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Bumps the python-dependencies group with 3 updates in the /services/mujoco-web directory: fastapi, uvicorn and mujoco.

Updates fastapi from 0.141.1 to 0.143.0

Release notes

Sourced from fastapi's releases.

0.143.0

Automatic OpenTelemetry exporter setup is now opt-in. If you rely on FastAPI to configure exporters from OTEL_* environment variables, set FASTAPI_OTEL_AUTO_CONFIGURE=true or use FastAPI(telemetry={"auto_configure": True}) to retain the previous behavior.

Applications that configure their own providers and exporters require no changes. FastAPI Cloud enables automatic setup for you.

Breaking Changes

  • 💥 Require opt-in for automatic OpenTelemetry exporter setup. PR #16476 by @​tiangolo.

0.142.4

Fixes

0.142.3

Fixes

  • 🐛 Cache OpenTelemetry tracers to preserve warning deduplication. PR #16468 by @​tiangolo.

Docs

Translations

Internal

... (truncated)

Commits

Updates uvicorn from 0.52.4 to 0.54.0

Release notes

Sourced from uvicorn's releases.

Version 0.54.0

📨 Send metadata after the response body

uvicorn 0.54.0 adds response trailers and 103 Early Hints to its experimental HTTP/2 implementation through zttp.

uv add uvicorn==0.54.0 "zttp>=0.0.34"
  • Send HTTP/2 response trailers (#3146). The ASGI http.response.trailers extension lets applications send metadata, such as checksums, after the response body. Clients must send TE: trailers to receive them. Multiple trailer messages are combined before completing the response.
  • HTTP/2 remains experimental and opt-in. Enable it with --http zttp --http2. Upgrade-based h2c and WebSockets over HTTP/2 remain unsupported.

💡 Hint at resources before the final response

  • Send 103 Early Hints over HTTP/2 (#3137). Applications can use the ASGI http.response.early_hint extension to send resource hints before the final response. Each supplied link becomes a separate Link header.

Full changelog: 0.53.0...0.54.0

Version 0.53.0

🌐 Opt-in HTTP/2 support

uvicorn 0.53.0 adds experimental HTTP/2 through zttp, alongside a new zuvloop integration and connection-handling improvements.

uv add uvicorn==0.53.0
  • Serve HTTP/1.1 and HTTP/2 with zttp (#2982, #3101). Install zttp, then enable HTTP/2 with --http zttp --http2. Uvicorn negotiates HTTP/2 over TLS with ALPN and supports cleartext prior knowledge.
  • HTTP/2 remains experimental. Upgrade-based h2c and WebSockets over HTTP/2 are not supported.

⚙️ More event loop choice

  • Run Uvicorn with zuvloop (#3104). Install zuvloop separately and select it explicitly with --loop zuvloop on CPython 3.14 or newer.

🛡️ More reliable connections and proxies

  • Honor Connection: close token lists (#3103). Uvicorn now parses comma-separated tokens case-insensitively across HTTP implementations.
  • Trust IPv6 loopback proxies by default (#3119). The default FORWARDED_ALLOW_IPS value now includes ::1.
  • Keep upgraded WebSockets alive (#3107). Uvicorn cancels the HTTP keep-alive timer when the connection becomes a WebSocket.

Full changelog: 0.52.4...0.53.0

Changelog

Sourced from uvicorn's changelog.

0.54.0 (September 24, 2026)

HTTP/2 support remains experimental. Install zttp>=0.0.34 and enable it with --http zttp --http2.

Added

  • Add HTTP/2 response trailers through the ASGI http.response.trailers extension. Clients must send TE: trailers to receive them (#3146)
  • Add HTTP/2 103 Early Hints through the ASGI http.response.early_hint extension (#3137)

0.53.0 (September 14, 2026)

This release adds experimental HTTP/2 support through zttp. Enable it with --http zttp --http2. Upgrade-based h2c and WebSockets over HTTP/2 are not supported.

Added

  • Add experimental HTTP/2 support through zttp (#2982, #3101)
  • Add support for zuvloop (#3104)

Fixed

  • Handle comma-separated, case-insensitive Connection: close tokens across HTTP implementations (#3103)
  • Trust IPv6 loopback in the default FORWARDED_ALLOW_IPS value (#3119)
  • Cancel the HTTP keep-alive timer when upgrading to WebSocket (#3107)
Commits

Updates mujoco from 3.13.0 to 3.15.0

Release notes

Sourced from mujoco's releases.

3.15.0

Version 3.15.0 (October 5, 2026)

General

  1. 1aa68e1ca .mjz archives written on Windows now always use / separators.

  2. 1aa68e1ca Assets in a meshdir or texturedir now resolve correctly in .mjz archives when rewritten or when the directory path is absolute, uses .., or uses a URI scheme.

Engine

[!WARNING] Breaking API changes

  1. b3dd9e617 Actuator dampratio now computes the reflected inertia $m$ at mjModel.qpos0 as the operational-space inertia $(J M^{-1} J^T)^{-1}$ (averaged across force outputs for multi-output actuators such as orientation), rather than summing $\text{dof\_M0}_j / J_j^2$ across degrees of freedom. This accounts for tendon and actuator armature as well as off-diagonal inertial coupling, and avoids extreme damping values when a multi-DOF transmission has small Jacobian entries. In practice, actuators using dampratio on multi-link kinematic chains may exhibit lower damping than before, while actuators driving tendons or sites that span multiple joints will be damped much more accurately instead of being overdamped.

  2. 5023a4a50 Removed the deprecated internal flex collision option and associated evpair structures.

  1. 1b973add4 Added experimental simplified Stable Neo-Hookean elasticity for non-interpolated 3D flexes, enabled only through mjsFlex.elastic3d = 1. It projects the material Hessian to positive semidefiniteness for the solver and Rayleigh damping, and preserves the Saint Venant-Kirchhoff (StVK) default (0). SNH requires the discrete integrator. The setting is not available in MJCF.

  2. 2742de438 The cached flex bending factor now retains cross-coordinate couplings between differently oriented vertex bodies.

  3. eed008905 Flex bending and stretching now include the motion and reaction forces of articulated vertex attachments. The discrete integrator supports these attachments with the CG solver; fixed and independent XYZ-slide attachments retain their optimized assembly. Elastic flexes attached to mocap bodies produce a compiler error.

  4. 6224e95f6 Added single-shot multicontact for collisions with capsule geoms.

  5. ebfb4662d Added the enclosed attribute to insidesite sensors, measuring how much an object juts out of a site (using directed Hausdorff distance) and reporting signed clearance/protrusion.

  6. f80ef4244 Fixed 64-bit model size narrowing in binary MJB serialization: mj_saveModel and mj_loadModelBuffer now accept mjtSize for buffer_sz, supporting models larger than 2 GiB.

3.14.0

... (truncated)

Changelog

Sourced from mujoco's changelog.

Version 3.15.0 (October 5, 2026)

General ^^^^^^^

  1. :commit:1aa68e1ca :ref:.mjz <MJZArchives> archives written on Windows now always use / separators.
  2. :commit:1aa68e1ca Assets in a :ref:meshdir<compiler-meshdir> or :ref:texturedir<compiler-texturedir> now resolve correctly in :ref:.mjz <MJZArchives> archives when rewritten or when the directory path is absolute, uses .., or uses a URI scheme.

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

  1. :commit:b3dd9e617 Actuator :ref:dampratio<actuator-position-dampratio> now computes the reflected inertia :math:m at mjModel.qpos0 as the operational-space inertia :math:(J M^{-1} J^T)^{-1} (averaged across force outputs for multi-output actuators such as :ref:orientation<actuator-orientation>), rather than summing :math:\text{dof\_M0}_j / J_j^2 across degrees of freedom. This accounts for tendon and actuator armature as well as off-diagonal inertial coupling, and avoids extreme damping values when a multi-DOF transmission has small Jacobian entries. In practice, actuators using dampratio on multi-link kinematic chains may exhibit lower damping than before, while actuators driving tendons or sites that span multiple joints will be damped much more accurately instead of being overdamped.

  2. :commit:5023a4a50 Removed the deprecated internal flex collision option and associated evpair structures.

  3. :commit:1b973add4 Added experimental simplified Stable Neo-Hookean elasticity for non-interpolated 3D flexes, enabled only through mjsFlex.elastic3d = 1. It projects the material Hessian to positive semidefiniteness for the solver and Rayleigh damping, and preserves the Saint Venant-Kirchhoff (StVK) default (0). SNH requires the discrete integrator. The setting is not available in MJCF.

  4. :commit:2742de438 The cached flex bending factor now retains cross-coordinate couplings between differently oriented vertex bodies.

  5. :commit:eed008905 Flex bending and stretching now include the motion and reaction forces of articulated vertex attachments. The discrete integrator supports these attachments with the CG solver; fixed and independent XYZ-slide attachments retain their optimized assembly. Elastic flexes attached to mocap bodies produce a compiler error.

  6. :commit:6224e95f6 Added single-shot :ref:multicontact<coMultiCCD> for collisions with capsule geoms.

  7. :commit:ebfb4662d Added the :ref:enclosed<sensor-insidesite-enclosed> attribute to :ref:insidesite<sensor-insidesite> sensors, measuring how much an object juts out of a site (using directed Hausdorff distance) and reporting signed clearance/protrusion.

  8. :commit:f80ef4244 Fixed 64-bit model size narrowing in binary MJB serialization: :ref:mj_saveModel and :ref:mj_loadModelBuffer now accept :ref:mjtSize for buffer_sz, supporting models larger than 2 GiB.

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

... (truncated)

Commits
  • 9ea3cdf Update changelog for the 3.15.0 release.
  • bf07790 Add RequestPauseEvent and forward single-step requests as events in the Pyt...
  • 19757e3 Update dependencies ahead of the 3.15.0 release.
  • 0f8bb88 Update MuJoCo version to 3.15.0 in preparation for breaking changes release.
  • 33e30d6 Fix heap buffer overflow in cube textures from files with nchannel other than 3.
  • 082e8fd Decouple the Studio timeline scrubber from SimHistory and bind it to Python.
  • 86ca868 Reject joints that are direct children of replicate.
  • 9d7eefd Fix MuJoCo MPC CMake build and GitHub Actions CI failures.
  • 1d05cca Write the compiler inertiagrouprange attribute when saving MJCF.
  • 493a457 Size the IPC pinned-corner columns and the active-set merge hash by what they...
  • Additional commits viewable in compare view

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@dependabot
chore(deps): bump the python-dependencies group across 1 directory wi…
61b39a3 
…th 3 updates

Bumps the python-dependencies group with 3 updates in the /services/mujoco-web directory: [fastapi](https://github.com/fastapi/fastapi), [uvicorn](https://github.com/Kludex/uvicorn) and [mujoco](https://github.com/google-deepmind/mujoco).


Updates `fastapi` from 0.141.1 to 0.143.0
- [Release notes](https://github.com/fastapi/fastapi/releases)
- [Commits](fastapi/fastapi@0.141.1...0.143.0)

Updates `uvicorn` from 0.52.4 to 0.54.0
- [Release notes](https://github.com/Kludex/uvicorn/releases)
- [Changelog](https://github.com/Kludex/uvicorn/blob/main/docs/release-notes.md)
- [Commits](Kludex/uvicorn@0.52.4...0.54.0)

Updates `mujoco` from 3.13.0 to 3.15.0
- [Release notes](https://github.com/google-deepmind/mujoco/releases)
- [Changelog](https://github.com/google-deepmind/mujoco/blob/main/doc/changelog.rst)
- [Commits](google-deepmind/mujoco@3.13.0...3.15.0)

---
updated-dependencies:
- dependency-name: fastapi
  dependency-version: 0.142.2
  dependency-type: direct:production
  update-type: version-update:semver-minor
  dependency-group: python-dependencies
- dependency-name: mujoco
  dependency-version: 3.14.0
  dependency-type: direct:production
  update-type: version-update:semver-minor
  dependency-group: python-dependencies
- dependency-name: uvicorn
  dependency-version: 0.54.0
  dependency-type: direct:production
  update-type: version-update:semver-minor
  dependency-group: python-dependencies
...

Signed-off-by: dependabot[bot] <support@github.com>
@dependabot
dependabot Bot force-pushed the dependabot/pip/services/mujoco-web/python-dependencies-c399bfa5c0 branch from c622dd9 to 61b39a3 Compare October 12, 2026 19:09
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