Update changelog for the 3.11.0 release.
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Michael Moss
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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 3.11.0 (July 27, 2026)
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------------------------------
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Engine
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^^^^^^
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@@ -13,169 +13,175 @@ Engine
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:align: right
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:width: 35%
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- Added :ref:`geom/surfacevel<body-geom-surfacevel>`: the velocity of a geom's surface as seen by contacts, given as
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a velocity field with a constant component and a rotational component about the geom frame origin. This allows
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conveyor belts, treadmills and turntables to be modeled with static geoms and no degrees of freedom: friction
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drives touching bodies along the motion of the surface, with the field projected onto each contact's tangent
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plane. Surface velocities compose correctly with each other and with body motion.
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Note that the contact rows of ``mjData.efc_vel``, and the constraint-state sensors that read them, report the
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velocity relative to the moving surface rather than to the geom, since that is the quantity the constraint acts
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on; for geoms without :at:`surfacevel` the two are identical. Contact-point visualization draws an arrow along the
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surface velocity at contacts with moving surfaces.
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1. :commit:`4787c809` Added :ref:`geom/surfacevel<body-geom-surfacevel>`: the velocity of a geom's surface as seen by
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contacts, given as a velocity field with a constant component and a rotational component about the geom frame origin.
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This allows conveyor belts, treadmills and turntables to be modeled with static geoms and no degrees of freedom:
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friction drives touching bodies along the motion of the surface, with the field projected onto each contact's tangent
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plane. Surface velocities compose correctly with each other and with body motion.
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Note that the contact rows of ``mjData.efc_vel``, and the constraint-state sensors that read them, report the
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velocity relative to the moving surface rather than to the geom, since that is the quantity the constraint acts
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on; for geoms without :at:`surfacevel` the two are identical. Contact-point visualization draws an arrow along the
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surface velocity at contacts with moving surfaces.
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.. youtube:: GioWwB36XHI
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:aspect: 16:7
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:align: right
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:width: 35%
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- Added :ref:`geom/adhesion<body-geom-adhesion>` and :ref:`pair/adhesion<contact-pair-adhesion>`: an adhesive force
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associated with a contact, useful for modeling sticky materials. Contacts can pull with up to the given force before
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breaking, and the friction budget becomes :math:`\mu(f_N + \text{adhesion})`. Combined with :ref:`gap<body-geom-gap>`,
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adhesive contacts apply "adhesion at a distance", useful for modeling magnets. Resting penetration is unaffected by
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adhesion. :ref:`mj_contactForce` reports the net interface force, whose normal component can now be negative.
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- Replaced midpoint integration of free bodies with :ref:`gyroscopic derivatives<geFreeBody>` in the ``implicitfast``
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:ref:`integrator<geIntegrators>`: the bias-force derivative of every standalone free body is applied via a local
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unsymmetric solve of its decoupled block, making ``implicitfast`` identical to ``implicit`` for such bodies.
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Unlike midpoint integration, which required vacuum and no constraints, this applies in all environments (contacts,
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fluid, constraints), and is compatible with discrete-time inverse dynamics. Spinning free bodies no
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longer gain energy, but tumbling motion is now mildly damped; models requiring long-horizon energy conservation of
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tumbling bodies in vacuum should use ``RK4``. The :ref:`invdiscrete<option-flag-invdiscrete>` flag no longer has any
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effect on forward dynamics.
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- Added :ref:`body/simple<body-simple>` attribute ("false"/"auto") to disable the *simple body* mass matrix
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optimization. This is useful for domain randomization, where model parameters may change post-compilation.
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- :ref:`mj_setConst` now recomputes the ``mjModel.{body,geom,site}_sameframe`` flags, to account for changes in
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body/geom/site frames after compilation.
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- Added support for :ref:`multiccd <coMultiCCD>` with arbitrarily large meshes.
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- Added ``flg_gravcomp`` and ``flg_surfacevel`` boolean flags to ``mjModel``. These flags replace the fast-path checks
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as originally guarded by ``ngravcomp``. Since the engine uses these integers as flags (zero vs. non-zero), the new
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flags are honest boolean properties, writeable from the Python bindings at runtime. The field ``ngravcomp`` is
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deprecated and will be removed in a future release.
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- Replaced quadratic scratch in DFS flood-fill island discovery with a linear-memory Union-Find (disjoint set).
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Contribution by :github:user:`teerthsharma`.
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2. :commit:`a264d0bc` Added :ref:`geom/adhesion<body-geom-adhesion>` and :ref:`pair/adhesion<contact-pair-adhesion>`: an
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adhesive force associated with a contact, useful for modeling sticky materials. Contacts can pull with up to the
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given force before breaking, and the friction budget becomes :math:`\mu(f_N + \text{adhesion})`. Combined with
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:ref:`gap<body-geom-gap>`, adhesive contacts apply "adhesion at a distance", useful for modeling magnets. Resting
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penetration is unaffected by adhesion. :ref:`mj_contactForce` reports the net interface force, whose normal component
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can now be negative.
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3. :commit:`f0fa3d82` Replaced midpoint integration of free bodies with :ref:`gyroscopic derivatives<geFreeBody>` in the
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``implicitfast`` :ref:`integrator<geIntegrators>`: the bias-force derivative of every standalone free body is applied
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via a local unsymmetric solve of its decoupled block, making ``implicitfast`` identical to ``implicit`` for such
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bodies. Unlike midpoint integration, which required vacuum and no constraints, this applies in all environments
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(contacts, fluid, constraints), and is compatible with discrete-time inverse dynamics. Spinning free bodies no
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longer gain energy, but tumbling motion is now mildly damped; models requiring long-horizon energy conservation of
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tumbling bodies in vacuum should use ``RK4``. The :ref:`invdiscrete<option-flag-invdiscrete>` flag no longer has any
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effect on forward dynamics.
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4. :commit:`5618666a` Added :ref:`body/simple<body-simple>` attribute ("false"/"auto") to disable the *simple body* mass
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matrix optimization. This is useful for domain randomization, where model parameters may change post-compilation.
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5. :commit:`14c0b0c9` :ref:`mj_setConst` now recomputes the ``mjModel.{body,geom,site}_sameframe`` flags, to account for
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changes in body/geom/site frames after compilation.
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6. :commit:`2444defc` Added support for :ref:`multiccd <coMultiCCD>` with arbitrarily large meshes.
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7. :commit:`a04b0c5b` Added ``flg_gravcomp`` and ``flg_surfacevel`` boolean flags to ``mjModel``. These flags replace
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the fast-path checks as originally guarded by ``ngravcomp``. Since the engine uses these integers as flags (zero vs.
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non-zero), the new flags are honest boolean properties, writeable from the Python bindings at runtime. The field
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``ngravcomp`` is deprecated and will be removed in a future release.
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8. :commit:`a1f38c8e` Replaced quadratic scratch in DFS flood-fill island discovery with a linear-memory Union-Find
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(disjoint set). Contribution by :github:user:`teerthsharma`.
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.. admonition:: Breaking API changes
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:class: attention
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- Changed the default value of :ref:`sleep_tolerance<option-sleep_tolerance>` from 1e-4 to 1e-3 (1mm/sec in SI
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units).
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- Removed the legacy sparse ancestor-walk inertia matrix ``mjData.qM``. The joint-space inertia matrix is now stored
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exclusively in the compressed sparse row (CSR) format ``mjData.M``.
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- Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the legacy ``mjData.qM``
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for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from ``(nv x nM)`` to
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``(nv x nC)``.
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- :ref:`mju_round` now breaks ties away from zero rather than towards :math:`+\infty`. This only affects
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negative half-integers, e.g. ``mju_round(-2.5)`` now returns -3 rather than -2.
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- Removed unneeded `mjvScene` argument from :ref:`mjv_moveCamera`.
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- Split up :ref:`mjrfMeshData` into `mjrfMeshData` and `mjrfMeshConfig` to allow reuploading of mesh data without
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having to recreate the mesh object. Introduces :ref:`mjrfDefaultMeshConfig` and :ref:`mjrfSetMeshData` functions.
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- Removed `bytes` field from :ref:`mjrVertexAttribute`.
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9. :commit:`ff629889` Changed the default value of :ref:`sleep_tolerance<option-sleep_tolerance>` from 1e-4 to 1e-3
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(1mm/sec in SI units).
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10. :commit:`315bcfbf` Removed the legacy sparse ancestor-walk inertia matrix ``mjData.qM``. The joint-space inertia
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matrix is now stored exclusively in the compressed sparse row (CSR) format ``mjData.M``.
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11. :commit:`7e9ac58f` Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the
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legacy ``mjData.qM`` for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from
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``(nv x nM)`` to ``(nv x nC)``.
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12. :commit:`1ea2d884` :ref:`mju_round` now breaks ties away from zero rather than towards :math:`+\infty`. This only
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affects negative half-integers, e.g. ``mju_round(-2.5)`` now returns -3 rather than -2.
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13. :commit:`fa36015b` Removed unneeded `mjvScene` argument from :ref:`mjv_moveCamera`.
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14. :commit:`ba9a6503` Split up :ref:`mjrfMeshData` into `mjrfMeshData` and `mjrfMeshConfig` to allow reuploading of
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mesh data without having to recreate the mesh object. Introduces :ref:`mjrf_defaultMeshConfig` and
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:ref:`mjrf_setMeshData` functions.
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15. :commit:`ba9a6503` Removed `bytes` field from :ref:`mjrVertexAttribute`.
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.. admonition:: Breaking ABI changes
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:class: caution
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- :ref:`mjModel` gained the ``actuator_ctrlspec`` field (input signature of each actuator), and :ref:`mjsActuator`
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gained ``ctrlspec``, changing their size and layout. The :ref:`mjtGain` and :ref:`mjtBias` enums gained ``so3``
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members, shifting the values of ``mjGAIN_USER`` and ``mjBIAS_USER``.
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- Added ``texid``, ``texuniform`` and ``texrepeat`` fields to :ref:`mjvGeom`.
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- The :ref:`mjContact` struct gained an ``adhesion`` member, changing its size and layout.
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16. :commit:`072e963f` :ref:`mjModel` gained the ``actuator_ctrlspec`` field (input signature of each actuator), and
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:ref:`mjsActuator` gained ``ctrlspec``, changing their size and layout. The :ref:`mjtGain` and :ref:`mjtBias`
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enums gained ``so3`` members, shifting the values of ``mjGAIN_USER`` and ``mjBIAS_USER``.
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17. :commit:`d43c3ed4` Added ``texid``, ``texuniform`` and ``texrepeat`` fields to :ref:`mjvGeom`.
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18. :commit:`a264d0bc` The :ref:`mjContact` struct gained an ``adhesion`` member, changing its size and layout.
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.. admonition:: Bug fixes
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:class: admonition
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- Fixed a bug where ``body_margin`` excluded ``gap``, causing the mid-phase collision filter to incorrectly prune
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in-gap contacts on multi-geom bodies.
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19. :commit:`dddb2767` Fixed a bug where ``body_margin`` excluded ``gap``, causing the mid-phase collision filter to
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incorrectly prune in-gap contacts on multi-geom bodies.
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Actuation
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^^^^^^^^^
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- Refactored actuator infrastructure in preparation for MIMO (multi-input multi-output) actuator support. Each actuator
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now has ``ctrlnum`` (number of controls) and ``outnum`` (number of force outputs). The total counts
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``nu = sum(ctrlnum)`` and ``nout = sum(outnum)`` dimension ``mjData.ctrl`` and ``mjData.actuator_force``,
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respectively, ``nactuator`` is the number of actuators. For existing actuators ``ctrnum = outnum = 1``, so
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``nactuator == nu == nout`` and existing code is unaffected.
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- Setpoints of :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>` servos acting on 3D
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rotational transmissions (ball joints, or site transmissions with a :ref:`refsite<actuator-general-refsite>` and
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purely rotational gear) are now interpreted on the circle: the force uses the setpoint representative nearest the
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current angle, so targets winding beyond half a turn are tracked continuously instead of slipping by full turns.
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Behavior is identical whenever the error does not exceed π. Relatedly, ``intvelocity`` actuators now expose
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:ref:`actlimited<actuator-intvelocity-actlimited>`, which was previously hardcoded to "true": as for
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:ref:`general<actuator-general>` actuators it defaults to "auto", so activation clamping is enabled by specifying
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``actrange``. Unclamped integrated setpoints are well-behaved on rotational transmissions, where they wrap.
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20. :commit:`d507e921` Refactored actuator infrastructure in preparation for MIMO (multi-input multi-output) actuator
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support. Each actuator now has ``ctrlnum`` (number of controls) and ``outnum`` (number of force outputs). The total
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counts ``nu = sum(ctrlnum)`` and ``nout = sum(outnum)`` dimension ``mjData.ctrl`` and ``mjData.actuator_force``,
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respectively, ``nactuator`` is the number of actuators. For existing actuators ``ctrnum = outnum = 1``, so
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``nactuator == nu == nout`` and existing code is unaffected.
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21. :commit:`56a93979` Setpoints of :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
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servos acting on 3D rotational transmissions (ball joints, or site transmissions with a
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:ref:`refsite<actuator-general-refsite>` and purely rotational gear) are now interpreted on the circle: the force
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uses the setpoint representative nearest the current angle, so targets winding beyond half a turn are tracked
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continuously instead of slipping by full turns. Behavior is identical whenever the error does not exceed π.
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Relatedly, ``intvelocity`` actuators now expose :ref:`actlimited<actuator-intvelocity-actlimited>`, which was
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previously hardcoded to "true": as for :ref:`general<actuator-general>` actuators it defaults to "auto", so
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activation clamping is enabled by specifying ``actrange``. Unclamped integrated setpoints are well-behaved on
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rotational transmissions, where they wrap.
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.. youtube:: 17XpwnqyCXs
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:aspect: 16:7
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:align: right
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:width: 35%
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- Added the :ref:`orientation<actuator-orientation>` actuator: a geodesic servo on a new SO(3) transmission (ball
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joints, or a site with a :ref:`refsite<actuator-general-refsite>`), acting jointly on the full relative orientation
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with an exact equilibrium at every commanded orientation. This is the first actuator with multiple force outputs
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(3), and, with ``input="quat"``, the first with different input and output dimensions (4 controls, 3 outputs). The
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input signature is recorded in the new ``mjModel.actuator_ctrlspec``, exposed as the
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:ref:`input<actuator-general-input>` attribute.
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- Added :ref:`mj_actuatorInputName`, returning the name of an actuator input (e.g. "qw" for the first control of a
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quaternion-commanded orientation actuator). The control sliders in :ref:`simulate<saSimulate>` and MuJoCo Studio are
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now generated per control and labeled with the actuator name plus the input name suffix.
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- Viewer control sliders now use a defined :ref:`ctrlrange<actuator-general-ctrlrange>` even when
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:ref:`ctrllimited<actuator-general-ctrllimited>` is "false": the range sets the slider span, while clamping remains
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controlled by :at:`ctrllimited`.
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- Added :ref:`mj_resetCtrl`, setting controls to neutral values: zero, except quaternion inputs which reset to the
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identity quaternion. Called by :ref:`mj_resetData` and the viewers' "Clear All".
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22. :commit:`072e963f` Added the :ref:`orientation<actuator-orientation>` actuator: a geodesic servo on a new SO(3)
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transmission (ball joints, or a site with a :ref:`refsite<actuator-general-refsite>`), acting jointly on the full
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relative orientation with an exact equilibrium at every commanded orientation. This is the first actuator with
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multiple force outputs (3), and, with ``input="quat"``, the first with different input and output dimensions (4
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controls, 3 outputs). The input signature is recorded in the new ``mjModel.actuator_ctrlspec``, exposed as the
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:ref:`input<actuator-general-input>` attribute.
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23. :commit:`072e963f` Added :ref:`mj_actuatorInputName`, returning the name of an actuator input (e.g. "qw" for the
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first control of a quaternion-commanded orientation actuator). The control sliders in :ref:`simulate<saSimulate>`
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and MuJoCo Studio are now generated per control and labeled with the actuator name plus the input name suffix.
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24. :commit:`072e963f` Viewer control sliders now use a defined :ref:`ctrlrange<actuator-general-ctrlrange>` even when
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:ref:`ctrllimited<actuator-general-ctrllimited>` is "false": the range sets the slider span, while clamping remains
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controlled by :at:`ctrllimited`.
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25. :commit:`072e963f` Added :ref:`mj_resetCtrl`, setting controls to neutral values: zero, except quaternion inputs
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which reset to the identity quaternion. Called by :ref:`mj_resetData` and the viewers' "Clear All".
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Solvers
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^^^^^^^
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- Flex elasticity (stretch, bending, interpolation stiffness) is now integrated implicitly inside the CG constraint
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solver via an *effective metric*: the mass matrix is augmented with the stiffness Hessian,
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so contact and elastic forces are solved against one consistent metric. This replaces the previous post-hoc CG
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correction, which modified ``qacc`` after the constraint solve. The gate is ``solver="CG"`` with an implicit
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integrator and flex stiffness present; Newton and PGS are unaffected. Bending-only models pay zero per-step
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factorization cost (the factor is precomputed in :ref:`mj_setConst<mj_setConst>`). Inverse dynamics
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(:ref:`mj_inverse<mj_inverse>`) is now discrete-consistent with forward dynamics for gated models.
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- Added Nesterov momentum extrapolation with adaptive gradient restart (O'Donoghue-Candès) to the PGS solver,
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significantly improving convergence. Overall PGS now requires ~2x fewer iterations.
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- Added the Newton decrement -- the quadratic model's predicted cost improvement of the next iteration -- as a third
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early-termination criterion of the :ref:`Newton solver<soAlgorithms>`, alongside cost improvement and gradient norm.
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This reduces iteration counts at no accuracy cost. Proposed by :github:user:`adenzler-nvidia` in
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:doc:`MJWarp <mjwarp/index>` pull request `1520 <https://github.com/google-deepmind/mujoco_warp/pull/1520>`__.
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- The CG and Newton solvers now terminate with zero iterations when a duality-gap certificate proves that the
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warmstarted solution already satisfies the tolerance. The certificate requires only the existing mass-matrix
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factorization, so quiescent scenes skip Hessian construction, factorization and the line search entirely. Newton
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zero-iteration exits additionally require the gradient criterion, preserving Newton's characteristic force-level
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accuracy. See :ref:`Warmstart<soAlgorithms>` in the Computation chapter for details.
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26. :commit:`ea230a95` Flex elasticity (stretch, bending, interpolation stiffness) is now integrated implicitly inside
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the CG constraint solver via an *effective metric*: the mass matrix is augmented with the stiffness Hessian,
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so contact and elastic forces are solved against one consistent metric. This replaces the previous post-hoc CG
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correction, which modified ``qacc`` after the constraint solve. The gate is ``solver="CG"`` with an implicit
|
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integrator and flex stiffness present; Newton and PGS are unaffected. Bending-only models pay zero per-step
|
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factorization cost (the factor is precomputed in :ref:`mj_setConst<mj_setConst>`). Inverse dynamics
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(:ref:`mj_inverse<mj_inverse>`) is now discrete-consistent with forward dynamics for gated models.
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27. :commit:`c499f7f2` Added Nesterov momentum extrapolation with adaptive gradient restart (O'Donoghue-Candès) to the
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PGS solver, significantly improving convergence. Overall PGS now requires ~2x fewer iterations.
|
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28. :commit:`1e66efd1` Added the Newton decrement -- the quadratic model's predicted cost improvement of the next
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iteration -- as a third early-termination criterion of the :ref:`Newton solver<soAlgorithms>`, alongside cost
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improvement and gradient norm. This reduces iteration counts at no accuracy cost. Proposed by
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:github:user:`adenzler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request
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`1520 <https://github.com/google-deepmind/mujoco_warp/pull/1520>`__.
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29. :commit:`c69ef030` The CG and Newton solvers now terminate with zero iterations when a duality-gap certificate
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proves that the warmstarted solution already satisfies the tolerance. The certificate requires only the existing
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mass-matrix factorization, so quiescent scenes skip Hessian construction, factorization and the line search
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entirely. Newton zero-iteration exits additionally require the gradient criterion, preserving Newton's
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characteristic force-level accuracy. See :ref:`Warmstart<soAlgorithms>` in the Computation chapter for details.
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Compiler
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^^^^^^^^
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- :ref:`mj_encode` now supports encoding of MJB and TXT files.
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- The :ref:`attach<body-attach>` element now supports self-attachment (attaching elements of the current model to
|
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itself) by omitting the :ref:`model<body-attach-model>` attribute. It also supports attaching a frame via the new
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:ref:`frame<body-attach-frame>` attribute, which is mutually exclusive with :ref:`body<body-attach-body>`.
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- Fixed loading of :ref:`.mjz <MJZArchives>` archives in :ref:`simulate<saSimulate>`: the archive was unmounted
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before model compilation, so assets failed to load. Failures in the :ref:`mjz <MJZArchives>` decoder now emit a
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warning with the underlying error instead of the generic "could not decode content" message.
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- The :ref:`mjz <MJZArchives>` decoder now searches for ``model.xml`` and ``<stem>/model.xml`` as a fallback if
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``<stem>.xml`` and ``<stem>/<stem>.xml`` are not found.
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- Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in
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:ref:`mjpResourceProvider`.
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30. :commit:`4e1795b9` :ref:`mj_encode` now supports encoding of MJB and TXT files.
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31. :commit:`c6c3ec31` The :ref:`attach<body-attach>` element now supports self-attachment (attaching elements of the
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current model to itself) by omitting the :ref:`model<body-attach-model>` attribute. It also supports attaching a
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frame via the new :ref:`frame<body-attach-frame>` attribute, which is mutually exclusive with
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:ref:`body<body-attach-body>`.
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32. :commit:`040872fd` Fixed loading of :ref:`.mjz <MJZArchives>` archives in :ref:`simulate<saSimulate>`: the archive
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was unmounted before model compilation, so assets failed to load. Failures in the :ref:`mjz <MJZArchives>` decoder
|
||||
now emit a warning with the underlying error instead of the generic "could not decode content" message.
|
||||
33. :commit:`ebd4abae` The :ref:`mjz <MJZArchives>` decoder now searches for ``model.xml`` and ``<stem>/model.xml`` as a
|
||||
fallback if ``<stem>.xml`` and ``<stem>/<stem>.xml`` are not found.
|
||||
34. :commit:`dc7581ac` Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in
|
||||
:ref:`mjpResourceProvider`.
|
||||
|
||||
.. admonition:: Breaking API changes
|
||||
:class: attention
|
||||
|
||||
- The return type of :ref:`mj_encode` and the :ref:`mjfEncode` callback changed from ``int`` to ``mjtSize``
|
||||
(64-bit).
|
||||
35. :commit:`d83ef0b6` The return type of :ref:`mj_encode` and the :ref:`mjfEncode` callback changed from ``int`` to
|
||||
``mjtSize`` (64-bit).
|
||||
|
||||
.. admonition:: Bug fixes
|
||||
:class: admonition
|
||||
|
||||
- Fixed a bug in the mesh compiler where normals were scaled as vectors rather than covectors.
|
||||
36. :commit:`f5f9d9ef` Fixed a bug in the mesh compiler where normals were scaled as vectors rather than covectors.
|
||||
|
||||
Python bindings
|
||||
^^^^^^^^^^^^^^^
|
||||
- The bindings now support free threading (`PEP 703 <https://peps.python.org/pep-0703/>`__) for Python 3.14.
|
||||
37. :commit:`a07ae6f8` The bindings now support free threading (`PEP 703 <https://peps.python.org/pep-0703/>`__) for
|
||||
Python 3.14.
|
||||
|
||||
Documentation
|
||||
^^^^^^^^^^^^^
|
||||
- Expanded documentation for :ref:`spec.encode <meSaving>` workflows and added detailed documentation for the
|
||||
:ref:`MJZ Archive <MJZArchives>` format (``.mjz`` / ``.zip``).
|
||||
38. :commit:`1f1bfa9e` Expanded documentation for :ref:`spec.encode <meSaving>` workflows and added detailed
|
||||
documentation for the :ref:`MJZ Archive <MJZArchives>` format (``.mjz`` / ``.zip``).
|
||||
|
||||
|
||||
Version 3.10.0 (June 22, 2026)
|
||||
|
||||
Reference in New Issue
Block a user