[dependabot]

Bumps @mujoco/mujoco from 3.15.0 to 3.16.0.

Release notes

Sourced from @​mujoco/mujoco's releases.

3.16.0

Version 3.16.0 (October 14, 2026)

Significant new features

1. cf89a6375, 4316935b3, 6d98d9fab, 5f17e92eb, 89d59b11f, 147dc67d0 Frames can now scale their contents at compile time—without modifying the mjSpec—via the new scale, scaling, and massscale attributes. The default similar policy scales all physical quantities so that dynamics are preserved under proportionally scaled gravity, whereas geometry scales only spatial dimensions and inertias (and supports anisotropic scaling). Masses scale with volume unless overridden by massscale. External references to scaled elements—including actuators, tendons, constraints, sensors, keyframes, and deformable/mesh assets—are scaled consistently, and mj_copyBack maps values back into unscaled spec coordinates. See frame/scale for details.

2. 592c54ad3, 92b8f4b27, d4595d020 Added compiler attributes savecompiled and savecanonical (both defaulting to "true") to preserve original authoring when saving models to XML. Setting savecompiled="false" saves the uncompiled mjSpec directly—retaining default classes, frames, and authored numeric values—so the saved XML reloads into an identical spec. Setting savecanonical="false" additionally preserves the original input conventions, such as orientation representations, degree/radian units, and actuator shortcuts; see Model Encoding & Saving. mj_copyBack (MjSpec.copy_back in Python) now updates only the modified fields in the spec while leaving all other authored values untouched.

3. 9d953b40c Added support for building MuJoCo with Bazel (initially covers core library, simulate, plugins, and samples).

General

[!WARNING] Breaking API changes

4. ea5e711c1 mjfDecode, the decode callback of mjpDecoder plugins, and mju_decodeResource now take char* error, int error_sz arguments. A decoder which fails writes its reason into error, which is then reported by mj_parse and in mesh compilation errors, rather than only as a warning with a generic error.

   Migration: Add the two arguments to custom decoders and write failure messages into error (if not NULL) instead of calling mju_warning. Pass an error buffer, or NULL, 0, to mju_decodeResource.

5. 2757493d9 Shortened the names of mjpResourceProvider functions. mjp_getResourceProvider is renamed to mjp_findProvider, consistent with other prefix and extension lookups.

   Migration: Rename as follows: |br| mjp_defaultResourceProvider → mjp_defaultProvider |br| mjp_registerResourceProvider → mjp_registerProvider |br| mjp_resourceProviderCount → mjp_providerCount |br| mjp_getResourceProvider → mjp_findProvider |br| mjp_getResourceProviderAtSlot → mjp_getProviderAtSlot

... (truncated)

Changelog

Sourced from @​mujoco/mujoco's changelog.

Version 3.16.0 (October 14, 2026)

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

1. :commit:cf89a6375, :commit:4316935b3, :commit:6d98d9fab, :commit:5f17e92eb, :commit:89d59b11f, :commit:147dc67d0 :ref:Frames<frame> can now scale their contents at compile time—without modifying the :ref:mjSpec—via the new :ref:scale<frame-scale>, :ref:scaling<frame-scaling>, and :ref:massscale<frame-massscale> attributes. The default similar policy scales all physical quantities so that dynamics are preserved under proportionally scaled gravity, whereas geometry scales only spatial dimensions and inertias (and supports anisotropic scaling). Masses scale with volume unless overridden by massscale. External references to scaled elements—including actuators, tendons, constraints, sensors, keyframes, and deformable/mesh assets—are scaled consistently, and :ref:mj_copyBack maps values back into unscaled spec coordinates. See :ref:frame/scale<frame-scale> for details.
2. :commit:592c54ad3, :commit:92b8f4b27, :commit:d4595d020 Added compiler attributes :ref:savecompiled<compiler-savecompiled> and :ref:savecanonical<compiler-savecanonical> (both defaulting to "true") to preserve original authoring when saving models to XML. Setting savecompiled="false" saves the uncompiled :ref:mjSpec directly—retaining default classes, frames, and authored numeric values—so the saved XML reloads into an identical spec. Setting savecanonical="false" additionally preserves the original input conventions, such as orientation representations, degree/radian units, and actuator shortcuts; see :ref:Model Encoding & Saving <meSaving>. :ref:mj_copyBack (MjSpec.copy_back in Python) now updates only the modified fields in the spec while leaving all other authored values untouched.
3. :commit:9d953b40c Added support for building MuJoCo with Bazel <https://bazel.build/>__ (initially covers core library, simulate, plugins, and samples).

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

4. :commit:ea5e711c1 :ref:mjfDecode, the decode callback of :ref:mjpDecoder plugins, and :ref:mju_decodeResource now take char* error, int error_sz arguments. A decoder which fails writes its reason into error, which is then reported by :ref:mj_parse and in mesh compilation errors, rather than only as a warning with a generic error.

   Migration: Add the two arguments to custom decoders and write failure messages into error (if not NULL) instead of calling :ref:mju_warning. Pass an error buffer, or NULL, 0, to :ref:mju_decodeResource.

5. :commit:2757493d9 Shortened the names of :ref:mjpResourceProvider functions. mjp_getResourceProvider is renamed to :ref:mjp_findProvider, consistent with other prefix and extension lookups.

   Migration: Rename as follows: |br| mjp_defaultResourceProvider → :ref:mjp_defaultProvider |br| mjp_registerResourceProvider → :ref:mjp_registerProvider |br| mjp_resourceProviderCount → :ref:mjp_providerCount |br| mjp_getResourceProvider → :ref:mjp_findProvider |br| mjp_getResourceProviderAtSlot → :ref:mjp_getProviderAtSlot |br| mjp_registerArchiveResourceProvider → :ref:mjp_registerArchiveProvider |br| mjp_findArchiveResourceProvider → :ref:mjp_findArchiveProvider

... (truncated)

Commits

• 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.
• 0998957 Raise NotImplementedError for contact sensors requesting linvel or angvel.
• 614b438 Use a sparse-Cholesky preconditioner for the 2D flex metric under IPC.
• ea019c2 Add procedural flexcomp shapes as mesh builtins and test generators via the p...
• 01962f2 Package GMSH 2.2 and 4.1 file parsing as a standard decoder plugin and add vo...
• ab7f005 Actuator shortcuts inherit their parameters from a default written with the s...
• fcb83a1 Actuators with fixed or affine gain declare what their control is, and saved ...
• 3e629f4 Merge pull request #3649 from google-deepmind:dependabot/npm_and_yarn/wasm/br...
• Additional commits viewable in compare view

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