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Update changelog for the 3.9.0 release.

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PiperOrigin-RevId: 922002472
Change-Id: I92489261c59cff10b29def784698868e67aa43da
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Michael Moss
2026-05-27 02:46:48 -07:00
committed by Copybara-Service
parent f6cd0234fd
commit 237c17e485
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doc/changelog.rst
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Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 3.9.0 (May 27, 2026)
----------------------------
General
^^^^^^^
- Added ``mjData.efc_Y``, the whitened constraint Jacobian :math:`Y = J M^{-1/2}`, allocated in the arena when
1. Added ``mjData.efc_Y``, the whitened constraint Jacobian :math:`Y = J M^{-1/2}`, allocated in the arena when
dual solvers (PGS or NoSlip) are used or when :ref:`diagexact<option-flag-diagexact>` is enabled.
- Added the :ref:`diagexact<option-flag-diagexact>` enable flag, which computes the exact diagonal of the
2. Added the :ref:`diagexact<option-flag-diagexact>` enable flag, which computes the exact diagonal of the
constraint-space inertia matrix at the current configuration, replacing the default compile-time approximation.
This improves solver quality for models with anisotropic inertias or complex kinematic coupling. See
:ref:`Exact diagonal <soExactDiag>` for details.
- The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous
3. The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous
release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which introduced subtle yet
undesirable time dependence.
- Flexes are now allowed to sleep, with the exception of completely passive (constraint-free) flexes.
- Added compiler timing diagnostics via the new :ref:`mjtCTimer` enum and the :ref:`mjs_getTimer` C API. After
4. Flexes are now allowed to sleep, with the exception of completely passive (constraint-free) flexes.
5. Added compiler timing diagnostics via the new :ref:`mjtCTimer` enum and the :ref:`mjs_getTimer` C API. After
:ref:`mj_compile`, per-category timings (total, assets, mesh loading, convex hull, normals, inertia, BVH, octree,
textures) are available via ``mjs_getTimer(spec)``. The :ref:`compile<saCompile>` sample prints a detailed timing
breakdown when run without an output file.
- Added :ref:`mjtBool` to represent boolean variables, replacing :ref:`mjtByte` across all boolean fields in
6. Added :ref:`mjtBool` to represent boolean variables, replacing :ref:`mjtByte` across all boolean fields in
:ref:`mjModel`, :ref:`mjData`, and public C API function signatures.
.. admonition:: Breaking API changes
:class: attention
- The semantics of the contact ``margin`` and ``gap`` parameters have been redesigned for conceptual clarity and
7. The semantics of the contact ``margin`` and ``gap`` parameters have been redesigned for conceptual clarity and
consistency with `Newton <https://github.com/newton-physics/newton>`__. See the new
:ref:`margin and gap<coMarginGap>` documentation section for details.
@@ -72,24 +72,25 @@ General
Negative ``margin`` values are now permitted (corresponding to ``gap > margin`` under the old semantics). The
constraint ``margin + gap >= 0`` should be maintained to ensure valid collision detection.
- The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact`
8. The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact`
struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection.
- The header file ``mjtnum.h`` was renamed to
9. The header file ``mjtnum.h`` was renamed to
`mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>` and now includes all
enum type definitions.
- The :ref:`tactile<sensor-tactile>` sensor now reports raw depth instead of an estimated pressure.
10. The :ref:`tactile<sensor-tactile>` sensor now reports raw depth instead of an estimated pressure.
- MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of
11. MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of
``naconmax``.
- Maybe-breaking: Added `mjassert.h
12. Maybe-breaking: Added `mjassert.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjassert.h>`__, a new header containing
compile-time assertions that verify the sizes of MuJoCo's public types for ABI stability. This is a first step
towards replacing ``int`` with strongly-typed enums in the public API. If these assertions fail on your compiler or
platform, please report the issue on GitHub.
Version 3.8.1 (May 11, 2026)
----------------------------