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Introduce new logging API, fixes #858

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PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
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Yuval Tassa
2026-06-11 14:36:17 -07:00
committed by Copybara-Service
parent a2abaf7aef
commit 58f6d52491
45 changed files with 2586 additions and 422 deletions
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doc/changelog.rst
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@@ -10,6 +10,16 @@ General
- 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,
are parallelized. The thread pool is automatically destroyed when the ``mjData`` is freed.
- Added a unified :ref:`logging API<siError>`:
- All errors, warnings, and informational messages are now routed through a single :ref:`mjfLogHandler` callback
receiving a structured :ref:`mjLogMessage`.
- 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`.
- Messages can be emitted via :ref:`mju_info` and :ref:`mju_message`.
- 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.
- Improved primal solver convergence under float32. Improvements initially proposed by :github:user:`n3b` in
:issue:`2313` and :github:user:`denzeler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request
`1374 <https://github.com/google-deepmind/mujoco_warp/pull/1374>`__.