[dependabot]

Bumps @mujoco/mujoco from 3.15.0 to 3.17.0.

Release notes

Sourced from @​mujoco/mujoco's releases.

3.17.0

Version 3.17.0 (October 22, 2026)

Significant new features

1. c00ed8153 Added a batch API in mujoco/mjbatch.h (in Python as mujoco.batch): many simulations of one model stepped on a thread pool of its own, each held as its integration state and loaded into an mjData for each call, so memory scales with threads and results are bit-identical to a plain loop at any thread count. It supports per-simulation model and option fields or models of the caller's, observations of the state after a step, recorded trajectories, persistent simulations (required for sleep), and arbitrary per-simulation functions. Follows the design of mjbatch by @​kevinzakka.

Engine

2. Flex improvements:

   • 94483e166 Added bending elasticity for 1D flexes, using a twist-free isotropic discrete elastic rod model. The cross-section is selected with the new section attribute: a circle of the flex radius, or a box with half-sizes sectionsize that uses the stiffness of its weak axis. It is enabled by a positive young modulus, requires a straight reference configuration (curved initial poses can be set with qpos or keyframes), is compatible with edge equality constraints, and is integrated implicitly by the discrete integrator. Previously young was ignored for 1D flexes: existing models that set it now bend, and fail to compile if the cross-section is degenerate (zero radius with the default circle section), if a vertex joins a zero-length edge, or if the rod is not straight.

   • 36d0df9a5, 897e3fcb1 Interpolated flexes (trilinear or quadratic dofs) now support self-collision, excluding elements in the same or neighboring cells.

   • 39dd10f2d The default arena memory for flex models is now much smaller, sized from the flex mesh topology instead of nv^2. If the Newton solver runs out of arena memory it falls back to CG with a warning.

3. mj_setConst now computes only quantities derived from other fields of mjModel, while the compiler alone resolves spec-level conventions:

   • 55c1b585a, d6d41f324 The damping of position actuators from dampratio, the spring length of tendons from (-1, -1), and model statistics are now resolved only at compile time, not by mj_setConst. Set the model fields directly when editing a compiled model (mj_copyBack now copies tendon spring lengths back to the spec).

   • c8362756d Constraint solvers now scale their termination criteria by the trace of the current inertia matrix (of the model or island) instead of mjModel.stat.meaninertia. Models solved with PGS, noslip or islands disabled can stop at slightly different iterations. The meaninertia attribute is deprecated and now emits a compile warning; remove it to migrate.

   • abddec5b9 For body-based weld constraints without a specified relpose, the relative pose in qpos0 is now recomputed by mj_setConst when

... (truncated)

Changelog

Sourced from @​mujoco/mujoco's changelog.

Version 3.17.0 (October 22, 2026)

Significant new features ^^^^^^^^^^^^^^^^^^^^^^^^

1. :commit:c00ed8153 Added a :ref:batch API<siBatch> in mujoco/mjbatch.h (in Python as :ref:mujoco.batch<PyBatch>): many simulations of one model stepped on a thread pool of its own, each held as its integration state and loaded into an mjData for each call, so memory scales with threads and results are bit-identical to a plain loop at any thread count. It supports per-simulation model and option fields or models of the caller's, observations of the state after a step, recorded trajectories, persistent simulations (required for sleep), and arbitrary per-simulation functions. Follows the design of mjbatch <https://github.com/kevinzakka/mjbatch>__ by :github:user:kevinzakka.

Engine ^^^^^^ 2. Flex improvements:

• :commit:94483e166 Added bending :ref:elasticity<flex-elasticity> for 1D flexes, using a twist-free isotropic discrete elastic rod model. The cross-section is selected with the new :ref:section<flex-elasticity-section> attribute: a circle of the flex radius, or a box with half-sizes :ref:sectionsize<flex-elasticity-sectionsize> that uses the stiffness of its weak axis. It is enabled by a positive :ref:young<flex-elasticity-young> modulus, requires a straight reference configuration (curved initial poses can be set with qpos or keyframes), is compatible with edge equality constraints, and is integrated implicitly by the :ref:discrete<option-integrator> integrator. Previously young was ignored for 1D flexes: existing models that set it now bend, and fail to compile if the cross-section is degenerate (zero radius with the default circle section), if a vertex joins a zero-length edge, or if the rod is not straight.
• :commit:36d0df9a5, :commit:897e3fcb1 Interpolated flexes (trilinear or quadratic :ref:dofs<body-flexcomp-dof>) now support :ref:self-collision<flex-contact-selfcollide>, excluding elements in the same or neighboring cells.
• :commit:39dd10f2d The default arena :ref:memory<size-memory> for flex models is now much smaller, sized from the flex mesh topology instead of nv^2. If the Newton solver runs out of arena memory it falls back to CG with a warning.

3. :ref:mj_setConst now computes only quantities derived from other fields of :ref:mjModel, while the compiler alone resolves spec-level conventions:

   • :commit:55c1b585a, :commit:d6d41f324 The damping of position actuators from :ref:dampratio<actuator-position-dampratio>, the spring length of tendons from (-1, -1), and model statistics are now resolved only at compile time, not by :ref:mj_setConst. Set the model fields directly when editing a compiled model (:ref:mj_copyBack now copies tendon spring lengths back to the spec).

   • :commit:c8362756d Constraint solvers now scale their termination criteria by the trace of the current inertia matrix (of the model or island) instead of mjModel.stat.meaninertia. Models solved with PGS, noslip or islands disabled can stop at slightly different iterations. The :ref:meaninertia<statistic-meaninertia> attribute is deprecated and now emits a compile warning; remove it to migrate.

   • :commit:abddec5b9 For body-based :ref:weld<equality-weld> constraints without a specified :ref:relpose<equality-weld-relpose>, the relative pose in qpos0 is now recomputed by :ref:mj_setConst when the model is modified after compilation (matching the second body's :ref:anchor<equality-connect-anchor> in body-based connect constraints). The compiler marks such welds with a nonzero eq_data[11], and :ref:mjNEQDATA<glNumericSizes> increased from 11 to 12.

     .. admonition:: Breaking ABI changes

... (truncated)

Commits

• abddec5 Compute the relative pose of welds in mj_setConst, as marked in eq_data[11].
• 1be762d Add mj_loadTexture and mj_embedAssets; the classic renderer uses them
• 3576818 Textures by reference: <compiler passthrough="textures"> and <texture embed>
• 0848288 Add default classes for textures
• 94483e1 Add discrete elastic rod bending elasticity to 1D flexes.
• 39b7193 Fix named access of actuators and of multi-column dof fields in the Python an...
• 4e9a2de Add mjs_dedupAssets, merging the duplicate textures and meshes of an mjSpec
• cf89a63 Add scale, scaling and massscale attributes to frames.
• 2757493 Shorten resource provider function names.
• 0696cdc Allow <flexcomp> to consume <mesh> assets directly via the mesh attribute.
• Additional commits viewable in compare view

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