[air](deps): Bump mujoco from 3.2.4 to 3.9.0 in /python/requirements/ml

[dependabot]

Bumps mujoco from 3.2.4 to 3.9.0.

Release notes

Sourced from mujoco's releases.

3.9.0

See the changelog

3.8.1

See the changelog

3.8.0

See the changelog

3.7.0

See the changelog

3.6.0

See the changelog

3.5.0

See the changelog.

3.4.0

See the changelog.

3.3.7

See the changelog.

3.3.6

See the changelog.

3.3.5

See the changelog.

3.3.4

See the changelog.

3.3.3

See the changelog.

3.3.2

See the changelog.

3.3.1

See the changelog.

3.3.0

See the changelog.

3.2.7

See the changelog.

3.2.6

See the changelog.

... (truncated)

Changelog

Sourced from mujoco's changelog.

Version 3.9.0 (May 27, 2026)

General ^^^^^^^

1. Added mjData.efc_Y, the whitened constraint Jacobian :math:Y = J M^{-1/2}, allocated in the arena when dual solvers (PGS or NoSlip) are used or when :ref:diagexact<option-flag-diagexact> is enabled.
2. Added the :ref:diagexact<option-flag-diagexact> enable flag, which computes the exact diagonal of the constraint-space inertia matrix at the current configuration, replacing the default compile-time approximation. This improves solver quality for models with anisotropic inertias or complex kinematic coupling. See :ref:Exact diagonal <soExactDiag> for details.
3. The pseudo-random constraint visitation order in the :ref:PGS solver<soAlgorithms>, introduced in the previous release, now uses a fixed seed. The previous implementation seeded with mjData.time, which introduced subtle yet undesirable time dependence.
4. Flexes are now allowed to sleep, with the exception of completely passive (constraint-free) flexes.
5. Added compiler timing diagnostics via the new :ref:mjtCTimer enum and the :ref:mjs_getTimer C API. After :ref:mj_compile, per-category timings (total, assets, mesh loading, convex hull, normals, inertia, BVH, octree, textures) are available via mjs_getTimer(spec). The :ref:compile<saCompile> sample prints a detailed timing breakdown when run without an output file.
6. Added :ref:mjtBool to represent boolean variables, replacing :ref:mjtByte across all boolean fields in :ref:mjModel, :ref:mjData, and public C API function signatures.

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

7. The semantics of the contact margin and gap parameters have been redesigned for conceptual clarity and consistency with Newton <https://github.com/newton-physics/newton>__. See the new :ref:margin and gap<coMarginGap> documentation section for details.

   Previously, margin controlled the detection threshold (contacts exist when dist < margin) and gap was subtracted from it to produce the force threshold (forces generated when dist < margin - gap). This was unintuitive: users expected margin to mean geometric inflation and gap to mean a spatial gap.

   Under the new semantics, margin is the geometric inflation of the geom surface and gap is an additional detection buffer beyond the inflated surface:

   • Detection: contacts are created when dist < margin + gap.
   • Force generation: constraint forces are applied when dist < margin.
   • Inactive contacts: contacts with margin < dist ≤ margin + gap are included in mjData.contact but generate no force (efc_address = -1). This is useful for :ref:adhesion<actuator-adhesion> actuators and custom callbacks.

   With the default values margin = 0, gap = 0, the behavior is unchanged.

   .. image:: images/modeling/margin_gap_light.svg :width: 80% :align: center :class: only-light

   .. image:: images/modeling/margin_gap_dark.svg

... (truncated)

Commits

• 237c17e Update changelog for the 3.9.0 release.
• f6cd023 Change tactile sensor normal component to report penetration depth.
• 583aa5a Update dependencies ahead of the 3.9.0 release.
• d63a89f MJX documentation: update feature parity section
• e03bf07 Merge pull request #3230 from google-deepmind:dependabot/pip/mjx/pytest-9.0.3
• 393c1e4 Migrate mjtByte to mjtBool for boolean-valued fields.
• 3cabb2e Merge pull request #3257 from google-deepmind:dependabot/pip/mjx/pip-26.1
• ddff7e3 MuJoCo Warp documentation: update feature parity section
• 7667e71 Introduce mjtBool for boolean types.
• 466d068 MuJoCo Studio: Support Ctrl+Option+Left Click Drag for perturbation
• Additional commits viewable in compare view

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