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MuJoCo 3.11.0: Surface Velocity and Adhesion, Major Physics Simulation Upgrade

Why it mattersMuJoCo 3.11.0 adds surface velocity (static geoms drive touching bodies like conveyor belts) and adhesion (simulate glue or magnets), plus improved integrator stability.

MuJoCo 3.11.0 introduces two major new features: surface velocity and adhesion. Surface velocity allows static geoms to simulate conveyor belts or turntables, driving touching bodies via friction. Adhesion enables contacts to exert pulling forces, useful for modeling glue or magnets. The implicitfast integrator now uses gyroscopic derivatives for all free bodies, eliminating energy gain but introducing mild damping for tumbling.

What changed

  • Added geom/surfacevel attribute, allowing static geoms to simulate conveyor belts, treadmills, or turntables, driving touching bodies via friction.
  • Added geom/adhesion and pair/adhesion attributes, adding adhesive forces to contacts for modeling sticky materials like glue or magnets.
  • Implicitfast integrator now uses gyroscopic derivatives instead of midpoint integration, eliminating energy gain for free bodies but introducing mild damping for tumbling.
  • Added body/simple attribute (false/auto) to disable the simple body mass matrix optimization, useful for domain randomization.
  • Default sleep tolerance changed from 1e-4 to 1e-3 (1mm/s in SI units), making sleep detection more lenient.
  • Removed legacy inertia matrix mjData.qM; now using CSR format mjData.M. Related APIs like mjd_inverseFD have changed parameter shapes.
  • Added ctrlnum and outnum fields to actuators, preparing for future MIMO actuator support; existing actuators are unaffected.
releaseprojectMuJoCo3.11.0GitHubupdate

Source: GitHub Releases · July 28, 2026

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What changed

  • Added geom/surfacevel attribute, allowing static geoms to simulate conveyor belts, treadmills, or turntables, driving touching bodies via friction.
  • Added geom/adhesion and pair/adhesion attributes, adding adhesive forces to contacts for modeling sticky materials like glue or magnets.
  • Implicitfast integrator now uses gyroscopic derivatives instead of midpoint integration, eliminating energy gain for free bodies but introducing mild damping for tumbling.
  • Added body/simple attribute (false/auto) to disable the simple body mass matrix optimization, useful for domain randomization.
  • Default sleep tolerance changed from 1e-4 to 1e-3 (1mm/s in SI units), making sleep detection more lenient.
  • Removed legacy inertia matrix mjData.qM; now using CSR format mjData.M. Related APIs like mjd_inverseFD have changed parameter shapes.
  • Added ctrlnum and outnum fields to actuators, preparing for future MIMO actuator support; existing actuators are unaffected.

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