diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 28040c82..12da5cad 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -1841,7 +1841,7 @@ mju_error_i
 
 .. mujoco-include:: mju_error_i
 
-Error function with int argument; msg is a printf format string.
+Deprecated: use mju_error
 
 .. _mju_error_s:
 
@@ -1850,7 +1850,7 @@ mju_error_s
 
 .. mujoco-include:: mju_error_s
 
-Error function with string argument.
+Deprecated: use mju_error
 
 .. _mju_warning:
 
@@ -1868,7 +1868,7 @@ mju_warning_i
 
 .. mujoco-include:: mju_warning_i
 
-Warning function with int argument.
+Deprecated: use mju_warning
 
 .. _mju_warning_s:
 
@@ -1877,7 +1877,7 @@ mju_warning_s
 
 .. mujoco-include:: mju_warning_s
 
-Warning function with string argument.
+Deprecated: use_mju_warning
 
 .. _mju_clearHandlers:
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 65fa17b1..a9b502a1 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -16,6 +16,8 @@ General
   For instance, the constraint Jacobian matrix from the `humanoid100.xml
   <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously required
   ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
+- Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
+  functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
 
 
 
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 0b9dc319..0b39e000 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2041,10 +2041,10 @@ void mjui_update(int section, int item, const mjUI* ui,
                  const mjuiState* state, const mjrContext* con);
 mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
 void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
-void mju_error(const char* msg);
+void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
 void mju_error_i(const char* msg, int i);
 void mju_error_s(const char* msg, const char* text);
-void mju_warning(const char* msg);
+void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
 void mju_warning_i(const char* msg, int i);
 void mju_warning_s(const char* msg, const char* text);
 void mju_clearHandlers(void);
diff --git a/doc/programming/simulation.rst b/doc/programming/simulation.rst
index 87250267..aa6b7f0a 100644
--- a/doc/programming/simulation.rst
+++ b/doc/programming/simulation.rst
@@ -724,16 +724,13 @@ triggers an error. It also keeps track of the maximum stack allocation; see :ref
 Errors, warnings, memory allocation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-When a terminal error occurs, MuJoCo calls the function :ref:`mju_error` internally. This function has a single argument
-which is the error message. The helper functions :ref:`mju_error_i` and :ref:`mju_error_s` are also used, but they
-simply construct the error message using a printf format string and an additional integer or string argument, and then
-call mju_error. Here is what mju_error does:
+When a terminal error occurs, MuJoCo calls the function :ref:`mju_error` internally. Here is what mju_error does:
 
 #. Append the error message at the end of the file MUJOCO_LOG.TXT in the program directory (create the file if it does
    not exist). Also write the date and time along with the error message.
-#. If the user error callback :ref:`mju_user_error` is installed, call that function
-   with the error message as argument. Otherwise printf the error message, printf "Press Enter to exit...", getchar()
-   and exit(1).
+#. If the user error callback :ref:`mju_user_error` is installed, call that function with the error message as
+   argument. Otherwise, print the error message and "Press Enter to exit..." to standard output. Then wait for any
+   keyboard input, and then terminate the simulator with failure.
 
 If a user error callback is installed, it must **not** return, otherwise the behavior of the simulator is undefined.
 The idea here is that if mju_error is called, the simulation cannot continue and the user is expected to make some
@@ -988,4 +985,4 @@ of mass of the kinematic tree). Such a rotation will not only rotate the body bu
 spatial vector must have non-zero linear velocity to compensate for the side-effect of rotation around an off-body
 axis. If you call mj_objectVelocity, the resulting 6D quantity will be represented in a frame that is centered at the
 body and aligned with the world. Thus the linear component will now be zero as expected. This function will also put
-translation in front of rotation, which is our convention for local and global coordinates.
\ No newline at end of file
+translation in front of rotation, which is our convention for local and global coordinates.
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 3e392a80..9a270529 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -47,6 +47,14 @@ extern "C" {
 #define mjDISABLED(x) (m->opt.disableflags & (x))
 #define mjENABLED(x)  (m->opt.enableflags & (x))
 
+#ifndef mjPRINTFLIKE
+  #if defined(__GNUC__)
+    #define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
+  #else
+    #define mjPRINTFLIKE(n, m)
+  #endif // __GNUC__
+#endif // mjPRINTFLIKE
+
 
 // user error and memory handlers
 MJAPI extern void  (*mju_user_error)(const char*);
@@ -730,21 +738,21 @@ MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
 //---------------------------------- Error and memory ----------------------------------------------
 
 // Main error function; does not return to caller.
-MJAPI void mju_error(const char* msg);
+MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
 
-// Error function with int argument; msg is a printf format string.
+// Deprecated: use mju_error
 MJAPI void mju_error_i(const char* msg, int i);
 
-// Error function with string argument.
+// Deprecated: use mju_error
 MJAPI void mju_error_s(const char* msg, const char* text);
 
 // Main warning function; returns to caller.
-MJAPI void mju_warning(const char* msg);
+MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
 
-// Warning function with int argument.
+// Deprecated: use mju_warning
 MJAPI void mju_warning_i(const char* msg, int i);
 
-// Warning function with string argument.
+// Deprecated: use_mju_warning
 MJAPI void mju_warning_s(const char* msg, const char* text);
 
 // Clear user error and memory handlers.
diff --git a/introspect/functions.py b/introspect/functions.py
index 9ef1f67a..929d72b1 100644
--- a/introspect/functions.py
+++ b/introspect/functions.py
@@ -4674,7 +4674,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Error function with int argument; msg is a printf format string.',
+         doc='Deprecated: use mju_error',
      )),
     ('mju_error_s',
      FunctionDecl(
@@ -4694,7 +4694,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Error function with string argument.',
+         doc='Deprecated: use mju_error',
      )),
     ('mju_warning',
      FunctionDecl(
@@ -4726,7 +4726,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Warning function with int argument.',
+         doc='Deprecated: use mju_warning',
      )),
     ('mju_warning_s',
      FunctionDecl(
@@ -4746,7 +4746,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Warning function with string argument.',
+         doc='Deprecated: use_mju_warning',
      )),
     ('mju_clearHandlers',
      FunctionDecl(
diff --git a/python/mujoco/codegen/generate_function_traits.py b/python/mujoco/codegen/generate_function_traits.py
index 7d95ff7c..a92604a1 100644
--- a/python/mujoco/codegen/generate_function_traits.py
+++ b/python/mujoco/codegen/generate_function_traits.py
@@ -30,6 +30,11 @@ def main(argv: Sequence[str]) -> None:
 
   struct_decls = []
   for func in FUNCTIONS.values():
+    # Skip mju_error_{i,s} and mju_warning_{i,s} as these are not
+    # supported in the Python bindings, and Introspect currently
+    # doesn't support variadic functions.
+    if func.name.startswith('mju_error') or func.name == 'mju_warning':
+      continue
 
     # Modify some parameter types.
     parameters = []
diff --git a/sample/basic.cc b/sample/basic.cc
index cfa94571..e307b0b7 100644
--- a/sample/basic.cc
+++ b/sample/basic.cc
@@ -115,7 +115,7 @@ int main(int argc, const char** argv) {
     m = mj_loadXML(argv[1], 0, error, 1000);
   }
   if (!m) {
-    mju_error_s("Load model error: %s", error);
+    mju_error("Load model error: %s", error);
   }
 
   // make data
diff --git a/sample/record.cc b/sample/record.cc
index c5d57386..dd07411a 100644
--- a/sample/record.cc
+++ b/sample/record.cc
@@ -57,7 +57,7 @@ void initMuJoCo(const char* filename) {
     m = mj_loadXML(filename, 0, error, 1000);
   }
   if (!m) {
-    mju_error_s("Load model error: %s", error);
+    mju_error("Load model error: %s", error);
   }
 
   // make data, run one computation to initialize all fields
@@ -109,36 +109,36 @@ void initOpenGL(void) {
   // get default display
   EGLDisplay eglDpy = eglGetDisplay(EGL_DEFAULT_DISPLAY);
   if (eglDpy==EGL_NO_DISPLAY) {
-    mju_error_i("Could not get EGL display, error 0x%x\n", eglGetError());
+    mju_error("Could not get EGL display, error 0x%x\n", eglGetError());
   }
 
   // initialize
   EGLint major, minor;
   if (eglInitialize(eglDpy, &major, &minor)!=EGL_TRUE) {
-    mju_error_i("Could not initialize EGL, error 0x%x\n", eglGetError());
+    mju_error("Could not initialize EGL, error 0x%x\n", eglGetError());
   }
 
   // choose config
   EGLint numConfigs;
   EGLConfig eglCfg;
   if (eglChooseConfig(eglDpy, configAttribs, &eglCfg, 1, &numConfigs)!=EGL_TRUE) {
-    mju_error_i("Could not choose EGL config, error 0x%x\n", eglGetError());
+    mju_error("Could not choose EGL config, error 0x%x\n", eglGetError());
   }
 
   // bind OpenGL API
   if (eglBindAPI(EGL_OPENGL_API)!=EGL_TRUE) {
-    mju_error_i("Could not bind EGL OpenGL API, error 0x%x\n", eglGetError());
+    mju_error("Could not bind EGL OpenGL API, error 0x%x\n", eglGetError());
   }
 
   // create context
   EGLContext eglCtx = eglCreateContext(eglDpy, eglCfg, EGL_NO_CONTEXT, NULL);
   if (eglCtx==EGL_NO_CONTEXT) {
-    mju_error_i("Could not create EGL context, error 0x%x\n", eglGetError());
+    mju_error("Could not create EGL context, error 0x%x\n", eglGetError());
   }
 
   // make context current, no surface (let OpenGL handle FBO)
   if (eglMakeCurrent(eglDpy, EGL_NO_SURFACE, EGL_NO_SURFACE, eglCtx)!=EGL_TRUE) {
-    mju_error_i("Could not make EGL context current, error 0x%x\n", eglGetError());
+    mju_error("Could not make EGL context current, error 0x%x\n", eglGetError());
   }
 
   //------------------------ OSMESA
diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
index 8af3dea1..1a9296e7 100644
--- a/src/engine/engine_collision_convex.c
+++ b/src/engine/engine_collision_convex.c
@@ -191,7 +191,7 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
     break;
 
   default:
-    mju_error_i("ccd support function is undefined for geom type %d", m->geom_type[g]);
+    mju_error("ccd support function is undefined for geom type %d", m->geom_type[g]);
   }
 
   // add dir*margin/2 to result
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index 3ed98526..0cd9bb1b 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -766,7 +766,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
   for (i=0; i<num; i++) {
     // set contact data
     if (condim > 6 || condim < 1) {  // SHOULD NOT OCCUR
-      mju_error_i("Invalid condim value: %d", i);
+      mju_error("Invalid condim value: %d", i);
     }
     con[i].dim = condim;
     con[i].geom1 = g1;
diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 80adf0df..6c97d348 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -541,7 +541,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
         break;
 
       default:                    // SHOULD NOT OCCUR
-        mju_error_i("Invalid equality constraint type %d", m->eq_type[i]);
+        mju_error("Invalid equality constraint type %d", m->eq_type[i]);
       }
 
       // add constraint
@@ -917,7 +917,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
         break;
 
       default:
-        mju_error_i("Unknown constraint type type %d", d->efc_type[i]);    // SHOULD NOT OCCUR
+        mju_error("Unknown constraint type type %d", d->efc_type[i]);    // SHOULD NOT OCCUR
       }
       break;
 
@@ -1616,52 +1616,29 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
   // check sparse allocation
   if (mj_isSparse(m)) {
     if (d->ne != ne_allocated) {
-      char msg[1024];
-
-      // TODO(b/270530821): add var argument support to mju_error
-      mjSNPRINTF(
-          msg, "ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
-      mju_error(msg);
+      mju_error("ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
     }
 
     if (d->nf != nf_allocated) {
-      char msg[1024];
-
-      // TODO(b/270530821): add var argument support to mju_error
-      mjSNPRINTF(
-          msg, "nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
-      mju_error(msg);
+      mju_error("nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
     }
 
     // check that nefc was computed correctly
     if (d->nefc != nefc_allocated) {
-      char msg[1024];
-
-      // TODO(b/270530821): add var argument support to mju_error
-      mjSNPRINTF(
-          msg, "nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
-      mju_error(msg);
+      mju_error("nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
     }
 
     // check that nnzJ was computed correctly
     if (d->nefc > 0) {
       int nnz = d->efc_J_rownnz[d->nefc - 1] + d->efc_J_rowadr[d->nefc - 1];
       if (d->nnzJ != nnz) {
-        char msg[1024];
-
-        // TODO(b/270530821): add var argument support to mju_error
-        mjSNPRINTF(
-            msg, "constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d", nnz, d->nnzJ);
-        mju_error(msg);
+        mju_error("constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d",
+                  nnz, d->nnzJ);
       }
     }
   } else if (d->nefc > nefc_allocated) {
-    char msg[1024];
-
-    // TODO(b/270530821): add var argument support to mju_error
-    mjSNPRINTF(
-        msg, "nefc under-allocation: found nefc=%d but allocated only %d", d->nefc, nefc_allocated);
-    mju_error(msg);
+    mju_error("nefc under-allocation: found nefc=%d but allocated only %d",
+              d->nefc, nefc_allocated);
   }
 
   // collect memory use statistics
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 80af54e5..7aec7741 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -135,7 +135,7 @@ void mj_kinematics(const mjModel* m, mjData* d) {
           break;
 
         default:
-          mju_error_i("Unknown joint type %d", jtype);    // SHOULD NOT OCCUR
+          mju_error("Unknown joint type %d", jtype);    // SHOULD NOT OCCUR
         }
 
         // assign xanchor and xaxis
@@ -514,7 +514,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
         // do wrapping, possibly get 2 extra points (wlen>=0)
         sideid = mju_round(m->wrap_prm[adr+j+1]);
         if (sideid<-1 || sideid>=m->nsite) {
-          mju_error_i("Invalid sideid %d in wrap_prm", sideid);  // SHOULD NOT OCCUR
+          mju_error("Invalid sideid %d in wrap_prm", sideid);  // SHOULD NOT OCCUR
         }
 
         wlen = mju_wrap(wpnt+3, d->site_xpos+3*id0, d->site_xpos+3*id1,
@@ -943,7 +943,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
       break;
 
     default:
-      mju_error_i("Unknown transmission type %d", m->actuator_trntype[i]);  // SHOULD NOT OCCUR
+      mju_error("Unknown transmission type %d", m->actuator_trntype[i]);  // SHOULD NOT OCCUR
     }
   }
 
@@ -1503,7 +1503,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
   int i = 0;
   while (i < d->ne) {
     if (d->efc_type[i]!=mjCNSTR_EQUALITY)
-      mju_error_i("Row %d of efc is not an equality constraint", i);  // SHOULD NOT OCCUR
+      mju_error("Row %d of efc is not an equality constraint", i);  // SHOULD NOT OCCUR
 
     int id = d->efc_id[i];
     mjtNum* eq_data = m->eq_data + mjNEQDATA*id;
@@ -1555,7 +1555,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
       break;
 
     default:
-      mju_error_i("Unknown constraint type type %d", m->eq_type[id]);    // SHOULD NOT OCCUR
+      mju_error("Unknown constraint type type %d", m->eq_type[id]);    // SHOULD NOT OCCUR
     }
   }
 
diff --git a/src/engine/engine_file.c b/src/engine/engine_file.c
index dbbf9b75..a0c52815 100644
--- a/src/engine/engine_file.c
+++ b/src/engine/engine_file.c
@@ -30,7 +30,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
   // find size
   if (fseek(fp, 0, SEEK_END) != 0) {
     fclose(fp);
-    mju_warning_s("Failed to calculate size for '%s'", filename);
+    mju_warning("Failed to calculate size for '%s'", filename);
     return NULL;
   }
 
@@ -38,11 +38,11 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
   long long_filesize = ftell(fp);  // NOLINT(runtime/int)
   if (long_filesize > INT_MAX) {
     fclose(fp);
-    mju_warning_s("File size over 2GB is not supported. File: '%s'", filename);
+    mju_warning("File size over 2GB is not supported. File: '%s'", filename);
     return NULL;
   } else if (long_filesize < 0) {
     fclose(fp);
-    mju_warning_s("Failed to calculate size for '%s'", filename);
+    mju_warning("Failed to calculate size for '%s'", filename);
     return NULL;
   }
   *filesize = long_filesize;
@@ -50,7 +50,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
   // go back to start of file
   if (fseek(fp, 0, SEEK_SET) != 0) {
     fclose(fp);
-    mju_warning_s("Read error while reading '%s'", filename);
+    mju_warning("Read error while reading '%s'", filename);
     return NULL;
   }
 
@@ -67,7 +67,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
       fclose(fp);
       mju_free(buffer);
       *filesize = 0;
-      mju_warning_s("Read error while reading '%s'", filename);
+      mju_warning("Read error while reading '%s'", filename);
       return NULL;
     } else if (feof(fp)) {
       *filesize = bytes_read;
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 250e28cd..d7747001 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -278,11 +278,11 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
       const int slot = m->plugin[i];
       const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
       if (!plugin) {
-        mju_error_i("invalid plugin slot: %d", slot);
+        mju_error("invalid plugin slot: %d", slot);
       }
       if (plugin->capabilityflags & mjPLUGIN_ACTUATOR) {
         if (!plugin->compute) {
-          mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
+          mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
         }
         plugin->compute(m, d, i, mjPLUGIN_ACTUATOR);
       }
@@ -480,7 +480,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
     break;
 
   default:
-    mju_error_i("Unknown solver type %d", m->opt.solver);
+    mju_error("Unknown solver type %d", m->opt.solver);
   }
 
   // save result for next step warmstart
@@ -533,7 +533,7 @@ static void mj_advance(const mjModel* m, mjData* d,
       const int slot = m->plugin[i];
       const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
       if (!plugin) {
-        mju_error_i("invalid plugin slot: %d", slot);
+        mju_error("invalid plugin slot: %d", slot);
       }
       if (plugin->advance) {
         plugin->advance(m, d, i);
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index ac2e571c..b6293861 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -566,7 +566,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
   if (!buffer) {
     fp = fopen(filename, "wb");
     if (!fp) {
-      mju_warning_s("Could not open file '%s'", filename);
+      mju_warning("Could not open file '%s'", filename);
       return;
     }
   }
@@ -632,7 +632,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
   if (!buffer) {
     fp = fopen(filename, "rb");
     if (!fp) {
-      mju_warning_s("Could not open file '%s'", filename);
+      mju_warning("Could not open file '%s'", filename);
       return 0;
     }
   }
@@ -765,7 +765,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
 
   const char* validationError = mj_validateReferences(m);
   if (validationError) {
-    mju_warning(validationError);
+    mju_warning("%s", validationError);
     mj_deleteModel(m);
     return 0;
   }
@@ -888,7 +888,7 @@ static mjData* _makeData(const mjModel* m) {
         mju_free(d->buffer);
         mju_free(d->arena);
         mju_free(d);
-        mju_error_i("plugin->init failed for plugin id %d", i);
+        mju_error("plugin->init failed for plugin id %d", i);
       }
     }
   }
@@ -1018,12 +1018,10 @@ mjtNum* mj_stackAlloc(mjData* d, int size) {
   size_t stack_available_bytes = d->nstack * sizeof(mjtNum) - d->parena;
   size_t stack_required_bytes = (d->pstack + size) * sizeof(mjtNum);
   if (stack_required_bytes > stack_available_bytes) {
-    char err[256];
-    mjSNPRINTF(err, "stack overflow: max = %zu, available = %zu, requested = %zu "
-                    "(ne = %d, nf = %d, nefc = %d, ncon = %d)",
-               d->nstack * sizeof(mjtNum), stack_available_bytes, stack_required_bytes,
-               d->ne, d->nf, d->nefc, d->ncon);
-    mju_error(err);
+    mju_error("stack overflow: max = %zu, available = %zu, requested = %zu "
+              "(ne = %d, nf = %d, nefc = %d, ncon = %d)",
+              d->nstack * sizeof(mjtNum), stack_available_bytes, stack_required_bytes,
+              d->ne, d->nf, d->nefc, d->ncon);
   }
 
   // allocate at end of arena
@@ -1596,8 +1594,8 @@ const char* mj_validateReferences(const mjModel* m) {
     if (sensor_type == mjSENS_PLUGIN) {
       const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[m->sensor_plugin[i]]);
       if (!plugin->nsensordata) {
-        mju_error_i("`nsensordata` is a null function pointer for plugin at slot %d",
-                    m->plugin[m->sensor_plugin[i]]);
+        mju_error("`nsensordata` is a null function pointer for plugin at slot %d",
+                  m->plugin[m->sensor_plugin[i]]);
       }
       sensor_size = plugin->nsensordata(m, m->sensor_plugin[i], i);
     } else {
diff --git a/src/engine/engine_passive.c b/src/engine/engine_passive.c
index 7c38b539..4da2c278 100644
--- a/src/engine/engine_passive.c
+++ b/src/engine/engine_passive.c
@@ -168,11 +168,11 @@ void mj_passive(const mjModel* m, mjData* d) {
       const int slot = m->plugin[i];
       const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
       if (!plugin) {
-        mju_error_i("invalid plugin slot: %d", slot);
+        mju_error("invalid plugin slot: %d", slot);
       }
       if (plugin->capabilityflags & mjPLUGIN_PASSIVE) {
         if (!plugin->compute) {
-          mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
+          mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
         }
         plugin->compute(m, d, i, mjPLUGIN_PASSIVE);
       }
diff --git a/src/engine/engine_plugin.cc b/src/engine/engine_plugin.cc
index e933a361..046e5b1c 100644
--- a/src/engine/engine_plugin.cc
+++ b/src/engine/engine_plugin.cc
@@ -223,8 +223,8 @@ int mjp_registerPlugin(const mjpPlugin* plugin) {
   } else if (plugin->nattribute < 0) {
     mju_error("plugin->nattribute is negative");
   } else if (plugin->nattribute > kMaxAttributes) {
-    mju_error_i("plugin->nattribute exceeds the maximum limit of ",
-                kMaxAttributes);
+    mju_error("plugin->nattribute exceeds the maximum limit of %i",
+              kMaxAttributes);
   }
 
   char err[512];
@@ -339,7 +339,7 @@ int mjp_registerPlugin(const mjpPlugin* plugin) {
   // plugin registration failed, throw an mju_error
   if (slot < 0) {
     err[sizeof(err) - 1] = '\0';
-    mju_error(err);
+    mju_error("%s", err);
   }
 
   return slot;
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index 8bf02d49..78724273 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -139,13 +139,13 @@ static bool validateFloatFormat(const char* float_format) {
 
   // example valid format string: "% -9.2g"
   if (strnlen(float_format, FLOAT_FORMAT_MAX_LEN + 1) > FLOAT_FORMAT_MAX_LEN) {
-    mju_warning_i("Format string longer than limit of %d.", FLOAT_FORMAT_MAX_LEN);
+    mju_warning("Format string longer than limit of %d.", FLOAT_FORMAT_MAX_LEN);
     return false;
   }
 
   int cur_idx = 0;
   if (float_format[cur_idx] != '%') {
-    mju_warning("Format string must start with '%'.");
+    mju_warning("Format string must start with '%%'.");
     return false;
   }
   cur_idx++;
@@ -192,8 +192,8 @@ static bool validateFloatFormat(const char* float_format) {
   if (float_format[cur_idx] == '\0') {
     return true;
   } else {
-    mju_warning_s("Unable to match format string %s with expected pattern for a single float.",
-                  float_format);
+    mju_warning("Unable to match format string %s with expected pattern for a single float.",
+                float_format);
     return false;
   }
 }
@@ -219,7 +219,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
 
   // check for nullptr
   if (!fp) {
-    mju_warning_s("Could not open file '%s' for writing mjModel", filename);
+    mju_warning("Could not open file '%s' for writing mjModel", filename);
     return;
   }
 
@@ -748,7 +748,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
 
   // check for nullptr
   if (!fp) {
-    mju_warning_s("Could not open file '%s' for writing mjModel", filename);
+    mju_warning("Could not open file '%s' for writing mjModel", filename);
     mjFREESTACK;
     return;
   }
diff --git a/src/engine/engine_ray.c b/src/engine/engine_ray.c
index 066b2cf7..b32ca2a4 100644
--- a/src/engine/engine_ray.c
+++ b/src/engine/engine_ray.c
@@ -674,7 +674,7 @@ mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
     return ray_box(pos, mat, size, pnt, vec, NULL);
 
   default:
-    mju_error_i("mju_rayGeom: unexpected geom type %d", geomtype);
+    mju_error("mju_rayGeom: unexpected geom type %d", geomtype);
     return -1;
   }
 }
diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
index 9f2cbf44..2acc7d35 100644
--- a/src/engine/engine_sensor.c
+++ b/src/engine/engine_sensor.c
@@ -96,7 +96,7 @@ static void add_noise(const mjModel* m, mjData* d, mjtStage stage) {
 
         // unknown datatype
         else {
-          mju_error_i("Unknown datatype in sensor %d", i);
+          mju_error("Unknown datatype in sensor %d", i);
         }
       }
     }
@@ -158,7 +158,7 @@ static void get_xpos_xmat(const mjData* d, int type, int id, int sensor_id,
     *xmat = d->cam_xmat + 9*id;
     break;
   default:
-    mju_error_i("Invalid object type in sensor %d", sensor_id);
+    mju_error("Invalid object type in sensor %d", sensor_id);
   }
 }
 
@@ -182,7 +182,7 @@ static void get_xquat(const mjModel* m, const mjData* d, int type, int id, int s
     mju_mulQuat(quat, d->xquat+4*m->cam_bodyid[id], m->cam_quat+4*id);
     break;
   default:
-    mju_error_i("Invalid object type in sensor %d", sensor_id);
+    mju_error("Invalid object type in sensor %d", sensor_id);
   }
 }
 
@@ -334,7 +334,7 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
         break;
 
       default:
-        mju_error_i("Invalid sensor type in POS stage, sensor %d", i);
+        mju_error("Invalid sensor type in POS stage, sensor %d", i);
       }
     }
   }
@@ -356,12 +356,12 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
       const int slot = m->plugin[i];
       const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
       if (!plugin) {
-        mju_error_i("invalid plugin slot: %d", slot);
+        mju_error("invalid plugin slot: %d", slot);
       }
       if ((plugin->capabilityflags & mjPLUGIN_SENSOR) &&
           (plugin->needstage==mjSTAGE_POS || plugin->needstage==mjSTAGE_NONE)) {
         if (!plugin->compute) {
-          mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
+          mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
         }
         plugin->compute(m, d, i, mjPLUGIN_SENSOR);
       }
@@ -515,7 +515,7 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
         break;
 
       default:
-        mju_error_i("Invalid type in VEL stage, sensor %d", i);
+        mju_error("Invalid type in VEL stage, sensor %d", i);
       }
     }
   }
@@ -537,11 +537,11 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
       const int slot = m->plugin[i];
       const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
       if (!plugin) {
-        mju_error_i("invalid plugin slot: %d", slot);
+        mju_error("invalid plugin slot: %d", slot);
       }
       if ((plugin->capabilityflags & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_VEL) {
         if (!plugin->compute) {
-          mju_error_i("`compute` is null for plugin at slot %d", slot);
+          mju_error("`compute` is null for plugin at slot %d", slot);
         }
         if (subtreeVel == 0) {
           // compute subtree_linvel, subtree_angmom
@@ -724,7 +724,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
         break;
 
       default:
-        mju_error_i("Invalid type in ACC stage, sensor %d", i);
+        mju_error("Invalid type in ACC stage, sensor %d", i);
       }
     }
   }
@@ -746,11 +746,11 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
       const int slot = m->plugin[i];
       const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
       if (!plugin) {
-        mju_error_i("invalid plugin slot: %d", slot);
+        mju_error("invalid plugin slot: %d", slot);
       }
       if ((plugin->capabilityflags & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_ACC) {
         if (!plugin->compute) {
-          mju_error_i("`compute` is null for plugin at slot %d", slot);
+          mju_error("`compute` is null for plugin at slot %d", slot);
         }
         if (rnePost == 0) {
           // compute cacc, cfrc_int, cfrc_ext
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 7860e45e..77315a30 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -267,7 +267,7 @@ void mj_jacSparse(const mjModel* m, const mjData* d,
 
     // make sure we found it; SHOULD NOT OCCUR
     if (chain[ci]!=da) {
-      mju_error_i("dof index %d not found in chain", da);
+      mju_error("dof index %d not found in chain", da);
     }
 
     // construct rotation jacobian
@@ -1083,7 +1083,7 @@ void mj_applyFT(const mjModel* m, mjData* d,
 
   // make sure body is in range
   if (body<0 || body>=m->nbody) {
-    mju_error_i("Invalid body %d in applyFT", body);
+    mju_error("Invalid body %d in applyFT", body);
   }
 
   // compute Jacobians
@@ -1158,7 +1158,7 @@ void mj_objectVelocity(const mjModel* m, const mjData* d,
 
   // object without spatial frame
   else {
-    mju_error_i("Invalid object type %d in mj_objectVelocity", objtype);
+    mju_error("Invalid object type %d in mj_objectVelocity", objtype);
   }
 
   // transform velocity
@@ -1211,7 +1211,7 @@ void mj_objectAcceleration(const mjModel* m, const mjData* d,
 
   // object without spatial frame
   else {
-    mju_error_i("Invalid object type %d in mj_objectAcceleration", objtype);
+    mju_error("Invalid object type %d in mj_objectAcceleration", objtype);
   }
 
   // transform com-based velocity to local frame
@@ -1416,11 +1416,10 @@ void mj_setTotalmass(mjModel* m, mjtNum newmass) {
 
 // count warnings, print only the first time
 void mj_warning(mjData* d, int warning, int info) {
-  char str[1000];
 
   // check type
   if (warning<0 || warning>=mjNWARNING) {
-    mju_error_i("Invalid warning type %d", warning);
+    mju_error("Invalid warning type %d", warning);
   }
 
   // save info (override previous)
@@ -1428,8 +1427,7 @@ void mj_warning(mjData* d, int warning, int info) {
 
   // print message only the first time this warning is encountered
   if (!d->warning[warning].number) {
-    mjSNPRINTF(str, "%s Time = %.4f.", mju_warningText(warning, info), d->time);
-    mju_warning(str);
+    mju_warning("%s Time = %.4f.", mju_warningText(warning, info), d->time);
   }
 
   // increase counter
diff --git a/src/engine/engine_util_errmem.c b/src/engine/engine_util_errmem.c
index 9ce54358..d8cce6f0 100644
--- a/src/engine/engine_util_errmem.c
+++ b/src/engine/engine_util_errmem.c
@@ -18,12 +18,14 @@
 #include <stddef.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <stdarg.h>
 #include <time.h>
 
 #if defined (__unix__) || (defined (__APPLE__) && defined (__MACH__))
 #include <unistd.h>
 #endif
 
+#include "engine/engine_array_safety.h"
 #include "engine/engine_macro.h"
 //------------------------- cross-platform aligned malloc/free -------------------------------------
 
@@ -122,70 +124,74 @@ void mju_writeLog(const char* type, const char* msg) {
 
 
 // write message to logfile and console, pause and exit
-void mju_error(const char* msg) {
+void mju_error(const char* msg, ...) {
+  char errmsg[1000];
+
+  // Format msg into errmsg
+  va_list args;
+  va_start(args, msg);
+  vsnprintf(errmsg, mjSIZEOFARRAY(errmsg), msg, args);
+  va_end(args);
+
   if (_mjPRIVATE_tls_error_fn) {
-    _mjPRIVATE_tls_error_fn(msg);
+    _mjPRIVATE_tls_error_fn(errmsg);
   } else if (mju_user_error) {
-    mju_user_error(msg);
+    mju_user_error(errmsg);
   } else {
      // write to log and console
-    mju_writeLog("ERROR", msg);
-    printf("ERROR: %s\n\nPress Enter to exit ...", msg);
+    mju_writeLog("ERROR", errmsg);
+    printf("ERROR: %s\n\nPress Enter to exit ...", errmsg);
 
     // pause, exit
     getchar();
-    exit(1);
+    exit(EXIT_FAILURE);
   }
 }
 
 
 // write message to logfile and console
-void mju_warning(const char* msg) {
+void mju_warning(const char* msg, ...) {
+  char wrnmsg[1000];
+
+  // Format msg into wrnmsg
+  va_list args;
+  va_start(args, msg);
+  vsnprintf(wrnmsg, mjSIZEOFARRAY(wrnmsg), msg, args);
+  va_end(args);
+
   if (_mjPRIVATE_tls_warning_fn) {
-    _mjPRIVATE_tls_warning_fn(msg);
+    _mjPRIVATE_tls_warning_fn(wrnmsg);
   } else if (mju_user_warning) {
-    mju_user_warning(msg);
+    mju_user_warning(wrnmsg);
   } else {
     // write to log file and console
-    mju_writeLog("WARNING", msg);
-    printf("WARNING: %s\n\n", msg);
+    mju_writeLog("WARNING", wrnmsg);
+    printf("WARNING: %s\n\n", wrnmsg);
   }
 }
 
 
 // error with int argument
 void mju_error_i(const char* msg, int i) {
-  char errmsg[1000];
-  snprintf(errmsg, sizeof(errmsg), msg, i);
-  errmsg[999] = '\0';
-  mju_error(errmsg);
+  mju_error(msg, i);
 }
 
 
 // warning with int argument
 void mju_warning_i(const char* msg, int i) {
-  char wrnmsg[1000];
-  snprintf(wrnmsg, sizeof(wrnmsg), msg, i);
-  wrnmsg[999] = '\0';
-  mju_warning(wrnmsg);
+  mju_warning(msg, i);
 }
 
 
 // error string argument
 void mju_error_s(const char* msg, const char* text) {
-  char errmsg[1000];
-  snprintf(errmsg, sizeof(errmsg), msg, text);
-  errmsg[999] = '\0';
-  mju_error(errmsg);
+  mju_error(msg, text);
 }
 
 
 // warning string argument
 void mju_warning_s(const char* msg, const char* text) {
-  char wrnmsg[1000];
-  snprintf(wrnmsg, sizeof(wrnmsg), msg, text);
-  wrnmsg[999] = '\0';
-  mju_warning(wrnmsg);
+  mju_warning(msg, text);
 }
 
 
diff --git a/src/engine/engine_util_errmem.h b/src/engine/engine_util_errmem.h
index 99bcf880..e2e4beb8 100644
--- a/src/engine/engine_util_errmem.h
+++ b/src/engine/engine_util_errmem.h
@@ -23,6 +23,15 @@
 extern "C" {
 #endif
 
+#ifndef mjPRINTFLIKE
+  #if defined(__GNUC__)
+    #define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
+  #else
+    #define mjPRINTFLIKE(n, m)
+  #endif // __GNUC__
+#endif // mjPRINTFLIKE
+
+
 //------------------------------ user handlers -----------------------------------------------------
 
 MJAPI extern void (*mju_user_error)(const char*);
@@ -42,12 +51,12 @@ MJAPI void _mjPRIVATE__set_tls_warning_fn(void (*h)(const char*));
 //------------------------------ errors and warnings -----------------------------------------------
 
 // errors
-MJAPI void mju_error(const char* msg);
+MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
 MJAPI void mju_error_i(const char* msg, int i);
 MJAPI void mju_error_s(const char* msg, const char* text);
 
 // warnings
-MJAPI void mju_warning(const char* msg);
+MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
 MJAPI void mju_warning_i(const char* msg, int i);
 MJAPI void mju_warning_s(const char* msg, const char* text);
 
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index 60a1e127..656f9bf0 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -286,7 +286,7 @@ mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
 
   // check object type;  SHOULD NOT OCCUR
   if (type!=mjWRAP_SPHERE && type!=mjWRAP_CYLINDER) {
-    mju_error_i("mju_wrap: unknown wrapping object type %d", type);
+    mju_error("mju_wrap: unknown wrapping object type %d", type);
   }
 
   // map sites to wrap object's local frame
diff --git a/src/engine/engine_vis_interact.c b/src/engine/engine_vis_interact.c
index f4bc276c..0a077541 100644
--- a/src/engine/engine_vis_interact.c
+++ b/src/engine/engine_vis_interact.c
@@ -295,7 +295,7 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
     break;
 
   default:
-    mju_error_i("Unexpected mouse action %d in convert2D", action);
+    mju_error("Unexpected mouse action %d in convert2D", action);
   }
 
   // call 3D converter
@@ -347,7 +347,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
     break;
 
   default:
-    mju_error_i("Unexpected action %d in mjv_moveCamera", action);
+    mju_error("Unexpected action %d in mjv_moveCamera", action);
   }
 
   // clamp camera parameters
@@ -434,7 +434,7 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
     break;
 
   default:
-    mju_error_i("Unexpected mouse action %d in mjv_movePerturb", action);
+    mju_error("Unexpected mouse action %d in mjv_movePerturb", action);
   }
 }
 
@@ -510,7 +510,7 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
     break;
 
   default:
-    mju_error_i("Unexpected action %d in mjv_moveModel", action);
+    mju_error("Unexpected action %d in mjv_moveModel", action);
   }
 }
 
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index d1a71b11..e079b0e8 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -304,7 +304,7 @@ void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
   if (type!=mjGEOM_CAPSULE && type!=mjGEOM_CYLINDER &&
       type!=mjGEOM_ARROW && type!=mjGEOM_ARROW1 && type!=mjGEOM_ARROW2
       && type!=mjGEOM_LINE) {
-    mju_error_i("Invalid geom type %d for connector", type);
+    mju_error("Invalid geom type %d for connector", type);
   }
 
   // assign type
@@ -770,7 +770,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           break;
 
         default:
-          mju_error_i("Unknown joint type %d in mjv_visualize", m->jnt_type[i]);
+          mju_error("Unknown joint type %d in mjv_visualize", m->jnt_type[i]);
         }
 
         f2f(thisgeom->rgba, m->vis.rgba.joint, 4);
@@ -2008,7 +2008,7 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
       const int slot = m->plugin[i];
       const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
       if (!plugin) {
-        mju_error_i("invalid plugin slot: %d", slot);
+        mju_error("invalid plugin slot: %d", slot);
       }
       if (plugin->visualize) {
         plugin->visualize(m, d, scn, i);
@@ -2190,4 +2190,3 @@ int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3]
 
   return 0;  // SHOULD NOT OCCUR
 }
-
diff --git a/src/render/glad/glad.c b/src/render/glad/glad.c
index 9b2a157a..71028903 100644
--- a/src/render/glad/glad.c
+++ b/src/render/glad/glad.c
@@ -199,7 +199,7 @@ static int mjGlad_open_gl(void) {
 
   handle = dlopen(libname, RTLD_NOW | RTLD_LOCAL);
   if (!handle) {
-    mju_error_s("failed to dlopen %s", libname);
+    mju_error("failed to dlopen %s", libname);
   }
 
   if (platform == mjGL_GLX) {
diff --git a/src/render/render_context.c b/src/render/render_context.c
index ead72db6..8f2dff12 100644
--- a/src/render/render_context.c
+++ b/src/render/render_context.c
@@ -212,7 +212,7 @@ void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
 
   // check index
   if (meshid<0 || meshid>=m->nmesh) {
-    mju_error_i("Invalid mesh index %d", meshid);
+    mju_error("Invalid mesh index %d", meshid);
   }
 
   // delete old lists (mesh and convex hull)
@@ -405,7 +405,7 @@ void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
 
   // check index
   if (hfieldid<0 || hfieldid>=m->nhfield) {
-    mju_error_i("Invalid height field index %d", hfieldid);
+    mju_error("Invalid height field index %d", hfieldid);
   }
 
   // delete old list
@@ -1076,7 +1076,7 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
   // check FBO status
   GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
   if (err!=GL_FRAMEBUFFER_COMPLETE) {
-    mju_error_i("Shadow framebuffer is not complete, error 0x%x", err);
+    mju_error("Shadow framebuffer is not complete, error 0x%x", err);
   }
 
   glDisable(GL_TEXTURE_2D);
@@ -1137,7 +1137,7 @@ static void makeOff(mjrContext* con) {
   // check FBO status
   GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
   if (err!=GL_FRAMEBUFFER_COMPLETE) {
-    mju_error_i("Offscreen framebuffer is not complete, error 0x%x", err);
+    mju_error("Offscreen framebuffer is not complete, error 0x%x", err);
   }
 
   // get actual number of samples
@@ -1175,7 +1175,7 @@ static void makeOff(mjrContext* con) {
     // check FBO status
     GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
     if (err!=GL_FRAMEBUFFER_COMPLETE) {
-      mju_error_i("Offscreen framebuffer_r is not complete, error 0x%x", err);
+      mju_error("Offscreen framebuffer_r is not complete, error 0x%x", err);
     }
   }
 }
@@ -1296,7 +1296,7 @@ static void makeFont(mjrContext* con, int fontscale) {
 static void makeTexture(const mjModel* m, mjrContext* con) {
   // checks size
   if (m->ntex>mjMAXTEXTURE) {
-    mju_error_i("Maximum number of textures is %d", mjMAXTEXTURE);
+    mju_error("Maximum number of textures is %d", mjMAXTEXTURE);
   }
 
   // save new size
@@ -1498,7 +1498,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
     } else if (status==GL_FRAMEBUFFER_UNDEFINED) {
       con->windowAvailable = 0;
     } else {
-      mju_error_i("Default framebuffer is not complete, error 0x%x", status);
+      mju_error("Default framebuffer is not complete, error 0x%x", status);
     }
   }
 
@@ -1601,7 +1601,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
   // issue warnings for any OpenGL errors
   GLenum err;
   while ((err = glGetError())) {
-    mju_warning_i("OpenGL error 0x%x in or before mjr_makeContext", err);
+    mju_warning("OpenGL error 0x%x in or before mjr_makeContext", err);
   }
 
   // set default color pixel format for mjr_readPixels
@@ -1706,7 +1706,7 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
   // check FBO status
   GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
   if (err!=GL_FRAMEBUFFER_COMPLETE) {
-    mju_error_i("Auxiliary framebuffer is not complete, error 0x%x", err);
+    mju_error("Auxiliary framebuffer is not complete, error 0x%x", err);
   }
 
   // create FBO for resolving
@@ -1730,7 +1730,7 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
   // check FBO status
   err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
   if (err!=GL_FRAMEBUFFER_COMPLETE) {
-    mju_error_i("Auxiliary framebuffer resolve is not complete, error 0x%x", err);
+    mju_error("Auxiliary framebuffer resolve is not complete, error 0x%x", err);
   }
 
   // restore
diff --git a/src/render/render_gl2.c b/src/render/render_gl2.c
index 7ea8f91b..6e18b886 100644
--- a/src/render/render_gl2.c
+++ b/src/render/render_gl2.c
@@ -300,7 +300,7 @@ void mjr_setAux(int index, const mjrContext* con) {
     glReadBuffer(GL_COLOR_ATTACHMENT0);
     glDrawBuffer(GL_COLOR_ATTACHMENT0);
   } else {
-    mju_error_i("auxFBO %d does not exist", index);
+    mju_error("auxFBO %d does not exist", index);
   }
 }
 
diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
index 5f902986..6e5dfd37 100644
--- a/src/user/user_composite.cc
+++ b/src/user/user_composite.cc
@@ -206,7 +206,7 @@ void mjCComposite::SetDefault(void) {
     break;
   default:
     // SHOULD NOT OCCUR
-    mju_error_i("Invalid composite type: %d", type);
+    mju_error("Invalid composite type: %d", type);
     break;
   }
 }
@@ -543,7 +543,7 @@ bool mjCComposite::MakeCable(mjCModel* model, mjCBody* body, char* error, int er
           break;
         default:
           // SHOULD NOT OCCUR
-          mju_error_i("Invalid composite shape: %d", curve[k]);
+          mju_error("Invalid composite shape: %d", curve[k]);
           break;
         }
       }
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index f8bf1ab8..304f0d50 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2697,7 +2697,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
     for (int i = 0; i < nplugin; ++i) {
       const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
       if (!plugin->nstate) {
-        mju_error_i("`nstate` is null for plugin at slot %d", m->plugin[i]);
+        mju_error("`nstate` is null for plugin at slot %d", m->plugin[i]);
       }
       int nstate = plugin->nstate(m, i);
       m->plugin_stateadr[i] = stateadr;
@@ -2706,7 +2706,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
       if (plugin->capabilityflags & mjPLUGIN_SENSOR) {
         for (int sensor_id : plugin_to_sensors[i]) {
           if (!plugin->nsensordata) {
-            mju_error_i("`nsensordata` is null for plugin at slot %d", m->plugin[i]);
+            mju_error("`nsensordata` is null for plugin at slot %d", m->plugin[i]);
           }
           int nsensordata = plugin->nsensordata(m, i, sensor_id);
           sensors[sensor_id]->dim = nsensordata;
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 9fdfe589..d02042c6 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -3259,18 +3259,12 @@ public static unsafe extern mjuiItem_* mjui_event(mjUI_* ui, mjuiState_* state,
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjui_render(mjUI_* ui, mjuiState_* state, mjrContext_* con);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_error([MarshalAs(UnmanagedType.LPStr)]string msg);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mju_error_i([MarshalAs(UnmanagedType.LPStr)]string msg, int i);
 
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mju_error_s([MarshalAs(UnmanagedType.LPStr)]string msg, [MarshalAs(UnmanagedType.LPStr)]string text);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_warning([MarshalAs(UnmanagedType.LPStr)]string msg);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mju_warning_i([MarshalAs(UnmanagedType.LPStr)]string msg, int i);