Releasesby Glyphmujoco 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.