[dependabot]

Bumps mujoco from 3.13.0 to 3.14.0.

Release notes

Sourced from mujoco's releases.

3.14.0

Version 3.14.0 (September 22, 2026)

General

1. 458189298 Added the ipc flag, an experimental contact mode of the discrete integrator for penetration-free flex contact. Each step minimizes an incremental potential subject to linearized contact constraints, using a barrier-free augmented Lagrangian whose subproblems are the discrete solve. Every committed position update is verified intersection-free by continuous collision detection, so flex contact cannot tunnel. Supported for dim-2 flexes: a flex with edge equality constraints keeps its elasticity in the constraint solver, while elastic2d elasticity is integrated implicitly through the effective metric. The contacts the mode resolves are frictionless. The mode keeps contact multipliers across steps that no state specification covers, so mj_getState/mj_setState do not capture its full state and exact replay is not supported.

2. 2fec92237 Introduced archive resource providers (mjp_registerArchiveResourceProvider). Archive providers use the mjpResourceProvider interface to mount and read archive containers (such as .mjz/.zip), decoupling container handling from format decoders and enabling on-demand asset extraction without requiring a pre-allocated VFS.

3. e312ce82d Frames are now preserved when saving MJCF: <frame> elements are written with their pos and quat and their contents in frame-relative coordinates, so a saved model reloads with the same frames. Previously the frame transformation was accumulated into the children on save and only the frame's name was kept. Changes to the pos or quat of a frame in an mjSpec now also take effect when the spec is recompiled.

Engine

[!WARNING] Breaking API changes

4. dc8bb1364 mj_readCtrl now matches the signature and semantics of mj_readSensor to support multi-input actuators (e.g., pid, dcmotor, orientation): it takes an output buffer result of size actuator_ctrlnum[id] and returns const mjtNum* (a pointer into mjData.ctrl or mjData.history on zero-order-hold or exact timestamp matches, or NULL when interpolated values are written to result). Actuator history buffers now store actuator_ctrlnum[id] values per sample, and mj_initCtrlHistory expects nsample * actuator_ctrlnum[id] values (#3597).

5. 9e0c6b577 The mjWARN_INERTIA warning is now also raised by the modified-inertia factorizations of the implicitfast and damped-Euler integrators (previously silent) and of the implicit integrator (previously a fatal error).

6. 35c0631de The sparse Newton solver no longer aborts with a "rank-deficient sparse Hessian" error when rounding loses a pivot of its Hessian, as can happen in single precision with ill-conditioned inertia. The pivot is now clamped and its row decoupled, as in the dense factorization.

Bug fixes

7. 2a3f1f5a4 Procedural model editing is no longer quadratic in the number of elements. mjSpec previously

... (truncated)

Changelog

Sourced from mujoco's changelog.

Version 3.14.0 (September 22, 2026)

General ^^^^^^^

1. :commit:458189298 Added the ipc :ref:flag<option-flag-ipc>, an experimental contact mode of the discrete integrator for penetration-free flex contact. Each step minimizes an incremental potential subject to linearized contact constraints, using a barrier-free augmented Lagrangian whose subproblems are the discrete solve. Every committed position update is verified intersection-free by continuous collision detection, so flex contact cannot tunnel. Supported for dim-2 flexes: a flex with edge equality constraints keeps its elasticity in the constraint solver, while elastic2d elasticity is integrated implicitly through the effective metric. The contacts the mode resolves are frictionless. The mode keeps contact multipliers across steps that no state specification covers, so mj_getState/mj_setState do not capture its full state and exact replay is not supported.
2. :commit:2fec92237 Introduced :ref:archive resource providers<mjp_registerArchiveResourceProvider> (mjp_registerArchiveResourceProvider). Archive providers use the :ref:mjpResourceProvider interface to mount and read archive containers (such as .mjz/.zip), decoupling container handling from format decoders and enabling on-demand asset extraction without requiring a pre-allocated :ref:VFS<Virtualfilesystem>.
3. :commit:e312ce82d :ref:Frames<frame> are now preserved when saving MJCF: <frame> elements are written with their pos and quat and their contents in frame-relative coordinates, so a saved model reloads with the same frames. Previously the frame transformation was accumulated into the children on save and only the frame's name was kept. Changes to the pos or quat of a frame in an :ref:mjSpec now also take effect when the spec is recompiled.

Engine ^^^^^^ .. admonition:: Breaking API changes :class: attention

4. :commit:dc8bb1364 :ref:mj_readCtrl now matches the signature and semantics of :ref:mj_readSensor to support multi-input actuators (e.g., :ref:pid<actuator-pid>, :ref:dcmotor<actuator-dcmotor>, :ref:orientation<actuator-orientation>): it takes an output buffer result of size actuator_ctrlnum[id] and returns const mjtNum* (a pointer into mjData.ctrl or mjData.history on zero-order-hold or exact timestamp matches, or NULL when interpolated values are written to result). Actuator history buffers now store actuator_ctrlnum[id] values per sample, and :ref:mj_initCtrlHistory expects nsample * actuator_ctrlnum[id] values (:issue:3597).

5. :commit:9e0c6b577 The :ref:mjWARN_INERTIA <mjtWarning> warning is now also raised by the modified-inertia factorizations of the :at:implicitfast and damped-:at:Euler integrators (previously silent) and of the :at:implicit integrator (previously a fatal error).

6. :commit:35c0631de The sparse Newton solver no longer aborts with a "rank-deficient sparse Hessian" error when rounding loses a pivot of its Hessian, as can happen in single precision with ill-conditioned inertia. The pivot is now clamped and its row decoupled, as in the dense factorization.

Bug fixes ^^^^^^^^^ 7. :commit:2a3f1f5a4 Procedural model editing is no longer quadratic in the number of elements. mjSpec previously recomputed the compilation signature on every :ref:mjs_addGeom-like call, and :ref:mjs_setName rescanned every

... (truncated)

Commits

• 9ecbb9d Update changelog for the 3.14.0 release.
• 22b8880 Preserve fallback light intensity and VSM blur width in ModelLights::Update.
• 8ae5aad Fix broken path in MuJoCo Live JavaScript.
• 53197e6 Merge pull request #3609 from sylvesterkaczmarek:fix/preserve-mesh-site-senso...
• a281379 Apply the enclosing frame to inertial elements.
• de526db Merge pull request #2924 from giusenso:fix/load-xml-error-handling
• 4c33a83 Use float32 relative tolerance (1e-7) for mesh inertia eigendecomposition.
• 2a3f1f5 Clear mjSpec signature on edits and track element names in a set.
• f495874 Merge pull request #3311 from davidhozic:fix/cameraid-check
• e312ce8 Preserve frames when saving and recompiling.
• Additional commits viewable in compare view

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