MuJoCo 4.0.0 Released with Elasto-Plasticity, Split Python Packages, and Breaking Changes
Overview
Version 4.0.0 of MuJoCo, released on November 6, 2026, introduces elasto-plasticity for joints, tendons, and flexes, a speculative enable flag for contacts, and fourth-order accurate RK4 integration for ball and free joint orientations. The Python distribution is split into mujoco-core, mujoco-studio, and mujoco. Breaking changes include updated tendon semantics via side sites and revised elastic constants for non-interpolated flexes, requiring model migration.
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Event evidence and corrections
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Evidence dependency changes (1)
- 2026-11-09T01:50:07.253Z · evidence updated · source revision 4. Evidence extraction was updated; current source attributions are shown above.
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- MuJoCo — ReleasesSignalMuJoCo 4.0.0 Released with Elasto-Plasticity, Split Python Packages, and Breaking Changes
Version 4.0.0 of MuJoCo, released on November 6, 2026, introduces elasto-plasticity for joints, tendons, and flexes, a speculative enable flag for contacts, and fourth-order accurate RK4 integration for ball and free joint orientations. The Python distribution is split into mujoco-core, mujoco-studio, and mujoco. Breaking changes include updated tendon semantics via side sites and revised elastic constants for non-interpolated flexes, requiring model migration.
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