Update changelog for the 3.10.0 release.
PiperOrigin-RevId: 936044016 Change-Id: I4b6e3205819b7bd0469415fe0b57990b68309d1b
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Michael Moss
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Copybara-Service
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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 3.10.0 (June 22, 2026)
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------------------------------
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General
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^^^^^^^
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- Added :ref:`mju_threadpool`, a new function for creating a thread pool on an ``mjData`` instance. When a thread pool
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is initialized, parts of the simulation pipeline, such as collision detection and constraint solving across islands,
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are parallelized. The thread pool is automatically destroyed when the ``mjData`` is freed.
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- Added a unified :ref:`logging API<siError>`:
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1. Added :ref:`mju_threadpool`, a new function for creating a thread pool on an ``mjData`` instance. When a thread pool
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is initialized, parts of the simulation pipeline, such as collision detection and constraint solving across islands,
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are parallelized. The thread pool is automatically destroyed when the ``mjData`` is freed.
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2. Added a unified :ref:`logging API<siError>`:
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- All errors, warnings, and informational messages are now routed through a single :ref:`mjfLogHandler` callback
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receiving a structured :ref:`mjLogMessage`.
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- Users can install a custom handler via :ref:`mju_setLogHandler`,
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configure the default handler's behavior (console/file output, topic filtering) via :ref:`mju_setLogConfig`.
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- Messages can be emitted via :ref:`mju_info` and :ref:`mju_message`.
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- New types: :ref:`mjtLogLevel`, :ref:`mjtLogTopic`, :ref:`mjLogMessage`, :ref:`mjLogConfig`.
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- The legacy callbacks :ref:`mju_user_error` and :ref:`mju_user_warning` are deprecated but remain functional.
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- All errors, warnings, and informational messages are now routed through a single :ref:`mjfLogHandler` callback
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receiving a structured :ref:`mjLogMessage`.
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- Users can install a custom handler via :ref:`mju_setLogHandler`,
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configure the default handler's behavior (console/file output, topic filtering) via :ref:`mju_setLogConfig`.
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- Messages can be emitted via :ref:`mju_info` and :ref:`mju_message`.
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- New types: :ref:`mjtLogLevel`, :ref:`mjtLogTopic`, :ref:`mjLogMessage`, :ref:`mjLogConfig`.
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- The legacy callbacks :ref:`mju_user_error` and :ref:`mju_user_warning` are deprecated but remain functional.
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- Added :ref:`mjs_numWarnings` and :ref:`mjs_getWarning` for retrieving all warnings accumulated during model
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compilation and attachment. Deprecated :ref:`mjs_isWarning` in favor of ``mjs_numWarnings(s) > 0``.
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- Added the :ref:`compiler/conflict<compiler-conflict>` attribute for controlling how conflicting global attributes
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are resolved during :ref:`attachment<mjs_attach>`. Possible values are "warning" (default: parent values take
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precedence, warnings emitted on conflicts), "merge" (per-field min/max/error strategy), and "error" (any
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conflict raises an error). See :ref:`Attribute Merging <meAttributeMerging>` for details.
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3. Added :ref:`mjs_numWarnings` and :ref:`mjs_getWarning` for retrieving all warnings accumulated during model
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compilation and attachment. Deprecated :ref:`mjs_isWarning` in favor of ``mjs_numWarnings(s) > 0``.
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4. Added the :ref:`compiler/conflict<compiler-conflict>` attribute for controlling how conflicting global attributes
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are resolved during :ref:`attachment<mjs_attach>`. Possible values are "warning" (default: parent values take
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precedence, warnings emitted on conflicts), "merge" (per-field min/max/error strategy), and "error" (any
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conflict raises an error). See :ref:`Attribute Merging <meAttributeMerging>` for details.
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.. admonition:: Future breaking API changes
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:class: warning
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.. admonition:: Future breaking API changes
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:class: warning
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The current default conflict resolution policy "warn" (ignore the child model) is backward compatible.
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However, the default policy will change to "merge" in a future release.
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The current default conflict resolution policy "warn" (ignore the child model) is backward compatible.
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However, the default policy will change to "merge" in a future release.
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- Improved primal solver convergence under float32. Improvements initially proposed by :github:user:`n3b` in
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:issue:`2313` and :github:user:`adenzler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request
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`1374 <https://github.com/google-deepmind/mujoco_warp/pull/1374>`__.
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- The :ref:`CG solver<soAlgorithms>` now uses the Hager-Zhang conjugate direction update instead of the
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Polak-Ribiere-Plus formula. This improves convergence and leads to a significant speedup under float32.
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- Added :ref:`mjs_makeFlex`, a new C API function equivalent to the :ref:`flexcomp<body-flexcomp>` element for
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programmatically creating flex objects with auto-generated bodies, joints, and equality constraints. Exposed as
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``body.make_flex()`` in Python.
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- Added support for loading 1D flex components from OBJ line segments
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- Significantly improved the quality of coarse convex hulls produced by the :ref:`maxhullvert<asset-mesh-maxhullvert>`
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attribute by invoking Qhull's `Q9 <http://www.qhull.org/html/qh-optq.htm#Q9>`__ option.
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5. Improved primal solver convergence under float32. Improvements initially proposed by :github:user:`n3b` in
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:issue:`2313` and :github:user:`adenzler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request
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`1374 <https://github.com/google-deepmind/mujoco_warp/pull/1374>`__.
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6. The :ref:`CG solver<soAlgorithms>` now uses the Hager-Zhang conjugate direction update instead of the
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Polak-Ribiere-Plus formula. This improves convergence and leads to a significant speedup under float32.
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7. Added :ref:`mjs_makeFlex`, a new C API function equivalent to the :ref:`flexcomp<body-flexcomp>` element for
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programmatically creating flex objects with auto-generated bodies, joints, and equality constraints. Exposed as
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``body.make_flex()`` in Python.
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8. Added support for loading 1D flex components from OBJ line segments
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9. Significantly improved the quality of coarse convex hulls produced by the :ref:`maxhullvert<asset-mesh-maxhullvert>`
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attribute by invoking Qhull's `Q9 <http://www.qhull.org/html/qh-optq.htm#Q9>`__ option.
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.. admonition:: Breaking API changes
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:class: attention
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.. admonition:: Breaking API changes
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:class: attention
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- The header file ``mjthread.h`` was removed along with the old engine threading API.
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|br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
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- Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
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(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
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allocated on the stack.
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- Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
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``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
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the :math:`A` ("Delassus") matrix.
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- The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
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- The header file ``mjthread.h`` was removed along with the old engine threading API.
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|br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
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- Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
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(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
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allocated on the stack.
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- Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
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``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
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the :math:`A` ("Delassus") matrix.
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- The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
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- Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to ``mj_fullM(m, d, dst)`` as part of the
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planned deprecation of ``mjData.qM`` in favor of the CSR-format ``mjData.M``.
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- Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to ``mj_fullM(m, d, dst)`` as part of the
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planned deprecation of ``mjData.qM`` in favor of the CSR-format ``mjData.M``.
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**Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)`` or
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``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
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**Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)`` or
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``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
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Bug fixes
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^^^^^^^^^
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- Fixed a vulnerability in the System Identification toolbox where loading a trajectory or time series called
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``np.load`` with ``allow_pickle=True``, allowing arbitrary code execution from a malicious ``.npz`` file. Signal
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metadata is now serialized as JSON and loaded with ``allow_pickle=False``.
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- Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read.
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- Fixed a bug where the mesh compiler would produce non-unit convex hull polygon normals.
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10. Fixed a vulnerability in the System Identification toolbox where loading a trajectory or time series called
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``np.load`` with ``allow_pickle=True``, allowing arbitrary code execution from a malicious ``.npz`` file. Signal
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metadata is now serialized as JSON and loaded with ``allow_pickle=False``.
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11. Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read.
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12. Fixed a bug where the mesh compiler would produce non-unit convex hull polygon normals.
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Version 3.9.0 (May 27, 2026)
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----------------------------
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