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MuJoCo 4.0.0 introduces speculative contacts to prevent tunneling of fast-moving objects and adds stateful elasto-plastic deformation for joints, tendons, and flexes. The Python distribution has also been reorganized into separate core, studio, and default packages.
Mujoco 3.17.0 introduces a batch API for parallel simulations and adds bending elasticity for 1D flexes using a discrete elastic rod model.
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.
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 > > 3.
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.
Version 3.13.0 (September 8, 2026) General 1. eb18d77ca The .mjz encoder now writes the root file as model.xml in the archive as this is less susceptible to breakage due to file renaming. 2.
Version 3.12.0 (August 20, 2026) General 1. 3f8db4c1 The MJCF grammar is now defined in a single source of truth schema file, src/xml/mjcf.schema. The parser's grammar table, presence constraints, keyword maps, typed attribute bindings and save policies are generated from it and gated by tests, as are the schema's enum keywords and declared defaults against...
Version 3.11.0 (July 27, 2026) Engine 1. 4787c809 Added geom/surfacevel: the velocity of a geom's surface as seen by contacts, given as a velocity field with a constant component and a rotational component about the geom frame origin.
DeepMind Technologies Limited, trading as Google DeepMind or simply DeepMind, is a British-American artificial intelligence (AI) research laboratory which serves as a subsidiary of Alphabet Inc. Founded in the UK in 2010, it was acquired by Google in 2014, and merged with Google AI's Google Brain division to become Google DeepMind in April 2023.
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