google-deepmind · kevinzakka · Apr 23, 2025 · Apr 22, 2025 · Apr 22, 2025 · Apr 22, 2025
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -0,0 +1,19 @@
+# Description
+
+<!-- Briefly describe what this PR does -->
+
+Fixes: <!-- List any GitHub issues this PR addresses -->
+
+# Checklist
+
+Please check off each item (`[x]`) once complete, or mark it as `[N/A]` if it doesn't apply:
+
+- [ ] Added your name to `CONTRIBUTORS.md` (alphabetically by first name)
+- [ ] Updated `CHANGELOG.md`:
+  - [ ] Global changelog (if your change affects the overall repo)
+  - [ ] Model-specific changelog (if it affects a specific model only)
+- [ ] Followed the XML formatting/style guidelines (if editing MJCF)
+- [ ] Ran `pytest test/` locally and ensured all tests pass
+- [ ] Signed the [Contributor License Agreement (CLA)](https://cla.developers.google.com/)
+
+Refer to the [contributing guide](https://github.com/google-deepmind/mujoco_menagerie/blob/main/CONTRIBUTING.md) if you're unsure about any of the steps.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -0,0 +1,9 @@
+# Changelog – MuJoCo Menagerie
+
+All notable changes to this repository will be documented here.
+
+## [22/04/2025]
+- Adds changelog structure, contributor list, and PR template.
+
+## [07/09/2022]
+- Initial release.
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -64,6 +64,15 @@ checks that no simulation instabilities occur. In the future, we will likely add
 more tests that check for model realism (e.g., that a trajectory in real matches
 one in simulation).
 
+## Changelog & Contributors
+
+Please document your changes in the appropriate changelog:
+
+- For updates that affect the general repository (e.g., CI, tooling, documentation, shared infrastructure), add an entry to the [global `CHANGELOG.md`](./CHANGELOG.md).
+- For changes specific to a model, update the `CHANGELOG.md` in that model’s directory (e.g., `unitree_go1/CHANGELOG.md`).
+
+Make sure to also add your name to the [`CONTRIBUTORS.md`](./CONTRIBUTORS.md), keeping the list sorted alphabetically by first name.
+
 ## Contributor License Agreement
 
 Contributions to this project must be accompanied by a Contributor License

diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -0,0 +1,42 @@
+# MuJoCo Menagerie – Contributors
+
+Built by the Google DeepMind team with contributions from the open-source community — thank you to everyone who helped shape this project.
+
+## Core Team
+
+- [Alessio Quaglino](https://github.com/quagla) — Google DeepMind  
+- [Baruch Tabanpour](https://github.com/btaba) — Google DeepMind  
+- [Kevin Zakka](https://github.com/kevinzakka) — Maintainer, Google DeepMind  
+- [Nimrod Gileadi](https://github.com/nimrod-gileadi) — Google DeepMind  
+- [Saran Tunyasuvunakool](https://github.com/saran-t) — Google DeepMind  
+- [Tom Erez](https://github.com/erez-tom) — Google DeepMind  
+- [Yuval Tassa](https://github.com/yuvaltassa) — Google DeepMind  
+
+## Community Contributors
+
+- [Albert Li](https://github.com/alberthli)  
+- [Alper Ahmetoglu](https://github.com/alper111)  
+- [Andrew Luo](https://github.com/Andrew-Luo1)  
+- [Ayzaan Wahid](https://github.com/ayzaan)  
+- [Chintan Desai](https://github.com/hello-chintan)  
+- [Dada Tian](https://github.com/lonelyfluency)  
+- [Eugene Frizza](https://github.com/eufrizz)  
+- [Ian Noh](https://github.com/dongridong)  
+- [Jonathan Zamora](https://github.com/jonzamora)  
+- [Kallinteris Andreas](https://github.com/Kallinteris-Andreas)  
+- [Lev Kozlov](https://github.com/lvjonok)  
+- [Lorenzo Amatucci](https://github.com/lorenzo96-cmd)  
+- [Louis Le Lay](https://github.com/louislelay)  
+- [Martin Günther](https://github.com/muhrix)  
+- [Mohamed Fazil](https://github.com/hello-fazil)  
+- [Nikita Cherniadev](https://github.com/chernyadev)  
+- [Omar Rayyan](https://github.com/omarrayyann)  
+- [Sai Kishor Kothakota](https://github.com/saikishor)  
+- [Taylor Howell](https://github.com/thowell)  
+- [Thomas Lips](https://github.com/tlpss)  
+- [Thomas Peyrucain](https://github.com/thomaspeyrucain)  
+- [Varad Vaidya](https://github.com/varadVaidya)  
+
+---
+
+Want to contribute? Check out our [CONTRIBUTING.md](./CONTRIBUTING.md) guide and submit a pull request!
diff --git a/README.md b/README.md
@@ -281,16 +281,19 @@ If you use Menagerie in your work, please use the following citation:
 
 ## Acknowledgments
 
-The models in this repository are based on third-party models designed by many
-talented people, and would not have been possible without their generous
-open-source contributions. We would like to acknowledge all the designers
-and engineers who made MuJoCo Menagerie possible.
+The models in this repository are based on third-party models designed by many talented people, and would not have been possible without their generous open-source contributions. We would like to acknowledge all the designers and engineers who made MuJoCo Menagerie possible.
 
 We'd like to thank Pedro Vergani for his help with visuals and design.
 
-The main effort required to make this repository publicly available was
-undertaken by [Kevin Zakka](https://kzakka.com/), with help from the Robotics
-Simulation team at Google DeepMind.
+The main effort required to make this repository publicly available was undertaken by [Kevin Zakka](https://kzakka.com/), with help from the Robotics Simulation team at Google DeepMind.
+
+This project has also benefited from contributions by members of the broader community — see the [CONTRIBUTORS.md](./CONTRIBUTORS.md) for a full list.
+
+## Changelog
+
+For a summary of key updates across the repository, see the [global CHANGELOG.md](./CHANGELOG.md).
+
+Each individual model also includes its own `CHANGELOG.md` file with model-specific updates, linked directly from the corresponding README.
 
 ## License and Disclaimer
 

diff --git a/agilex_piper/CHANGELOG.md b/agilex_piper/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – AgileX PiPER Description
+
+All notable changes to this model will be documented in this file.
+
+## [16/02/2025]
+- Initial release.
diff --git a/agilex_piper/README.md b/agilex_piper/README.md
@@ -1,7 +1,12 @@
 ## AgileX PiPER Description (MJCF)
 
+> [!IMPORTANT]
 > Requires MuJoCo 2.3.4 or later.
 
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
 ### Overview
 
 This package contains a simplified robot description (MJCF) of the [AgileX PiPER](https://global.agilex.ai/products/piper). It is derived from the publicly available [model](https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf).

diff --git a/agility_cassie/CHANGELOG.md b/agility_cassie/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Agility Cassie Description
+
+All notable changes to this model will be documented in this file.
+
+## [07/09/2022]
+- Initial release.
diff --git a/agility_cassie/README.md b/agility_cassie/README.md
@@ -1,6 +1,11 @@
 # Agility Cassie Description (MJCF)
 
-Requires MuJoCo 2.2.2 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview
 

diff --git a/aloha/CHANGELOG.md b/aloha/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – ALOHA Description
+
+All notable changes to this model will be documented in this file.
+
+## [05/02/2024]
+- Initial release.
diff --git a/aloha/README.md b/aloha/README.md
@@ -1,6 +1,11 @@
 # ALOHA Description (MJCF)
 
-Requires MuJoCo 3.1.1 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.1 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview
 

diff --git a/anybotics_anymal_b/CHANGELOG.md b/anybotics_anymal_b/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – ANYmal B Description
+
+All notable changes to this model will be documented in this file.
+
+## [07/09/2022]
+- Initial release.
diff --git a/anybotics_anymal_b/README.md b/anybotics_anymal_b/README.md
@@ -1,6 +1,11 @@
 # ANYmal B Description (MJCF)
 
-Requires MuJoCo 2.2.2 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview
 

diff --git a/anybotics_anymal_c/CHANGELOG.md b/anybotics_anymal_c/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – ANYmal C Description
+
+All notable changes to this model will be documented in this file.
+
+## [07/09/2022]
+- Initial release.
diff --git a/anybotics_anymal_c/README.md b/anybotics_anymal_c/README.md
@@ -1,6 +1,11 @@
 # ANYmal C Description (MJCF)
 
-Requires MuJoCo 2.2.2 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview
 

diff --git a/apptronik_apollo/CHANGELOG.md b/apptronik_apollo/CHANGELOG.md
@@ -0,0 +1,18 @@
+# Changelog – Apptronik Apollo Description
+
+All notable changes to this model will be documented in this file.
+
+## [04/17/2025]
+- IMU position correction based on Apptroink request.
+
+## [03/15/2025]
+- Fixed finger distal orientation.
+
+## [01/21/2025]
+- Fixed bug in the IMU position.
+
+## [01/09/2025]
+- Fixed issue https://github.com/google-deepmind/mujoco_menagerie/issues/136.
+
+## [12/20/2024]
+- Initial release.
diff --git a/apptronik_apollo/README.md b/apptronik_apollo/README.md
@@ -1,14 +1,11 @@
 # Apptronik Apollo Description (MJCF)
 
-Requires MuJoCo 3.0.0 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 3.0.0 or later.
 
 ## Changelog
 
-- 04/17/2025: IMU position correction based on Apptroink request.
-- 03/15/2025: Fixed finger distal orientation.
-- 01/21/2025: Fixed bug in the IMU position.
-- 01/09/2025: Fixed issue https://github.com/google-deepmind/mujoco_menagerie/issues/136.
-- 12/20/2024: Initial release.
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview
 

diff --git a/arx_l5/CHANGELOG.md b/arx_l5/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – ARX L5 Description
+
+All notable changes to this model will be documented in this file.
+
+## [20/03/2025]
+- Initial release.
diff --git a/arx_l5/README.md b/arx_l5/README.md
@@ -1,7 +1,12 @@
 ## ARX L5 Description (MJCF)
 
+> [!IMPORTANT]
 > Requires MuJoCo 3.1.3 or later.
 
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
 ### Overview
 
 This package contains a simplified robot description (MJCF) of the [ARX L5](https://arx-x.com/). It is derived from [ARX's official model repository](https://github.com/ARXroboticsX/ARX_Model). The initial URDF can be found at the following [commit SHA](https://github.com/ARXroboticsX/ARX_Model/tree/af6fe43c873008a85bce6195c0f2160f1a1c14ce/X5/X5A).

diff --git a/berkeley_humanoid/CHANGELOG.md b/berkeley_humanoid/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Berkeley Humanoid Description
+
+All notable changes to this model will be documented in this file.
+
+## [06/12/2024]
+- Initial release.
diff --git a/berkeley_humanoid/README.md b/berkeley_humanoid/README.md
@@ -3,6 +3,10 @@
 > [!IMPORTANT]
 > Requires MuJoCo 2.3.4 or later.
 
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
 ## Overview
 
 This package contains a simplified robot description (MJCF) of the [Berkeley

diff --git a/bitcraze_crazyflie_2/CHANGELOG.md b/bitcraze_crazyflie_2/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Bitcraze Crazyflie 2 Description
+
+All notable changes to this model will be documented in this file.
+
+## [03/03/2024]
+- Initial release.
diff --git a/bitcraze_crazyflie_2/README.md b/bitcraze_crazyflie_2/README.md
@@ -1,6 +1,11 @@
 # Bitcraze Crazyflie 2 Description (MJCF)
 
-Requires MuJoCo 2.2.2 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview
 

diff --git a/booster_t1/CHANGELOG.md b/booster_t1/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Bitcraze Crazyflie 2 Description
+
+All notable changes to this model will be documented in this file.
+
+## [07/02/2025]
+- Initial release.
diff --git a/booster_t1/README.md b/booster_t1/README.md
@@ -5,7 +5,7 @@
 
 ## Changelog
 
-- 7/02/2025: Initial release.
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview
 

diff --git a/boston_dynamics_spot/CHANGELOG.md b/boston_dynamics_spot/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Boston Dynamics Spot Description
+
+All notable changes to this model will be documented in this file.
+
+## [31/05/2024]
+- Initial release.
diff --git a/boston_dynamics_spot/README.md b/boston_dynamics_spot/README.md
@@ -3,6 +3,10 @@
 > [!IMPORTANT]
 > Requires MuJoCo 3.1.3 or later.
 
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
 ## Overview
 
 This package contains a simplified robot description (MJCF) of the [Spot

diff --git a/flybody/CHANGELOG.md b/flybody/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Flybody Description
+
+All notable changes to this model will be documented in this file.
+
+## [19/04/2024]
+- Initial release.
diff --git a/flybody/README.md b/flybody/README.md
@@ -1,6 +1,11 @@
 # Flybody Description (MJCF)
 
-Requires MuJoCo 2.2.2 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview
 

diff --git a/franka_emika_panda/CHANGELOG.md b/franka_emika_panda/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Franka Emika Panda Description
+
+All notable changes to this model will be documented in this file.
+
+## [07/09/2022]
+- Initial release.
diff --git a/franka_emika_panda/README.md b/franka_emika_panda/README.md
@@ -1,6 +1,11 @@
 # Franka Emika Panda Description (MJCF)
 
-Requires MuJoCo 2.3.3 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
 
 ## Overview