n\n* Strip trailing whitespace in randomization docs\n\n* Strengthen geom_matid tests against vacuous passes\n\n---------\n\nCo-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>",
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          "headline": "Scope Claude Code Review workflow to kevinzakka's PRs only (#1083)",
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          "headline": "Avoid tensor copy warning when scale is already a tensor (#1082)",
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          "body": "* extend information of the exported ONNX metadata\n\n* Add tests\n\n* Also include clip\n\n* Apply suggestions from code review\n\nCo-authored-by: Louis LE LAY <le.lay.louis@gmail.com>\n\n* fix the linters and tests\n\n* Extend tests for the metadata\n\n* Fix CSV corruption for nested clip/scale metadata\n\n---------\n\nCo-authored-by: Louis LE LAY <le.lay.louis@gmail.com>\nCo-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>",
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          "headline": "Fuse ideal PD actuators to remove per-group host overhead (#1038)",
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          "body": "* Expose MuJoCo Warp broadphase settings in MujocoCfg\n\nAdds broadphase and broadphase_filter fields, applied to the warp\nOption after put_model since they have no equivalent in mujoco.MjOption.\nBoth default to None, leaving MuJoCo Warp's own defaults untouched.\n\nCo-Authored-By: Claude Sonnet 5 <nore\n[…]\nt that unset broadphase settings do not override\nput_model's own heuristic.\n\n---------\n\nCo-authored-by: Claude Sonnet 5 <noreply@anthropic.com>\nCo-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>",
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          "headline": "Fix NaN in bad_orientation termination due to unclamped acos (#1078)",
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          "headline": "Fix njmax overflow and attach-conflict warnings in tests (#1075)",
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          "is_bot": false,
          "headline": "Test against unlocked dependencies in CI (#1074)",
          "author_name": "Kevin Zakka",
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          "headline": "Disable GL in release smoke test to avoid mujoco import crash (#1073)",
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          "headline": "Cap numpy below 2.5 for mediapy compatibility (#1071)",
          "author_name": "Kevin Zakka",
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          "headline": "Prepare v1.5.0 release (#1070)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-28T22:24:02Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "f2e3e86d36bcfd6414f0f6b8c9b05b639e04262a",
          "body": "…e (#1069)",
          "is_bot": false,
          "headline": "Forward sim after motion resample so relative body poses are not stal…",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-28T22:14:07Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "849d019e3c178a001156c08a90d95ab7350d2e8d",
          "body": null,
          "is_bot": false,
          "headline": "Bump mujoco and mujoco-warp to 3.10 (#1063)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-28T22:06:42Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "1091cae96a0ac5303c6d7b76887b70b6fc7b7ea1",
          "body": "* ref to web demo\n\n* restored proper uv lock",
          "is_bot": false,
          "headline": "[DOCS] ref to WBC MJLab in docs (#1067)",
          "author_name": "Simeon Nedelchev",
          "author_login": "simeon-ned",
          "committed_at": "2026-06-28T16:02:03Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "efdcadc8b281553fd3e1be2a9a88db9553356e8a",
          "body": "This lets MetricsManager report episode-peak values (e.g. peak power, peak contact force) via a plain function instead of requiring stateful wrapper classes that maintain a running torch.maximum and abuse reduce=\"last\".\n\nThe implementation adds an _episode_max dict (allocated only for \"max\" terms) t\n[…]\n reports the mean peak across reset envs. Works with both step and per_substep terms.\n\nCo-authored-by: Cursor <cursoragent@cursor.com>\nCo-authored-by: Kevin Zakka <kevinzakka@users.noreply.github.com>",
          "is_bot": false,
          "headline": "Add reduce=\"max\" to MetricsTermCfg (#1060)",
          "author_name": "Louis LE LAY",
          "author_login": "louislelay",
          "committed_at": "2026-06-18T20:53:29Z",
          "body_truncated": true,
          "is_coding_agent": true
        },
        {
          "oid": "1cb1bcbe9d51ca9e4f4c8007bb0debf894f729c6",
          "body": null,
          "is_bot": false,
          "headline": "adds plot live values (#1059)",
          "author_name": "Louis LE LAY",
          "author_login": "louislelay",
          "committed_at": "2026-06-18T20:48:50Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "0cdc56246999409b83622764f5b38edb660cf16e",
          "body": null,
          "is_bot": false,
          "headline": "Add wuji-technology/wuji-mjlab to community projects (#1055)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-10T04:25:59Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "dac0824e125449d3447d2219004ffd6f6480c358",
          "body": "* revert casts\n\n* address claude's reviews",
          "is_bot": false,
          "headline": "Domain randomization for missing material fields (#1052)",
          "author_name": "Tarik Kelestemur",
          "author_login": "tkelestemur",
          "committed_at": "2026-06-08T19:20:24Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "61af2b75e9d44c93413aaa9bbace24575a9f6ad4",
          "body": "Bumps starlette from 0.52.1 to 1.2.1 and idna from 3.11 to 3.18 in uv.lock. Both are transitive dependencies (starlette via sphinx-autobuild, idna via various HTTP libraries). Resolves two medium-severity alerts: starlette ≤ 1.0.0 had missing Host header validation that could poison request.url.path and bypass path-based security checks; idna < 3.15 had a bypass for the CVE-2024-3651 fix in idna.encode().",
          "is_bot": false,
          "headline": "Bump starlette and idna to fix dependabot security alerts (#1051)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-05T18:46:34Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "b16d02066b5e00f7e6d01bf472ddebedef23648a",
          "body": "The bundled stubs had drifted from the installed mujoco version. Regenerate\nthem, and drop the platform-specific OpenGL backend stubs so the output is\nidentical on macOS and Linux. A new CI job regenerates the stubs and fails if\nthey are stale; the generation script (run via make stubs) post-processes the\noutput to keep it platform-independent and reproducible.\n\nFixes #1048",
          "is_bot": false,
          "headline": "Regenerate MuJoCo type stubs and keep them in sync via CI (#1050)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-05T04:01:32Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "8d5c5bdb79fcba202fdc241dc711a9dc6dc896f6",
          "body": "…ts; Add `RecorderManager.get_term()` (#1049)\n\n* Simplified recorder manager\n\n* Minor\n\n* Minor",
          "is_bot": false,
          "headline": "`RecorderManager` uses a `dict[str, RecorderTerm]` instead of two lis…",
          "author_name": "bd-adaniele",
          "author_login": "bd-adaniele",
          "committed_at": "2026-06-05T03:55:04Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "1d1474040c3887af8419e20a682a132e7bc3fe86",
          "body": "The first-push backfill in CircularBuffer.append hard-coded a 3-D broadcast\n(is_first_push[None, :, None] and data[None, :, :]), which only lines up when\nthe buffer is exactly (max_len, batch, feature). DcMotorActuator with a\nvariable delay lag range stacks position, velocity, and effort targets int\n[…]\n error whenever num_envs != num_targets. The fix derives the broadcast\nshape from data.ndim so it works for tensors of any rank.\n\nSupersedes #1045.\n\nCo-authored-by: ZzzzzzS <ZhouZishun@mail.zzshub.cn>",
          "is_bot": false,
          "headline": "Fix CircularBuffer backfill broadcast for >2D data (#1046)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-04T17:11:43Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "8574f9cd796bd96aa332c98799a4233deca873ef",
          "body": "Fixes #1042",
          "is_bot": false,
          "headline": "Fix per-axis domain randomization events clobbering each other (#1043)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-04T01:09:13Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "40f8d93e31b589dccae78ba6aadfc4b74cd1e3fd",
          "body": "* fix: set MUJOCO_GL default before mujoco import\n\n* Guard MUJOCO_GL=egl default to Linux only\n\nmujoco's gl_context validates MUJOCO_GL against a platform-specific\nallowlist at import time. egl is only valid on Linux; on macOS/Windows\nit raises RuntimeError. Setting it unconditionally in mjlab/__ini\n[…]\ne\nbehavior is unchanged from the previous commit. On macOS/Windows we\nleave MUJOCO_GL alone so mujoco falls back to GLFW as before.\n\n---------\n\nCo-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>",
          "is_bot": false,
          "headline": "Set MUJOCO_GL default before mujoco import (#1036)",
          "author_name": "Ruslan Rakhimov",
          "author_login": "rakhimovv",
          "committed_at": "2026-06-01T22:22:44Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "1dc3acff3dd9937918acf8df0c52e08c149822a8",
          "body": "Fixes #1033.",
          "is_bot": false,
          "headline": "Fix terrain generation bugs and rework heightfield coloring (#1037)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-06-01T22:03:22Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "898a700514f8d3c92146ec158190e6f2e4d8c11a",
          "body": null,
          "is_bot": false,
          "headline": "Skip runs with no motion artifact in generate_report instead of crashing",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-30T17:24:57Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "716b1dcef3b82f5bf88a047d7eb746084e4ebd17",
          "body": "…rename (#1032)\n\nrsl-rl-lib 5.4 renamed the WandB logger type string from 'wandb' to\n'WandbLogWriter'. The tracking runner's save() method still checked for\nthe old string, so use_artifact() was silently skipped on every checkpoint\nsave after the 5.4 bump. This caused the nightly report to fail with\n[…]\n A new parametrized regression test covers both logger type values\nand a third test confirms the non-WandB path leaves use_artifact uncalled.\n\nFixes the nightly benchmark failures starting 2026-05-28.",
          "is_bot": false,
          "headline": "Fix WandB artifact registration broken by rsl-rl-lib 5.4 logger type …",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-29T21:18:20Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "3285a16bbf5f16b1b906458da60fa2ad91ab2fed",
          "body": "* Remove CUDA syncs from circular buffer\n\n* ruff",
          "is_bot": false,
          "headline": "Remove CUDA syncs from circular buffer (#1031)",
          "author_name": "Robin Deits",
          "author_login": "rdeits-bd",
          "committed_at": "2026-05-29T17:47:27Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "72b9ae546f3d3c208e5a8dcc750b412561a8c9fd",
          "body": "Also fix doc-related inaccuracies.",
          "is_bot": false,
          "headline": "Make curriculum terrain difficulty deterministic. (#1028)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-29T17:11:20Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "b57b5b3a8051a6c7a5809398eb57e7d7de640687",
          "body": "* Fix GPU selection crash with MIG devices\n\n* Add changelog entry",
          "is_bot": false,
          "headline": "Fix GPU selection crash with MIG devices (#1029)",
          "author_name": "Filippo Luca Ferretti",
          "author_login": "flferretti",
          "committed_at": "2026-05-29T16:04:22Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "dd973373a39d3ea687109303acad657eaf892d42",
          "body": "* Use mjviser 0.0.14 from PyPI instead of git pin\n\n* Drop changelog entry",
          "is_bot": false,
          "headline": "Use mjviser 0.0.14 from PyPI instead of git pin (#1022)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-28T01:12:10Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "76af1cdbdb7945e08d000d0f66c2fe869c713e2e",
          "body": null,
          "is_bot": false,
          "headline": "Bump rsl-rl-lib from 5.2.0 to 5.4.0 (#1021)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-28T01:05:44Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "0b963a9786ab1dec78475e1c79ad2f210b2eab06",
          "body": "* Add BuiltinDcMotorActuator: native MuJoCo <dcmotor> wrapper\n\nSupports voltage/position/velocity input modes with back-EMF, voltage\nsaturation, and configurable Kt/Ke/R. The existing DcMotorActuator stays\nbecause LearnedMlpActuator inherits from it.\n\n* Address reviewer feedback\n\n* Add new actuator classes to docs",
          "is_bot": false,
          "headline": "Add BuiltinDcMotorActuator: native MuJoCo <dcmotor> wrapper (#1016)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-27T15:46:40Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "57729d0fdb9931460e6a6354c2e448563fe66a6e",
          "body": "actions/checkout v4 -> v6 and astral-sh/setup-uv v6 (and a stale v4 in docs.yml) -> v7. v5.0.0 of checkout and v7.0.0 of setup-uv were the Node 24 jumps. docker.yml was already on actions/checkout@v6 and is unchanged. The auto-generated claude.yml and claude-code-review.yml are deliberately left alone. Removes the Node 20 deprecation warning that surfaced in the v1.4.0 publish run.",
          "is_bot": false,
          "headline": "Bump GitHub Actions to Node 24 versions (#1015)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-26T23:04:59Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "4360096b49c1bcc478668c11ce7d458db747e49d",
          "body": null,
          "is_bot": false,
          "headline": "Fix CITATION.cff commit hash for v1.4.0.",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-26T22:21:00Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "3cc461cd15e7155a8998b75ad767fae6dd448072",
          "body": "* Prepare v1.4.0 release\n\n- Bump version to 1.4.0\n- Raise mujoco-warp floor to >=3.8.0.3 and cap mujoco-warp/mujoco to\n  ~=3.8.0 (matches the pinned git rev 88b55fc2, whose code first reached\n  PyPI in 3.8.0.3, and mirrors Newton's constraints)\n- Declare scipy>=1.15 explicitly; it is imported by the\n[…]\nint CITATION commit\n\nDate moved one day forward to match the actual release. CITATION commit hash points at current main HEAD as a fresh placeholder; will be repointed to the merge commit at tag time.",
          "is_bot": false,
          "headline": "Prepare v1.4.0 release (#1005)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-26T22:20:00Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "348a011223ac379ee74da6ff85411c96d1daedd8",
          "body": "…city references (#1014)\n\nImplicit-integration counterpart to IdealPdActuator. Same interface (position + velocity targets, kp/kd), but expresses the PD as native MuJoCo <position>/<velocity> elements so the implicit and implicitfast integrators include the kp/kd derivatives in their velocity update. The actuator stays stable at gain/timestep combinations where explicit Python PD would diverge.",
          "is_bot": false,
          "headline": "Add BuiltinPdActuator: implicit-integration PD with position and velo…",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-26T21:20:53Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "feefdd75cf29a422862c50fd94a74c0ac5bd678a",
          "body": "An Entity has at most one freejoint, which serves as its root. A second freejoint was previously accepted silently and only surfaced later as a cryptic shape mismatch when writing root state. Raise a clear error at construction instead, pointing users to model each detached floating body as its own SceneCfg.entities entry.",
          "is_bot": false,
          "headline": "Reject entity specs with multiple freejoints (#1013)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-25T18:05:44Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "fea1abfd770c39a5a9ea07f18b40276012d411a1",
          "body": "The zoom/pan and regression highlighting added in #1010 added more noise than value, so this trims the page back to the date-range presets (both tabs) and softer point markers. The corrected metric data is unchanged; this only touches the page template.",
          "is_bot": false,
          "headline": "Simplify nightly page to the date-range filter (#1012)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-25T16:23:47Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "623ca0b41792864ad126f760528b5e8c0df6d4fd",
          "body": "…(#1010)\n\nThe throughput tab had the same crowding as tracking (112 points, full-size markers) and was not covered by the tracking range filter. It now has its own date-range selector, and a single setRange windows both tabs at once and keeps the two selectors in sync.\n\nBoth tabs now flag regression\n[…]\nc card shows a red value with a warning glyph when its latest run regressed.\n\nAll charts get wheel-zoom and drag-pan on the x-axis via chartjs-plugin-zoom; picking a range preset also resets the zoom.",
          "is_bot": false,
          "headline": "Extend nightly page: throughput range filter, regression flags, zoom …",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T23:09:35Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "ff1cbb8fb49f600cbac698afaafef0ee0d530146",
          "body": "Each tracking chart plotted every nightly run with full-size points across the whole history, so with ~130 runs the charts became dense and hard to read. This adds a 30d/90d/180d/All selector that windows all the tracking charts at once (defaulting to 90 days) by setting the time axis minimum, and softens the per-point markers so the line and rolling average read more clearly. The throughput charts are unaffected.",
          "is_bot": false,
          "headline": "Add a date-range filter to the nightly benchmark page (#1009)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T22:57:33Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "15b833fc5fd11fcdb081bc5d4afaacbdccd5f06d",
          "body": "* Improve tracking metrics: root-relative frame, RMS joint vel, EE validation\n\ncompute_root_relative_mpkpe now uses body_pos_relative_w (the reward's re-anchored reference), so it removes both global translation and yaw drift and measures intrinsic body pose error instead of leaking heading drift in\n[…]\ne, matching the reward.\n\nPer-step averaging previously inferred active steps from a nonzero MPKPE, which is fragile; it now tracks an explicit active mask.\n\n* Tighten tracking metric changelog entries",
          "is_bot": false,
          "headline": "Improve tracking metrics and fix evaluation frame alignment (#1008)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T22:10:37Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "6a8a8823928f257d2195b0723bbfd6e514ffb58f",
          "body": "compute_mpkpe compared the robot against body_pos_relative_w, which is the reference re-anchored to the robot's root every step (the quantity the tracking reward optimizes). That cancels global drift, so the metric never measured the global-frame error it documents and nearly duplicated compute_root_relative_mpkpe. It now uses the true global reference body_pos_w. Adds a test pinning this.\n\nFixes #1006.",
          "is_bot": false,
          "headline": "Fix tracking MPKPE metric to use the global reference (#1007)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T20:51:05Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "de120a9a464373118d07bb1946c92f5b23f4ce96",
          "body": null,
          "is_bot": false,
          "headline": "Fix delayed actuators only delaying a single command field (#1001)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T18:02:10Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "6fc2a60264383732d926923a9fff30e0a3899157",
          "body": "* Add sensor-based projected gravity for IMU pose randomization\n\nLinear and angular base velocity are read from MuJoCo sensors on the IMU site, so they already reflect the site's pose. Projected gravity, however, came from mdp.projected_gravity, which uses the root body orientation and is blind to t\n[…]\nurce switch and the IMU site DR events) so no existing task's training behavior changes here. Wiring up IMU mounting randomization on the locomotion tasks, with tuned ranges, can be a separate change.",
          "is_bot": false,
          "headline": "Add sensor-based projected gravity for IMU pose randomization (#1003)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T17:46:54Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "4be5e4a3a44b6f6416e94a0e7be19211b72cf229",
          "body": "* \"Claude PR Assistant workflow\"\n\n* \"Claude Code Review workflow\"",
          "is_bot": false,
          "headline": "Add Claude Code GitHub Workflow (#1004)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T17:25:38Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "0beebfc1218ecf7abc6f74c6f6c20bc4f5342210",
          "body": "* Deduplicate env_ids handling in events and harden reset path\n\nThe five reset event functions each repeated the same four-line guard to\nexpand env_ids=None to all environments. Replace those copies with a single\nresolve_env_ids helper, and apply it to push_by_setting_velocity and\napply_external_for\n[…]\nform,\nreset_root_state_from_flat_patches, and push_by_setting_velocity, each\nalso repeating the None-to-empty-dict normalization. Extract it into\n_sample_se3_range so every call site is a single line.",
          "is_bot": false,
          "headline": "Deduplicate env_ids handling in events and harden reset path (#1002)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T14:58:51Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "4abadaf7a7f80df235417154731ff2e371eb70b9",
          "body": "Add an FAQ entry under Platform Support clarifying that device=\"cpu\" does\nnot stop Warp from initializing visible GPUs, and that the supported way to\nkeep a run off the GPU is to set CUDA_VISIBLE_DEVICES=\"\" before launching.\n\nFollow-up to the #950 revert (#999), which addresses #949.",
          "is_bot": false,
          "headline": "docs: explain CPU-only runs and CUDA_VISIBLE_DEVICES (#1000)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T05:05:45Z",
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          "oid": "be570e98c5fd9eca751217250605288c614fca6f",
          "body": "…999)\n\nThis reverts commit dd959eec. #950 attempted to stop a device=\"cpu\"\nManagerBasedRlEnv from claiming a CUDA context on machines with a visible\nGPU by skipping wp.rand_init for CPU devices. The fix targeted the wrong\ncall: Warp eagerly enumerates and initializes every visible CUDA device the\nfi\n[…]\n\nThe supported way to keep a CPU run off the GPU is to set\nCUDA_VISIBLE_DEVICES=\"\" before launching; mjlab cannot prevent Warp from\ninitializing visible devices once its runtime starts.\n\nReopens #949.",
          "is_bot": false,
          "headline": "Revert \"Skip Warp CUDA init in seed_rng when device is CPU (#950)\" (#…",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-24T05:04:53Z",
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        },
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          "oid": "7628df26b2669daea38b3eeec28575335f202c0a",
          "body": "The offscreen renderer recomputed its context \"neighbor\" robots every\nframe from `env_origins`. On rough terrain the curriculum reassigns\norigins on reset, so the nearest-neighbor set kept changing and context\nrobots popped in and out, causing heavy flicker. Flat tasks were fine\nsince they disable the terrain curriculum and origins stay static.\n\nCompute the neighbor set once and cache it. `env_idx` and `nworld` are\nfixed for a recording session, so the context robots are now stable.\n\nFixes #979",
          "is_bot": false,
          "headline": "Fix rough-terrain video flicker from mutating env origins (#996)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-23T21:12:05Z",
          "body_truncated": false,
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        },
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          "oid": "731fa27b8c023d3d5258501c694979425d2a37fd",
          "body": "Adds an axis-oriented box primitive mirroring add_ellipsoid, supported by\nboth the native and Viser viewers. size is the box half-extents.\n\nFixes #992",
          "is_bot": false,
          "headline": "Add add_box primitive to DebugVisualizer (#995)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-21T01:37:16Z",
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          "oid": "866086865dfb28a859b88e5623ff7382a12615e5",
          "body": "…(#991)",
          "is_bot": false,
          "headline": "Bump urllib3 to 2.7.0 and paramiko to 5.0.0 to fix dependabot alerts …",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-17T16:47:26Z",
          "body_truncated": false,
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        },
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          "oid": "a0ba05890a2ea4111b33c9cbb85f690bf19ca434",
          "body": "…s (#988)\n\nThe per-process seed offset in scripts/train.py used LOCAL_RANK (rank\nwithin a node) instead of RANK (global rank), so multi-node setups\nwhere each node has the same LOCAL_RANK assignment ended up with\nduplicate seeds. For example, training across two nodes with one GPU\neach would give bo\n[…]\n nodes local_rank=0 and therefore the same seed.\nSwitching to the global RANK ensures every process across all nodes\ngets a unique seed offset.\n\nCo-authored-by: Claude Opus 4.7 <noreply@anthropic.com>",
          "is_bot": false,
          "headline": "Fix multi-node distributed training using duplicate seeds across node…",
          "author_name": "bd-pdomanico",
          "author_login": "bd-pdomanico",
          "committed_at": "2026-05-12T02:17:41Z",
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          "oid": "49f3983f30d01bd1de61661f29205d1818a36dff",
          "body": "…987)\n\nFixes #986",
          "is_bot": false,
          "headline": "Add get_observations() to ManagerBasedRlEnv to satisfy EnvProtocol (#…",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-11T17:25:34Z",
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          "oid": "9a43f2d508b963e8caf4af1e7c1d2533d4289287",
          "body": null,
          "is_bot": false,
          "headline": "Update mujoco-warp to 88b55fc2 (#985)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-08T23:58:52Z",
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          "oid": "6b25d7094d09ddcffec7606b1f3b3c127c6e2a14",
          "body": "Fixes two high-severity Dependabot alerts:\n- Path traversal vulnerability allowing arbitrary file write/delete outside the repository (patched in 3.1.48)\n- Newline injection in config_writer().set_value() enabling RCE via core.hooksPath (patched in 3.1.49)",
          "is_bot": false,
          "headline": "Bump GitPython to >=3.1.49 to fix security vulnerabilities (#982)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-07T20:03:14Z",
          "body_truncated": false,
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          "body": null,
          "is_bot": false,
          "headline": "Bump viser to 1.0.27. (#978)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-07T03:38:55Z",
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          "oid": "6c9ff0e2c28f4ba1f8e6f752b16dd489abeeb946",
          "body": null,
          "is_bot": false,
          "headline": "Fix make sync by selecting one torch extra (#977)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-07T03:26:21Z",
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        },
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          "oid": "3fcfab57708de91b8bca7c1b91b075f4637c3d1b",
          "body": "Capture cooldown_s from cfg.params at __init__ and pre-sample the initial\n_interval_time_left there, removing the _needs_init flag and the lazy-init\nblock in __call__. All cooldown sampling sites now share a single\n_sample_cooldown helper backed by sample_uniform.",
          "is_bot": false,
          "headline": "Clean up apply_body_impulse cooldown handling (#976)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-07T03:22:14Z",
          "body_truncated": false,
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        },
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          "oid": "dd07e05796bb434664ad927b4b5bc0d3c34bf945",
          "body": "apply_body_impulse documented its lifecycle as starting with a cooldown,\nbut _interval_time_left was initialized to zero, so an impulse always fired\non the very first step and the first step after every reset. This made\nimpulse timing perfectly correlated with episode resets — exactly the kind\nof artifact RL policies can learn around.\n\nSample the initial cooldown lazily on the first __call__ (and on the first\ncall after each reset), since cooldown_s is only known at __call__ time.\n\nFixes #973",
          "is_bot": false,
          "headline": "Sample apply_body_impulse cooldown lazily on first step (#975)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-07T03:05:47Z",
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          "body": "The if isinstance(env_ids, slice) branch in reset() assigned reset_ids = env_ids\nin both arms, making the alias redundant. Use env_ids directly.",
          "is_bot": false,
          "headline": "Remove tautological if/else in apply_body_impulse.reset (#974)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-07T02:46:10Z",
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          "oid": "80a12a5e12ffa66ec32a4b8167926cf4ba239fec",
          "body": "…972)\n\n* Fix pd_gains and effort_limits silently ignoring Operation objects\n\nBoth functions only accepted literal strings \"scale\"/\"abs\", so passing an Operation instance (e.g. dr.scale) fell through every if/elif branch and did nothing. Now they accept Operation | str like every other DR event, reso\n[…]\n operations.\n\nFixes #971\n\n* Add explicit assert op.name == \"abs\" in else branches\n\nReviewer feedback: make the else branches self-documenting instead of\nrelying on the nonlocal guard 50 lines earlier.",
          "is_bot": false,
          "headline": "Fix pd_gains and effort_limits silently ignoring Operation objects (#…",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-06T18:05:35Z",
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        {
          "oid": "5a433e83fb27dc2b44b21863b47d3dae6e4dc211",
          "body": "The old 3-geom foot collision geometry was replaced with the current multi-geom version but the original geoms were left behind as comments. The first geom in each commented block was identical to the active one, and the rest were superseded. Remove both left and right foot commented blocks.",
          "is_bot": false,
          "headline": "Remove stale commented-out foot collision geoms from G1 XML (#970)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-05-04T19:10:55Z",
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          "body": null,
          "is_bot": false,
          "headline": "Remove use of deprecated warp-lang symbols (#968)",
          "author_name": "Robin Deits",
          "author_login": "rdeits-bd",
          "committed_at": "2026-05-04T17:21:43Z",
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        },
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          "oid": "96349c52132a2480a7c10ed9dc64351f727fe492",
          "body": "* per world material\n\n* Add textures to reserved-name validation\n\nWithout this, user-supplied variant textures starting with a reserved\nprefix (e.g. \"mjlab/pad/\") would silently collide instead of raising\nearly. Mirrors the existing check for meshes, materials, and other\nasset types.\n\n* Add changelog entry for per-world material variants\n\n---------\n\nCo-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>",
          "is_bot": false,
          "headline": "per world material (#966)",
          "author_name": "Omar Rayyan",
          "author_login": "omarrayyann",
          "committed_at": "2026-05-04T16:27:28Z",
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        },
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          "oid": "4b2f90b61c74a2d2160d99a52a2291f37a1555f9",
          "body": "* [Bug Fix] Fix contact sensor global frame rotation\n\n* Add contribution credit and fix test docstring style\n\n---------\n\nCo-authored-by: Kevin Zakka <zakka@berkeley.edu>",
          "is_bot": false,
          "headline": "[Bug Fix] Fix contact sensor global frame rotation (#963)",
          "author_name": "bd-pdomanico",
          "author_login": "bd-pdomanico",
          "committed_at": "2026-04-30T20:17:25Z",
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        },
        {
          "oid": "12dc0db873209bd33e6e4e5d0d8a2760c468fefc",
          "body": "…(#960)\n\nReward terms (e.g. velocity task metrics) write into `extras[\"log\"]` during `reward_manager.compute()`, but `_reset_idx()` was clearing the dict with `self.extras[\"log\"] = dict()` before repopulating it with manager reset data. Since `_reset_idx` runs after `reward_manager.compute()` in `st\n[…]\ntice.\n\nMove the `extras[\"log\"]` clearing from `_reset_idx()` to the top of `step()` and `reset()`, so reward terms write after the clear and `_reset_idx` merges additively via `.update()`.\n\nFixes #957",
          "is_bot": false,
          "headline": "Fix extras[\"log\"] entries from reward terms being discarded on reset …",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-30T01:43:31Z",
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        },
        {
          "oid": "d0617cc76f3995fdb91ac5accd4e80e6472b30c3",
          "body": "…ruction (#956)\n\nThree layered changes to the per-world mesh variant feature on the\nnot-yet-released cycle.\n\nThe cross-variant validator is now a recursive structural check covering\nbody trees, joints, primitive (non-mesh) geoms, the spec-level\ncollections (actuators, sensors, tendons, equalities), \n[…]\nble is an explicit per-world assignment policy\ncalled with num_envs at sim init. Doc revamp at the\n:ref:\\`heterogeneous_worlds\\` anchor walks through all three modes\nplus a worked slot-layout example.",
          "is_bot": false,
          "headline": "Per-world mesh variant cleanup: validation, consolidation, O(N) const…",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-29T20:32:38Z",
          "body_truncated": true,
          "is_coding_agent": false
        },
        {
          "oid": "0040979763ab43bc1220812c9de4bc74e2631f42",
          "body": "Adds an explicit ValueError in VariantEntityCfg construction when\nvariants are not floating-base, replacing silent stacked-at-origin\nbehavior with a clear message pointing at body.add_freejoint(). The\nmocap auto-wrap pass is not applied for variant entities, and there\nis no concrete use case for fix\n[…]\nn is removed: the\nfixed-base rule now lives in the design paragraph, the \"only\nmeshes/inertials vary\" point was design intent already covered\nthere, and the shallow-validator note was edge-case noise.",
          "is_bot": false,
          "headline": "Reject fixed-base mesh variants and tighten docs (#955)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-29T00:15:39Z",
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        {
          "oid": "7708968b4afeeebfe98c397661343aee95b28485",
          "body": "* Add per-world mesh variants\n\n* Fix per-world mesh allocations missing device scope (#935)\n\n`per_world_mesh()` internally calls `mjwarp.put_model` and ~12\n`wp.array(...)` allocations for the per-world dataid table and\nvariant-dependent fields (geom_size, body_mass, body_inertia, ...).\n\nIn the curre\n[…]\nnt's own baseline rather than\nbroadcasting a shared template default.\n\n---------\n\nCo-authored-by: XiangruiJiang <1020268296@qq.com>\nCo-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>",
          "is_bot": false,
          "headline": "Add per-world mesh variants (#860)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-28T23:56:16Z",
          "body_truncated": true,
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        },
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          "oid": "f7c873036e09883d953294ecc17a3eb03baa2b5a",
          "body": "…ipt (#954)\n\nThe @torch.compile(fullgraph=True) decorator added in #948 hits dynamo's\nrecompile_limit (8) when the full test suite runs, causing\ntest_raycast_sensor.py to fail with FailOnRecompileLimitHit. The shape\nspecialization on the leading batch dim exhausts the budget across the\nmany env cons\n[…]\ne implementation rewrite from #948 (which is\nthe actual source of the speedup). Only the decorator changes.\n\nAlso drops the corresponding changelog entry, since the speedup\nattribution is now muddier.",
          "is_bot": false,
          "headline": "Revert quat_from_matrix decorator from torch.compile to torch.jit.scr…",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-28T22:59:33Z",
          "body_truncated": true,
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        },
        {
          "oid": "3d6cb9588b08dac55febaa92808667a587745086",
          "body": "Add a note about the mujoco/mujoco-warp 3.8 bump and the multiccd flag removal. Split bd-pdomanico's RayCaster + quat_from_matrix entry into two and add contribution credits for both that and tkelestemur's segmentation work.",
          "is_bot": false,
          "headline": "Polish changelog entries for upcoming release (#953)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-28T22:17:44Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "2ccbb0c685acd5f9fc039969f0b9eef10630ad2b",
          "body": "mujoco_warp's renderer now outputs (object_id, object_type) vec2i pairs instead of raw geom IDs. This propagates that typed format through mjlab's camera pipeline, changing CameraSensorData.segmentation from [B, H, W, 1] to [B, H, W, 2]. The manipulation observation helpers and the viser camera viewer are updated accordingly.\n\nCo-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>",
          "is_bot": false,
          "headline": "Adapt camera segmentation to mujoco-warp's typed output (#911)",
          "author_name": "Tarik Kelestemur",
          "author_login": "tkelestemur",
          "committed_at": "2026-04-28T22:11:19Z",
          "body_truncated": false,
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        },
        {
          "oid": "f4a7504a4accf5846e88a95859f43e9335167f64",
          "body": "* Speedup of raycast post-processing\n\nRemoves boolean-mask indexing operations with `masked_fill_` and an implementation of hit_pos_w that uses a clamped distance to put hit_pos_w for misses at world_origins. These effectively remove all cuda syncs from the ray postprocess, unblocking the cpu thread\n[…]\n.23x    1.79e-07\n\n* Add changelog entry for raycast post-processing speedup\n\nCo-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>\n\n---------\n\nCo-authored-by: Claude Opus 4.7 <noreply@anthropic.com>",
          "is_bot": false,
          "headline": "Raycast sensor optimization (#948)",
          "author_name": "bd-pdomanico",
          "author_login": "bd-pdomanico",
          "committed_at": "2026-04-28T22:01:30Z",
          "body_truncated": true,
          "is_coding_agent": true
        },
        {
          "oid": "dd959eec601675223778528e4ee5443e4e35addf",
          "body": "ManagerBasedRlEnv unconditionally called wp.rand_init via seed_rng, which initializes Warp on every visible CUDA device. As a result, constructing the env with device=\"cpu\" still claimed a CUDA context on GPU-visible machines.\n\nseed_rng now takes an optional device argument and skips wp.rand_init when the device resolves to CPU. ManagerBasedRlEnv threads its constructor device through to the seed call so device=\"cpu\" no longer touches Warp's CUDA runtime.\n\nFixes #949",
          "is_bot": false,
          "headline": "Skip Warp CUDA init in seed_rng when device is CPU (#950)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-28T21:58:44Z",
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        },
        {
          "oid": "e1f2883d6257c5599ff82f60ddbd2c0bc65584fb",
          "body": "The previous mujoco 3.7 nightly was yanked, breaking CI. This bumps both mujoco (to 3.8.1 nightly) and mujoco-warp (to a post-3.8.0 commit that includes the cache_kernel fix from google-deepmind/mujoco_warp#1318). The multiccd enable flag was removed in mujoco 3.8 (it became default-on), so the test that exercised it now uses the energy flag instead.\n\nFixes #948",
          "is_bot": false,
          "headline": "Upgrade mujoco to 3.8 and mujoco-warp to 3.8.0 (#952)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-28T21:57:33Z",
          "body_truncated": false,
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        },
        {
          "oid": "33fc155eefdea47aa6650d4e5a91181518ce387e",
          "body": "The update is fully backwards compatible with mjlab's usage. Notable upstream additions include torch.compile support for PPO and Distillation, and optional std clamping and constant std in GaussianDistribution.",
          "is_bot": false,
          "headline": "Bump rsl-rl-lib from 5.0.1 to 5.2.0 (#947)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-28T01:16:13Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "0a796ea46407214adc49247a5b8a9f4b3c76ee36",
          "body": "Add constraint-dependencies to enforce GitPython>=3.1.47 (command injection, CVE-2024-22190) and lxml>=6.1.0 (XXE via iterparse default config). Both are transitive dependencies pulled in by rsl-rl-lib, wandb, and yourdfpy.",
          "is_bot": false,
          "headline": "Bump GitPython and lxml to fix Dependabot security alerts (#946)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-27T22:47:19Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "8cf4664d976eec6f28ddc4a3862350d0ac7e4a90",
          "body": "Fixes #942",
          "is_bot": false,
          "headline": "Disable terrain debug visualization sites by default (#945)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-27T22:44:45Z",
          "body_truncated": false,
          "is_coding_agent": false
        },
        {
          "oid": "76c265c26c3f440ae7a24ddc9f90f52335995a90",
          "body": "Validate reward, termination, and metrics term outputs where they are consumed instead of dry-running terms during environment initialization. This avoids calling user callbacks outside their normal lifecycle while still raising a clear error when a term does not return one value per environment.",
          "is_bot": false,
          "headline": "Validate manager term shapes at compute time (#944)",
          "author_name": "Kevin Zakka",
          "author_login": "kevinzakka",
          "committed_at": "2026-04-27T21:35:46Z",
          "body_truncated": false,
          "is_coding_agent": false
        }
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      "commits_last_year": 1071,
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                "name": "README",
                "detail": null,
                "points": 30,
                "status": "met",
                "details": [],
                "max_points": 30
              },
              {
                "key": "documentation_directory",
                "name": "Documentation directory",
                "detail": null,
                "points": 25,
                "status": "met",
                "details": [],
                "max_points": 25
              },
              {
                "key": "documentation_homepage_site",
                "name": "Documentation / homepage site",
                "detail": "https://mujocolab.github.io/mjlab/",
                "points": 15,
                "status": "met",
                "details": [],
                "max_points": 15
              },
              {
                "key": "repository_description",
                "name": "Repository description",
                "detail": null,
                "points": 10,
                "status": "met",
                "details": [],
                "max_points": 10
              },
              {
                "key": "topics",
                "name": "Topics",
                "detail": "5 topics",
                "points": 10,
                "status": "met",
                "details": [
                  {
                    "code": "topics_count",
                    "params": {
                      "count": 5
                    }
                  }
                ],
                "max_points": 10
              },
              {
                "key": "wiki",
                "name": "Wiki",
                "detail": null,
                "points": 10,
                "status": "met",
                "details": [],
                "max_points": 10
              }
            ]
          }
        ],
        "description": "Are baseline engineering and documentation practices in place?"
      },
      {
        "key": "security",
        "band": "at_risk",
        "name": "Security",
        "value": 48,
        "weight": 0.16,
        "metrics": [
          {
            "key": "security_posture",
            "band": "at_risk",
            "name": "Security posture",
            "note": "Excluded from scoring (no data or not applicable): Signed-Releases. Remaining weights renormalized.",
            "notes": [
              {
                "code": "excluded_no_data",
                "params": {
                  "components": [
                    "signed_releases"
                  ]
                }
              },
              {
                "code": "weights_renormalized",
                "params": {}
              }
            ],
            "value": 49,
            "inputs": {
              "source": "openssf_scorecard",
              "checks_evaluated": 17,
              "scorecard_version": "v5.5.0",
              "checks_inconclusive": 1,
              "scorecard_aggregate": 4.9
            },
            "components": [
              {
                "key": "binary_artifacts",
                "name": "Binary-Artifacts",
                "detail": "no binaries found in the repo",
                "points": 7.5,
                "status": "met",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "branch_protection",
                "name": "Branch-Protection",
                "detail": "branch protection is not maximal on development and all release branches",
                "points": 4.5,
                "status": "partial",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "ci_tests",
                "name": "CI-Tests",
                "detail": "30 out of 30 merged PRs checked by a CI test -- score normalized to 10",
                "points": 2.5,
                "status": "met",
                "details": [],
                "max_points": 2.5
              },
              {
                "key": "cii_best_practices",
                "name": "CII-Best-Practices",
                "detail": "no effort to earn an OpenSSF best practices badge detected",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 2.5
              },
              {
                "key": "code_review",
                "name": "Code-Review",
                "detail": "Found 12/30 approved changesets -- score normalized to 4",
                "points": 3,
                "status": "partial",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "contributors",
                "name": "Contributors",
                "detail": "project has 12 contributing companies or organizations",
                "points": 2.5,
                "status": "met",
                "details": [],
                "max_points": 2.5
              },
              {
                "key": "dangerous_workflow",
                "name": "Dangerous-Workflow",
                "detail": "no dangerous workflow patterns detected",
                "points": 10,
                "status": "met",
                "details": [],
                "max_points": 10
              },
              {
                "key": "dependency_update_tool",
                "name": "Dependency-Update-Tool",
                "detail": "no update tool detected",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "fuzzing",
                "name": "Fuzzing",
                "detail": "project is not fuzzed",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 5
              },
              {
                "key": "license",
                "name": "License",
                "detail": "license file detected",
                "points": 2.5,
                "status": "met",
                "details": [],
                "max_points": 2.5
              },
              {
                "key": "maintained",
                "name": "Maintained",
                "detail": "30 commit(s) and 16 issue activity found in the last 90 days -- score normalized to 10",
                "points": 7.5,
                "status": "met",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "packaging",
                "name": "Packaging",
                "detail": "packaging workflow detected",
                "points": 5,
                "status": "met",
                "details": [],
                "max_points": 5
              },
              {
                "key": "pinned_dependencies",
                "name": "Pinned-Dependencies",
                "detail": "dependency not pinned by hash detected -- score normalized to 0",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 5
              },
              {
                "key": "sast",
                "name": "SAST",
                "detail": "SAST tool is not run on all commits -- score normalized to 0",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 5
              },
              {
                "key": "security_policy",
                "name": "Security-Policy",
                "detail": "security policy file not detected",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 5
              },
              {
                "key": "signed_releases",
                "name": "Signed-Releases",
                "detail": "no releases found",
                "points": 0,
                "status": "excluded",
                "details": [
                  {
                    "code": "no_data",
                    "params": {}
                  }
                ],
                "max_points": 7.5
              },
              {
                "key": "token_permissions",
                "name": "Token-Permissions",
                "detail": "detected GitHub workflow tokens with excessive permissions",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 7.5
              },
              {
                "key": "vulnerabilities",
                "name": "Vulnerabilities",
                "detail": "6 existing vulnerabilities detected",
                "points": 3,
                "status": "partial",
                "details": [],
                "max_points": 7.5
              }
            ]
          },
          {
            "key": "dependency_advisories",
            "band": "at_risk",
            "name": "Dependency advisories",
            "note": "Excluded from scoring (no data or not applicable): Indirect dependencies free of known advisories. Remaining weights renormalized. Matched 215 resolved dependencies against OSV. This repository publishes no package the index resolves, so the repository dependency graph was assessed instead. That graph mixes development and test pins with shipped dependencies, so only the declared runtime dependencies are scored; transitive findings are reported as context and excluded from the score. Reachability is not analyzed.",
            "notes": [
              {
                "code": "excluded_no_data",
                "params": {
                  "components": [
                    "indirect_dependencies_free_of_known_advisories"
                  ]
                }
              },
              {
                "code": "weights_renormalized",
                "params": {}
              },
              {
                "code": "advisories_scope_repository",
                "params": {
                  "assessed": 215
                }
              },
              {
                "code": "advisories_repo_graph_caveat",
                "params": {}
              },
              {
                "code": "advisories_reachability",
                "params": {}
              }
            ],
            "value": 44,
            "inputs": {
              "source": "osv",
              "advisories": 12,
              "affected_packages": 4,
              "assessed_packages": 215,
              "unassessed_packages": 0,
              "affected_by_severity": "high 3, moderate 1",
              "direct_affected_packages": 3
            },
            "components": [
              {
                "key": "direct_dependencies_free_of_known_advisories",
                "name": "Direct dependencies free of known advisories",
                "detail": "3 affected: torch 2.9.0 (high 8.8), torch 2.9.0+cu128 (high 8.8), torch 2.10.0+cpu (moderate 5.3)",
                "points": 7.7,
                "status": "partial",
                "details": [
                  {
                    "code": "advisories_affected",
                    "params": {
                      "count": 3,
                      "packages": "torch 2.9.0 (high 8.8), torch 2.9.0+cu128 (high 8.8), torch 2.10.0+cpu (moderate 5.3)"
                    }
                  }
                ],
                "max_points": 35
              },
              {
                "key": "indirect_dependencies_free_of_known_advisories",
                "name": "Indirect dependencies free of known advisories",
                "detail": "transitive set not separable from development and test dependencies in this scope",
                "points": 0,
                "status": "excluded",
                "details": [
                  {
                    "code": "advisories_scope_not_separable",
                    "params": {}
                  }
                ],
                "max_points": 25
              },
              {
                "key": "no_advisories_left_outstanding",
                "name": "No advisories left outstanding",
                "detail": "3 advisory-carrying package(s) unaddressed past 90 days; oldest published 478 days ago",
                "points": 25.4,
                "status": "partial",
                "details": [
                  {
                    "code": "advisories_stale",
                    "params": {
                      "days": 90,
                      "count": 3,
                      "oldest": 478
                    }
                  }
                ],
                "max_points": 40
              }
            ]
          },
          {
            "key": "malicious_dependencies",
            "band": "excellent",
            "name": "Malicious dependencies",
            "note": null,
            "notes": [],
            "value": 100,
            "inputs": {
              "source": "osv",
              "meaning": "reported as a malicious package by the OpenSSF corpus; the remedy is removal or moving off the compromised name, never an upgrade of the same artifact. Versions the registry has since pulled are listed but not scored",
              "packages": [],
              "red_flag": false,
              "assessed_packages": 215,
              "malicious_packages": 0,
              "direct_malicious_packages": 0,
              "withdrawn_malicious_packages": 0,
              "installable_malicious_packages": 0
            },
            "components": [
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                "key": "no_dependency_reported_as_a_malicious_package",
                "name": "No dependency reported as a malicious package",
                "detail": "no dependency is reported as a malicious package",
                "points": 100,
                "status": "met",
                "details": [
                  {
                    "code": "no_malicious_dependencies",
                    "params": {}
                  }
                ],
                "max_points": 100
              }
            ]
          },
          {
            "key": "high_risk_jurisdiction_exposure",
            "band": "excellent",
            "name": "High-Risk Jurisdiction Exposure",
            "note": "Only high-confidence self-published location evidence affects this multiplier. Ambiguous matches are review-only; country evidence is not proof of nationality, citizenship, legal registration, malicious intent, or sanctions status.",
            "notes": [
              {
                "code": "jurisdiction_evidence_limits",
                "params": {}
              }
            ],
            "value": 100,
            "inputs": {
              "meaning": "self-published location evidence; not nationality or citizenship",
              "red_flag": false,
              "exposures": [],
              "policy_countries": [
                "Russia",
                "Iran",
                "North Korea"
              ],
              "review_only_matches": 0,
              "assessed_self_published_locations": 9
            },
            "components": [
              {
                "key": "policy_exposure_multiplier",
                "name": "Policy exposure multiplier",
                "detail": "no confirmed policy-scope location match",
                "points": 100,
                "status": "met",
                "details": [
                  {
                    "code": "jurisdiction_no_match",
                    "params": {}
                  }
                ],
                "max_points": 100
              }
            ]
          }
        ],
        "description": "Are visible security and supply-chain practices strong, with no malicious dependency and no unresolved high-risk jurisdiction exposure?"
      },
      {
        "key": "ai_readiness",
        "band": "good",
        "name": "AI Readiness",
        "value": 77,
        "weight": 0,
        "metrics": [
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            "key": "ai_agent_context",
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            "name": "Agent context & guidance",
            "note": null,
            "notes": [],
            "value": 85,
            "inputs": {
              "has_llms_txt": false,
              "legible_history_share": 0.93,
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                "CLAUDE.md"
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              "agent_instruction_max_bytes": 2084
            },
            "components": [
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                "key": "agent_instructions",
                "name": "Agent instructions",
                "detail": "AGENTS.md, CLAUDE.md",
                "points": 45,
                "status": "met",
                "details": [
                  {
                    "code": "file_list",
                    "params": {
                      "files": "AGENTS.md, CLAUDE.md"
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                  }
                ],
                "max_points": 45
              },
              {
                "key": "machine_readable_docs_llms_txt",
                "name": "Machine-readable docs (llms.txt)",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 15
              },
              {
                "key": "legible_commit_history",
                "name": "Legible commit history",
                "detail": "93 of 100 human commits state their intent (structured subject or explanatory body)",
                "points": 40,
                "status": "met",
                "details": [
                  {
                    "code": "legible_history",
                    "params": {
                      "legible": 93,
                      "sampled": 100
                    }
                  }
                ],
                "max_points": 40
              }
            ]
          },
          {
            "key": "ai_verify_loop",
            "band": "good",
            "name": "Verify loop (build / test / typecheck)",
            "note": null,
            "notes": [],
            "value": 82,
            "inputs": {
              "has_nix": false,
              "has_tests": true,
              "lockfiles": [
                "uv.lock"
              ],
              "has_dockerfile": true,
              "typed_language": false,
              "bootstrap_files": [
                "Makefile"
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              "has_devcontainer": false,
              "has_linter_config": true,
              "typecheck_configs": [
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              "agent_commit_share": 0.07,
              "toolchain_manifests": [],
              "dependency_bot_commit_share": 0
            },
            "components": [
              {
                "key": "one_command_bootstrap",
                "name": "One-command bootstrap",
                "detail": "Makefile",
                "points": 18,
                "status": "met",
                "details": [
                  {
                    "code": "file_list",
                    "params": {
                      "files": "Makefile"
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                "max_points": 18
              },
              {
                "key": "automated_tests",
                "name": "Automated tests",
                "detail": null,
                "points": 22,
                "status": "met",
                "details": [],
                "max_points": 22
              },
              {
                "key": "lint_format_config",
                "name": "Lint / format config",
                "detail": null,
                "points": 11,
                "status": "met",
                "details": [],
                "max_points": 11
              },
              {
                "key": "static_type_checking",
                "name": "Static type checking",
                "detail": "src/mjlab/py.typed",
                "points": 11,
                "status": "met",
                "details": [
                  {
                    "code": "file_list",
                    "params": {
                      "files": "src/mjlab/py.typed"
                    }
                  }
                ],
                "max_points": 11
              },
              {
                "key": "reproducible_environment",
                "name": "Reproducible environment",
                "detail": "Dockerfile, lockfile",
                "points": 10,
                "status": "met",
                "details": [
                  {
                    "code": "file_list",
                    "params": {
                      "files": "Dockerfile, lockfile"
                    }
                  }
                ],
                "max_points": 10
              },
              {
                "key": "demonstrated_agent_practice",
                "name": "Demonstrated agent practice",
                "detail": "7 of the last 100 commits agent-authored or agent-credited",
                "points": 10,
                "status": "met",
                "details": [
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                    "code": "agent_authored_commits",
                    "params": {
                      "count": 7,
                      "sampled": 100
                    }
                  }
                ],
                "max_points": 10
              },
              {
                "key": "automated_maintenance",
                "name": "Automated maintenance",
                "detail": "no automated dependency updates observed",
                "points": 0,
                "status": "missed",
                "details": [
                  {
                    "code": "no_dependency_automation",
                    "params": {}
                  }
                ],
                "max_points": 8
              },
              {
                "key": "openssf_scorecard_pinned_dependencies",
                "name": "OpenSSF Scorecard: Pinned-Dependencies",
                "detail": "dependency not pinned by hash detected -- score normalized to 0",
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 10
              }
            ]
          },
          {
            "key": "ai_code_legibility",
            "band": "good",
            "name": "Code legibility for models",
            "note": null,
            "notes": [],
            "value": 82,
            "inputs": {
              "primary_language": "Python",
              "largest_source_bytes": 72997,
              "source_files_sampled": 284,
              "oversized_source_files": 2
            },
            "components": [
              {
                "key": "type_checkable_code",
                "name": "Type-checkable code",
                "detail": "Python with type-check config (src/mjlab/py.typed)",
                "points": 27,
                "status": "partial",
                "details": [
                  {
                    "code": "typecheck_config_language",
                    "params": {
                      "files": "src/mjlab/py.typed",
                      "language": "Python"
                    }
                  }
                ],
                "max_points": 45
              },
              {
                "key": "manageable_file_sizes",
                "name": "Manageable file sizes",
                "detail": "2/284 source files over 60KB",
                "points": 54.6,
                "status": "partial",
                "details": [
                  {
                    "code": "oversized_source_files",
                    "params": {
                      "kb": 60,
                      "sampled": 284,
                      "oversized": 2
                    }
                  }
                ],
                "max_points": 55
              }
            ]
          },
          {
            "key": "ai_interfaces",
            "band": "at_risk",
            "name": "Machine-readable interfaces",
            "note": null,
            "notes": [],
            "value": 40,
            "inputs": {
              "example_dirs": [
                "demos",
                "notebooks"
              ],
              "has_mcp_signal": false,
              "api_schema_files": []
            },
            "components": [
              {
                "key": "api_schema_openapi_graphql_proto",
                "name": "API schema (OpenAPI/GraphQL/proto)",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 40
              },
              {
                "key": "mcp_server",
                "name": "MCP server",
                "detail": null,
                "points": 0,
                "status": "missed",
                "details": [],
                "max_points": 20
              },
              {
                "key": "runnable_examples",
                "name": "Runnable examples",
                "detail": "demos, notebooks",
                "points": 40,
                "status": "met",
                "details": [
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                    "code": "file_list",
                    "params": {
                      "files": "demos, notebooks"
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                  }
                ],
                "max_points": 40
              }
            ]
          }
        ],
        "description": "How well is the repo equipped to be developed and maintained with AI coding agents? An independent, experimental badge — weight 0.0, so it is surfaced on its own and does not affect the overall health score."
      }
    ],
    "metrics_version": "1.13.0"
  },
  "warnings": [
    "Star history unavailable: GitHub GraphQL error: Resource not accessible by personal access token",
    "deps.dev does not index pypi:mjlab@1.5.3; advisories assessed against the repository dependency graph instead"
  ],
  "report_type": "repository",
  "generated_at": "2026-07-22T18:15:38.073302Z",
  "schema_version": "0.26.0",
  "badge_url": "https://raw.githubusercontent.com/inspect-software/badges/main/v1/m/mujocolab/mjlab.svg",
  "full_name": "mujocolab/mjlab",
  "license_state": "standard",
  "license_spdx": "Apache-2.0"
}