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.
Also shipped Sep 22, 2026Google DeepMind in September 2026 →
Shopify connector (Beta)
The Shopify connector is now available in Lakeflow Connect in Beta . Workspace admins can control access to this feature from the Previews page. The connector ingests e-commerce data such as products, orders, customers, inventory, fulfillments, and discounts from Shopify into Databricks. Authentication uses the Shopify OAuth client credentials grant.
Lakebase backup schedule API (Beta)
You can now manage Lakebase backup schedules programmatically. The snapshot schedule API lets you read and set a root branch's automated snapshot cadences (daily, weekly, or monthly) and how long each cadence's snapshots are retained. This API is in Beta and available to all Lakebase workspaces. See Create a backup schedule .
OpenAI GPT-6 Sol and GPT-6 Luna are now generally available on Amazon Bedrock
Today, AWS announces the general availability of GPT-6 Sol and GPT-6 Luna from OpenAI on Amazon Bedrock. Expanding the GPT-6 family alongside Astra, these two models give teams more ways to balance intelligence, speed, and cost across every workload. Sol is the daily model for recurring complex tasks and software development.
Claude Opus 5.5 launches with a 1M token context window and 128k output
Anthropic released Claude Opus 5.5 for long-running agentic coding and knowledge work, with a default 1M token context, 128k max output and always-on adaptive thinking. It costs $4 / $20 per MTok, below Claude Opus 5, and is on the Claude API, Bedrock, Google Cloud and Microsoft Foundry.
Fast mode research preview available for Claude Opus 5.5 on the Claude API
Fast mode, in research preview, can now be used with Claude Opus 5.5 on the Claude API.
Claude API beta lets tools be defined inside mid-conversation system messages
With the inline-tools-2026-09-15 beta header, a tool_addition block can carry a full tool definition, so agents can add tools, change schemas or upgrade server tools mid-conversation without invalidating the prompt cache. The same header covers adding and removing tools by reference.
More from mujocoEvery mujoco release →
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 3.13.0
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 3.16.0
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 3.17.0
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 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...
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.
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 3.10.0
See the changelog