Update changelog for the 3.7.0 release.
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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 3.7.0 (April 14, 2026)
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------------------------------
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General
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^^^^^^^
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- Added the :ref:`dcmotor<actuator-dcmotor>` actuator for modeling DC motors. Supports optional
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electrical dynamics (inductance), cogging torque, thermal resistance variation, and LuGre friction. See the
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`technical note <_static/dcmotor.pdf>`__ for more details.
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- Actuators with joint or tendon transmissions can now contribute
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:ref:`damping<actuator-general-damping>` and :ref:`armature<actuator-general-armature>` to their transmission target.
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These are applied during the passive force and inertia computations, respectively, and are scaled by gear\ :sup:`2`
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("reflected" damping/inertia).
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1. Added the :ref:`dcmotor<actuator-dcmotor>` actuator for modeling DC motors. Supports optional
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electrical dynamics (inductance), cogging torque, thermal resistance variation, and LuGre friction. See the
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`technical note <_static/dcmotor.pdf>`__ for more details.
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2. Actuators with joint or tendon transmissions can now contribute
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:ref:`damping<actuator-general-damping>` and :ref:`armature<actuator-general-armature>` to their transmission target.
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These are applied during the passive force and inertia computations, respectively, and are scaled by gear\ :sup:`2`
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("reflected" damping/inertia).
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.. youtube:: aKa3ZlEF9_Y
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:align: right
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:width: 35%
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- Stiffness in :ref:`joints<body-joint-stiffness>` and :ref:`tendons<tendon-spatial-stiffness>` and damping in
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:ref:`joints<body-joint-damping>` and :ref:`tendons<tendon-spatial-damping>` now support nonlinear polynomial
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:ref:`force profiles<gePolynomial>`. New ``mjModel`` arrays (``jnt_stiffnesspoly``, ``tendon_stiffnesspoly``,
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``dof_dampingpoly``, ``tendon_dampingpoly``) hold higher-order coefficients. The existing scalar arrays
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(``jnt_stiffness``, ``dof_damping``, etc.) continue to hold the linear coefficient and are unchanged.
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The polynomial order is defined by the new constant :ref:`mjNPOLY<glNumericSizes>`. A future breaking C-API change
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may unify the linear and higher-order coefficients into a single array.
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- Added :ref:`midpoint integration<geMidpoint>` for standalone free bodies in ``implicit`` and ``implicitfast``
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:ref:`integrators<geIntegrators>`. This applies the implicit midpoint rule to the rotational dynamics of free bodies
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with no children, conserving kinetic energy to machine precision in the absence of external torques. The
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:ref:`invdiscrete<option-flag-invdiscrete>` flag now also disables midpoint integration, providing an opt-out
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mechanism.
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- Added the centripetal/Coriolis acceleration term :math:`\dot{J}v` to the constraint solver bias for
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:ref:`connect<equality-connect>` and :ref:`weld<equality-weld>` equality constaints. This significantly improves the
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stability of constrained mechanisms like four-bar linkages. See :ref:`Dual problem<soDual>` for details.
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3. Stiffness in :ref:`joints<body-joint-stiffness>` and :ref:`tendons<tendon-spatial-stiffness>` and damping in
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:ref:`joints<body-joint-damping>` and :ref:`tendons<tendon-spatial-damping>` now support nonlinear polynomial
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:ref:`force profiles<gePolynomial>`. New ``mjModel`` arrays (``jnt_stiffnesspoly``, ``tendon_stiffnesspoly``,
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``dof_dampingpoly``, ``tendon_dampingpoly``) hold higher-order coefficients. The existing scalar arrays
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(``jnt_stiffness``, ``dof_damping``, etc.) continue to hold the linear coefficient and are unchanged.
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The polynomial order is defined by the new constant :ref:`mjNPOLY<glNumericSizes>`. A future breaking C-API change
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may unify the linear and higher-order coefficients into a single array.
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4. Added :ref:`midpoint integration<geMidpoint>` for standalone free bodies in ``implicit`` and ``implicitfast``
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:ref:`integrators<geIntegrators>`. This applies the implicit midpoint rule to the rotational dynamics of free bodies
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with no children, conserving kinetic energy to machine precision in the absence of external torques. The
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:ref:`invdiscrete<option-flag-invdiscrete>` flag now also disables midpoint integration, providing an opt-out
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mechanism.
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5. Added the centripetal/Coriolis acceleration term :math:`\dot{J}v` to the constraint solver bias for
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:ref:`connect<equality-connect>` and :ref:`weld<equality-weld>` equality constaints. This significantly improves the
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stability of constrained mechanisms like four-bar linkages. See :ref:`Dual problem<soDual>` for details.
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- Introduced :ref:`mjpEncoder`, the counterpart to :ref:`mjpDecoder` for encoding of :ref:`mjSpec` and :ref:`mjModel`
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into :ref:`mjResource`.
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6. Introduced :ref:`mjpEncoder`, the counterpart to :ref:`mjpDecoder` for encoding of :ref:`mjSpec` and :ref:`mjModel`
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into :ref:`mjResource`.
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- Added :ref:`mj_encode`, :ref:`mjp_registerEncoder`, :ref:`mjp_defaultEncoder`, and :ref:`mjp_findEncoder`.
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7. Added :ref:`mj_encode`, :ref:`mjp_registerEncoder`, :ref:`mjp_defaultEncoder`, and :ref:`mjp_findEncoder`.
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.. admonition:: Breaking API changes
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:class: attention
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- The ``mjs`` layer fields ``stiffness`` and ``damping`` in :ref:`mjsJoint` and :ref:`mjsTendon` have
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been widened from ``mjtNum`` scalars to ``mjtNum[mjNPOLY+1]`` arrays. The first element is the linear coefficient
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(previously the scalar), and subsequent elements are the higher-order :ref:`polynomial<gePolynomial>` coefficients.
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8. The ``mjs`` layer fields ``stiffness`` and ``damping`` in :ref:`mjsJoint` and :ref:`mjsTendon` have
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been widened from ``mjtNum`` scalars to ``mjtNum[mjNPOLY+1]`` arrays. The first element is the linear coefficient
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(previously the scalar), and subsequent elements are the higher-order :ref:`polynomial<gePolynomial>` coefficients.
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**Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``.
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- ``.obj`` and ``.stl`` decoders are now included as source when building MuJoCo with CMake. This fixes the
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behaviour from the previous release where it required downstream code to load these plugins explicitly.
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**Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``.
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9. ``.obj`` and ``.stl`` decoders are now included as source when building MuJoCo with CMake. This fixes the
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behaviour from the previous release where it required downstream code to load these plugins explicitly.
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- The ``vertcollide`` field in :ref:`mjsFlex` has been removed. It is no longer required since
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:doc:`MuJoCo Warp <mjwarp/index>` supports native flex collisions.
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10. The ``vertcollide`` field in :ref:`mjsFlex` has been removed. It is no longer required since
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:doc:`MuJoCo Warp <mjwarp/index>` supports native flex collisions.
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- :ref:`mjPLUGIN_LIB_INIT` macro now requires a name argument to avoid initialization function name collisions.
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When building with MSVC, we now use the C runtime initialization section to initialize plugins instead of
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``DllMain``. See :ref:`plugin registration<exRegistration>` for more details.
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11. :ref:`mjPLUGIN_LIB_INIT` macro now requires a name argument to avoid initialization function name collisions.
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When building with MSVC, we now use the C runtime initialization section to initialize plugins instead of
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``DllMain``. See :ref:`plugin registration<exRegistration>` for more details.
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- The :ref:`mjtWarning` enum value ``mjWARN_VGEOMFULL`` is removed. Exhaustion of visual geoms is now handled
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internally by the :ref:`mjvScene`.
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- URDF parsing no longer hardcodes :ref:`strippath<compiler-strippath>` to "true". The setting is now respected and
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the default is "false". Setting this is attribute is now the responsibility of the user.
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12. The :ref:`mjtWarning` enum value ``mjWARN_VGEOMFULL`` is removed. Exhaustion of visual geoms is now handled
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internally by the :ref:`mjvScene`.
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13. URDF parsing no longer hardcodes :ref:`strippath<compiler-strippath>` to "true". The setting is now respected and
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the default is "false". Setting this is attribute is now the responsibility of the user.
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**Migration:** Set :ref:`strippath<compiler-strippath>` to "true" in MJCF or programmatically using
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**Migration:** Set :ref:`strippath<compiler-strippath>` to "true" in MJCF or programmatically using
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.. code-block:: python
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.. code-block:: python
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spec = mujoco.MjSpec.from_file("path/to/model.urdf")
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spec.compiler.strippath = True
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spec = mujoco.MjSpec.from_file("path/to/model.urdf")
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spec.compiler.strippath = True
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Bug fixes
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^^^^^^^^^
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- The compiler now correctly accounts for negative scaling when loading user specified mesh data.
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14. The compiler now correctly accounts for negative scaling when loading user specified mesh data.
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Version 3.6.0 (March 10, 2026)
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------------------------------
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