Releasesby Glyphmujoco 3.12.0
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...
Also shipped Aug 20, 2026Google DeepMind in August 2026 →
BigQuery adds ML.TREND, ML.SEASONALITY and ML.DETECT_CHANGE_POINTS in preview
New table-valued functions in the query editor and conversational analytics identify trends, repeating seasonal patterns and structural change points in time series data.
BigQuery Graph core processing limited to Enterprise editions from April 26, 2027
Standard edition and on-demand billing support for BigQuery Graph core graph processing is deprecated, with processing restricted to Enterprise and Enterprise Plus from April 26, 2027. Graph measures remain available except in Standard edition.
The run_bq_command tool exposes the bq command-line tool within the Cloud CLI remote MCP server
The run_bq_command tool exposes the bq command-line tool within the Cloud CLI remote MCP server. AI agents can now execute advanced BigQuery operations, such as job scheduling, job management, and reservation management, through a managed MCP endpoint. For more information, see Use the Cloud CLI remote MCP server . This feature is in Preview .
AI_EXTRACT and AI_PARSE_DOCUMENT support for client-side encrypted stages and network-restricted accounts (General availability)
AI_EXTRACT and AI_PARSE_DOCUMENT now support documents stored on stages that use client-side or server-side encryption, including in accounts that use PrivateLink or other network policies that restrict public network access to stages. For more information, see the following topics:
Cortex Agent code execution tool (Preview)
The Cortex Agent code execution tool is now in public preview. When you enable the tool on an agent, the agent can generate and run Python in a secure, isolated sandbox to process data, perform calculations, and produce visualizations.
Salesforce connector mTLS authentication is now generally available
Mutual TLS (mTLS) authentication for the Salesforce connector in Lakeflow Connect is now generally available. With mTLS, Databricks and Salesforce exchange and verify client certificates to establish two-way trust, combined with the OAuth client credentials flow. Choose it for API-only users or when your organization requires mTLS.
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mujoco 3.13.0
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.
mujoco 3.11.0
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.
mujoco 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.
mujoco 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 > > 3.
mujoco 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.
mujoco 3.10.0
See the changelog
mujoco 3.17.0
Mujoco 3.17.0 introduces a batch API for parallel simulations and adds bending elasticity for 1D flexes using a discrete elastic rod model.
mujoco 4.0.0
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.