diff --git a/highlights.md b/highlights.md
index 98d8891..595ed64 100644
--- a/highlights.md
+++ b/highlights.md
@@ -17,6 +17,44 @@
     logger->trace("π to 5th decimal = {:.5f}\n", M_PI);
     ```
 
+- Improvements to the bullet-featherstone physics plugin
+
+  - Many new features and bugfixes were made to the bullet-featherstone plugin
+    in gz-physics, which include support for nested models,
+    off-diagonal inertia, enforcing joint velocity and effort limits,
+    configuring solver iterations, and more. There are also features for
+    performance improvements and physics stability such as auto-deactivation,
+    static object collision optimization, and use of convex hull shapes for
+    convex decomposed meshes.
+
+- [Support for mesh optimization](https://github.com/gazebosim/gz-sim/pull/2417),
+[gzsim#2352](https://github.com/gazebosim/gz-sim/pull/2352),
+[gz-common#585](https://github.com/gazebosim/gz-common/pull/585),
+[sdformat#1382](https://github.com/gazebosim/gz-common/pull/585), and
+[gz-physics#606](https://github.com/gazebosim/gz-physics/pull/606)
+
+  - Added support for mesh optimization on the collision mesh. Users can now
+    specify whether or not to perform mesh optimization on a
+    collision mesh in SDF (requires SDF spec version >= 1.11). Two optimization
+    methods are currently supported: `convex_decomposition` and `convex_hull`.
+    Gazebo uses the open source
+    [V-HACD](https://github.com/kmammou/v-hacd) library to perform
+    convex decomposition to split the mesh into multiple submeshes.
+    Example SDF usage:
+
+
+    ```xml
+    <collision>
+      <mesh optimization="convex_decomposition">
+        <convex_decomposition>
+          <max_convex_hulls>16</max_convex_hulls>
+          <voxel_resolution>400000</voxel_resolution>
+        </convex_decomposition>
+        <uri>/path/to/mesh.dae</uri>
+      </mesh>
+    </collision>
+    ```
+
 ## Bug Fixes
 
 ## Breaking Changes
diff --git a/release_notes.md b/release_notes.md
index 552584c..d702986 100644
--- a/release_notes.md
+++ b/release_notes.md
@@ -14,3 +14,31 @@
 - [bazel:Add license checking support](https://github.com/gazebosim/gz-utils/pull/108)
 - [Add package.xml](https://github.com/gazebosim/gz-utils/pull/125)
 - [Require cmake version 3.22.1](https://github.com/gazebosim/gz-utils/pull/132)
+
+
+## gazebosim/gz-physics:
+
+- Improve bullet-featherstone physics plugin:
+  - [Add support for nested model](https://github.com/gazebosim/gz-physics/pull/574)
+  - [Add support for off-diagnoal inertial](https://github.com/gazebosim/gz-physics/pull/574)
+  - [Optimize static object collisions](https://github.com/gazebosim/gz-physics/pull/611)
+  - [Improve mesh collision stability](https://github.com/gazebosim/gz-physics/pull/600)
+  - [Enable auto deactivation](https://github.com/gazebosim/gz-physics/pull/630)
+  - [Add support for mesh convex decomposition](https://github.com/gazebosim/gz-physics/pull/606)
+  - [Enforce joint velocity and effort limits for velocity control commands](https://github.com/gazebosim/gz-physics/pull/658)
+
+
+## gazebosim/gz-common:
+
+- [Adds new function in MeshManager for performing convex decomposition](https://github.com/gazebosim/gz-common/pull/585)
+
+
+## gazebosim/gz-sim:
+
+- [Support visualizing mesh collisions with convex decomposition](https://github.com/gazebosim/gz-sim/pull/2352)
+- [Support mesh optimization when using AttachMeshShapeFeature](https://github.com/gazebosim/gz-sim/pull/2417)
+
+
+## gazebosim/sdformat:
+
+- [Add mesh optimization attribute to `<mesh>`](https://github.com/gazebosim/sdformat/pull/1382), [sdformat#1403](https://github.com/gazebosim/sdformat/pull/1403)