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Update changelog for the 3.10.0 release.

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Michael Moss
2026-06-22 07:21:51 -07:00
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Changelog Changelog
========= =========
Upcoming version (not yet released) Version 3.10.0 (June 22, 2026)
----------------------------------- ------------------------------
General General
^^^^^^^ ^^^^^^^
- Added :ref:`mju_threadpool`, a new function for creating a thread pool on an ``mjData`` instance. When a thread pool 1. Added :ref:`mju_threadpool`, a new function for creating a thread pool on an ``mjData`` instance. When a thread pool
is initialized, parts of the simulation pipeline, such as collision detection and constraint solving across islands, is initialized, parts of the simulation pipeline, such as collision detection and constraint solving across islands,
are parallelized. The thread pool is automatically destroyed when the ``mjData`` is freed. are parallelized. The thread pool is automatically destroyed when the ``mjData`` is freed.
- Added a unified :ref:`logging API<siError>`: 2. Added a unified :ref:`logging API<siError>`:
- All errors, warnings, and informational messages are now routed through a single :ref:`mjfLogHandler` callback - All errors, warnings, and informational messages are now routed through a single :ref:`mjfLogHandler` callback
receiving a structured :ref:`mjLogMessage`. receiving a structured :ref:`mjLogMessage`.
- Users can install a custom handler via :ref:`mju_setLogHandler`, - Users can install a custom handler via :ref:`mju_setLogHandler`,
configure the default handler's behavior (console/file output, topic filtering) via :ref:`mju_setLogConfig`. configure the default handler's behavior (console/file output, topic filtering) via :ref:`mju_setLogConfig`.
- Messages can be emitted via :ref:`mju_info` and :ref:`mju_message`. - Messages can be emitted via :ref:`mju_info` and :ref:`mju_message`.
- New types: :ref:`mjtLogLevel`, :ref:`mjtLogTopic`, :ref:`mjLogMessage`, :ref:`mjLogConfig`. - New types: :ref:`mjtLogLevel`, :ref:`mjtLogTopic`, :ref:`mjLogMessage`, :ref:`mjLogConfig`.
- The legacy callbacks :ref:`mju_user_error` and :ref:`mju_user_warning` are deprecated but remain functional. - The legacy callbacks :ref:`mju_user_error` and :ref:`mju_user_warning` are deprecated but remain functional.
- Added :ref:`mjs_numWarnings` and :ref:`mjs_getWarning` for retrieving all warnings accumulated during model 3. Added :ref:`mjs_numWarnings` and :ref:`mjs_getWarning` for retrieving all warnings accumulated during model
compilation and attachment. Deprecated :ref:`mjs_isWarning` in favor of ``mjs_numWarnings(s) > 0``. compilation and attachment. Deprecated :ref:`mjs_isWarning` in favor of ``mjs_numWarnings(s) > 0``.
- Added the :ref:`compiler/conflict<compiler-conflict>` attribute for controlling how conflicting global attributes 4. Added the :ref:`compiler/conflict<compiler-conflict>` attribute for controlling how conflicting global attributes
are resolved during :ref:`attachment<mjs_attach>`. Possible values are "warning" (default: parent values take are resolved during :ref:`attachment<mjs_attach>`. Possible values are "warning" (default: parent values take
precedence, warnings emitted on conflicts), "merge" (per-field min/max/error strategy), and "error" (any precedence, warnings emitted on conflicts), "merge" (per-field min/max/error strategy), and "error" (any
conflict raises an error). See :ref:`Attribute Merging <meAttributeMerging>` for details. conflict raises an error). See :ref:`Attribute Merging <meAttributeMerging>` for details.
.. admonition:: Future breaking API changes .. admonition:: Future breaking API changes
:class: warning :class: warning
The current default conflict resolution policy "warn" (ignore the child model) is backward compatible. The current default conflict resolution policy "warn" (ignore the child model) is backward compatible.
However, the default policy will change to "merge" in a future release. However, the default policy will change to "merge" in a future release.
- Improved primal solver convergence under float32. Improvements initially proposed by :github:user:`n3b` in 5. Improved primal solver convergence under float32. Improvements initially proposed by :github:user:`n3b` in
:issue:`2313` and :github:user:`adenzler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request :issue:`2313` and :github:user:`adenzler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request
`1374 <https://github.com/google-deepmind/mujoco_warp/pull/1374>`__. `1374 <https://github.com/google-deepmind/mujoco_warp/pull/1374>`__.
- The :ref:`CG solver<soAlgorithms>` now uses the Hager-Zhang conjugate direction update instead of the 6. The :ref:`CG solver<soAlgorithms>` now uses the Hager-Zhang conjugate direction update instead of the
Polak-Ribiere-Plus formula. This improves convergence and leads to a significant speedup under float32. Polak-Ribiere-Plus formula. This improves convergence and leads to a significant speedup under float32.
- Added :ref:`mjs_makeFlex`, a new C API function equivalent to the :ref:`flexcomp<body-flexcomp>` element for 7. Added :ref:`mjs_makeFlex`, a new C API function equivalent to the :ref:`flexcomp<body-flexcomp>` element for
programmatically creating flex objects with auto-generated bodies, joints, and equality constraints. Exposed as programmatically creating flex objects with auto-generated bodies, joints, and equality constraints. Exposed as
``body.make_flex()`` in Python. ``body.make_flex()`` in Python.
- Added support for loading 1D flex components from OBJ line segments 8. Added support for loading 1D flex components from OBJ line segments
- Significantly improved the quality of coarse convex hulls produced by the :ref:`maxhullvert<asset-mesh-maxhullvert>` 9. Significantly improved the quality of coarse convex hulls produced by the :ref:`maxhullvert<asset-mesh-maxhullvert>`
attribute by invoking Qhull's `Q9 <http://www.qhull.org/html/qh-optq.htm#Q9>`__ option. attribute by invoking Qhull's `Q9 <http://www.qhull.org/html/qh-optq.htm#Q9>`__ option.
.. admonition:: Breaking API changes .. admonition:: Breaking API changes
:class: attention :class: attention
- The header file ``mjthread.h`` was removed along with the old engine threading API. - The header file ``mjthread.h`` was removed along with the old engine threading API.
|br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine. |br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
- Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint` - Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now (multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
allocated on the stack. allocated on the stack.
- Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field - Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of ``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
the :math:`A` ("Delassus") matrix. the :math:`A` ("Delassus") matrix.
- The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed. - The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
- Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to ``mj_fullM(m, d, dst)`` as part of the - Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to ``mj_fullM(m, d, dst)`` as part of the
planned deprecation of ``mjData.qM`` in favor of the CSR-format ``mjData.M``. planned deprecation of ``mjData.qM`` in favor of the CSR-format ``mjData.M``.
**Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)`` or **Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)`` or
``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``. ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
- Fixed a vulnerability in the System Identification toolbox where loading a trajectory or time series called 10. Fixed a vulnerability in the System Identification toolbox where loading a trajectory or time series called
``np.load`` with ``allow_pickle=True``, allowing arbitrary code execution from a malicious ``.npz`` file. Signal ``np.load`` with ``allow_pickle=True``, allowing arbitrary code execution from a malicious ``.npz`` file. Signal
metadata is now serialized as JSON and loaded with ``allow_pickle=False``. metadata is now serialized as JSON and loaded with ``allow_pickle=False``.
- Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read. 11. Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read.
- Fixed a bug where the mesh compiler would produce non-unit convex hull polygon normals. 12. Fixed a bug where the mesh compiler would produce non-unit convex hull polygon normals.
Version 3.9.0 (May 27, 2026) Version 3.9.0 (May 27, 2026)
---------------------------- ----------------------------