Update changelog for the 3.9.0 release.
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Changelog
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=========
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Upcoming version (not yet released)
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-----------------------------------
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Version 3.9.0 (May 27, 2026)
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----------------------------
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General
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^^^^^^^
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- Added ``mjData.efc_Y``, the whitened constraint Jacobian :math:`Y = J M^{-1/2}`, allocated in the arena when
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dual solvers (PGS or NoSlip) are used or when :ref:`diagexact<option-flag-diagexact>` is enabled.
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- Added the :ref:`diagexact<option-flag-diagexact>` enable flag, which computes the exact diagonal of the
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constraint-space inertia matrix at the current configuration, replacing the default compile-time approximation.
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This improves solver quality for models with anisotropic inertias or complex kinematic coupling. See
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:ref:`Exact diagonal <soExactDiag>` for details.
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- The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous
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release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which introduced subtle yet
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undesirable time dependence.
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- Flexes are now allowed to sleep, with the exception of completely passive (constraint-free) flexes.
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- Added compiler timing diagnostics via the new :ref:`mjtCTimer` enum and the :ref:`mjs_getTimer` C API. After
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:ref:`mj_compile`, per-category timings (total, assets, mesh loading, convex hull, normals, inertia, BVH, octree,
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textures) are available via ``mjs_getTimer(spec)``. The :ref:`compile<saCompile>` sample prints a detailed timing
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breakdown when run without an output file.
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- Added :ref:`mjtBool` to represent boolean variables, replacing :ref:`mjtByte` across all boolean fields in
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:ref:`mjModel`, :ref:`mjData`, and public C API function signatures.
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1. Added ``mjData.efc_Y``, the whitened constraint Jacobian :math:`Y = J M^{-1/2}`, allocated in the arena when
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dual solvers (PGS or NoSlip) are used or when :ref:`diagexact<option-flag-diagexact>` is enabled.
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2. Added the :ref:`diagexact<option-flag-diagexact>` enable flag, which computes the exact diagonal of the
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constraint-space inertia matrix at the current configuration, replacing the default compile-time approximation.
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This improves solver quality for models with anisotropic inertias or complex kinematic coupling. See
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:ref:`Exact diagonal <soExactDiag>` for details.
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3. The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous
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release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which introduced subtle yet
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undesirable time dependence.
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4. Flexes are now allowed to sleep, with the exception of completely passive (constraint-free) flexes.
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5. Added compiler timing diagnostics via the new :ref:`mjtCTimer` enum and the :ref:`mjs_getTimer` C API. After
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:ref:`mj_compile`, per-category timings (total, assets, mesh loading, convex hull, normals, inertia, BVH, octree,
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textures) are available via ``mjs_getTimer(spec)``. The :ref:`compile<saCompile>` sample prints a detailed timing
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breakdown when run without an output file.
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6. Added :ref:`mjtBool` to represent boolean variables, replacing :ref:`mjtByte` across all boolean fields in
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:ref:`mjModel`, :ref:`mjData`, and public C API function signatures.
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.. admonition:: Breaking API changes
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:class: attention
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- The semantics of the contact ``margin`` and ``gap`` parameters have been redesigned for conceptual clarity and
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consistency with `Newton <https://github.com/newton-physics/newton>`__. See the new
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:ref:`margin and gap<coMarginGap>` documentation section for details.
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7. The semantics of the contact ``margin`` and ``gap`` parameters have been redesigned for conceptual clarity and
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consistency with `Newton <https://github.com/newton-physics/newton>`__. See the new
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:ref:`margin and gap<coMarginGap>` documentation section for details.
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Previously, ``margin`` controlled the *detection threshold* (contacts exist when ``dist < margin``) and ``gap``
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was subtracted from it to produce the *force threshold* (forces generated when ``dist < margin - gap``). This was
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unintuitive: users expected ``margin`` to mean geometric inflation and ``gap`` to mean a spatial gap.
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Previously, ``margin`` controlled the *detection threshold* (contacts exist when ``dist < margin``) and ``gap``
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was subtracted from it to produce the *force threshold* (forces generated when ``dist < margin - gap``). This was
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unintuitive: users expected ``margin`` to mean geometric inflation and ``gap`` to mean a spatial gap.
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Under the new semantics, ``margin`` is the geometric inflation of the geom surface and ``gap`` is an additional
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detection buffer beyond the inflated surface:
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Under the new semantics, ``margin`` is the geometric inflation of the geom surface and ``gap`` is an additional
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detection buffer beyond the inflated surface:
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- **Detection**: contacts are created when ``dist < margin + gap``.
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- **Force generation**: constraint forces are applied when ``dist < margin``.
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- **Inactive contacts**: contacts with ``margin < dist ≤ margin + gap`` are included in ``mjData.contact`` but
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generate no force (``efc_address = -1``). This is useful for :ref:`adhesion<actuator-adhesion>` actuators and
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custom callbacks.
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- **Detection**: contacts are created when ``dist < margin + gap``.
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- **Force generation**: constraint forces are applied when ``dist < margin``.
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- **Inactive contacts**: contacts with ``margin < dist ≤ margin + gap`` are included in ``mjData.contact`` but
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generate no force (``efc_address = -1``). This is useful for :ref:`adhesion<actuator-adhesion>` actuators and
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custom callbacks.
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With the default values ``margin = 0``, ``gap = 0``, the behavior is unchanged.
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With the default values ``margin = 0``, ``gap = 0``, the behavior is unchanged.
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.. image:: images/modeling/margin_gap_light.svg
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:width: 80%
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:align: center
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:class: only-light
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.. image:: images/modeling/margin_gap_light.svg
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:width: 80%
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:align: center
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:class: only-light
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.. image:: images/modeling/margin_gap_dark.svg
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:width: 80%
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:align: center
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:class: only-dark
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.. image:: images/modeling/margin_gap_dark.svg
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:width: 80%
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:align: center
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:class: only-dark
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**Migration:** Models that use the default ``gap="0"`` (the vast majority) require no changes. For models with
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``gap > 0``, apply the following transformation to preserve identical behavior:
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**Migration:** Models that use the default ``gap="0"`` (the vast majority) require no changes. For models with
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``gap > 0``, apply the following transformation to preserve identical behavior:
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.. code-block::
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.. code-block::
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margin_new = margin_old - gap_old
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gap_new = gap_old
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margin_new = margin_old - gap_old
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gap_new = gap_old
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For example, a geom with the old attributes ``margin="0.1" gap="0.1"`` should be changed to
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``margin="0" gap="0.1"``.
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For example, a geom with the old attributes ``margin="0.1" gap="0.1"`` should be changed to
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``margin="0" gap="0.1"``.
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Negative ``margin`` values are now permitted (corresponding to ``gap > margin`` under the old semantics). The
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constraint ``margin + gap >= 0`` should be maintained to ensure valid collision detection.
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Negative ``margin`` values are now permitted (corresponding to ``gap > margin`` under the old semantics). The
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constraint ``margin + gap >= 0`` should be maintained to ensure valid collision detection.
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- The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact`
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struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection.
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8. The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact`
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struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection.
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- The header file ``mjtnum.h`` was renamed to
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`mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>` and now includes all
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enum type definitions.
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9. The header file ``mjtnum.h`` was renamed to
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`mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>` and now includes all
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enum type definitions.
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- The :ref:`tactile<sensor-tactile>` sensor now reports raw depth instead of an estimated pressure.
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10. The :ref:`tactile<sensor-tactile>` sensor now reports raw depth instead of an estimated pressure.
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- MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of
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``naconmax``.
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11. MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of
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``naconmax``.
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12. Maybe-breaking: Added `mjassert.h
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<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjassert.h>`__, a new header containing
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compile-time assertions that verify the sizes of MuJoCo's public types for ABI stability. This is a first step
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towards replacing ``int`` with strongly-typed enums in the public API. If these assertions fail on your compiler or
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platform, please report the issue on GitHub.
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- Maybe-breaking: Added `mjassert.h
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<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjassert.h>`__, a new header containing
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compile-time assertions that verify the sizes of MuJoCo's public types for ABI stability. This is a first step
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towards replacing ``int`` with strongly-typed enums in the public API. If these assertions fail on your compiler or
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platform, please report the issue on GitHub.
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Version 3.8.1 (May 11, 2026)
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----------------------------
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