| Name | Modified | Size | Downloads / Week |
|---|---|---|---|
| Parent folder | |||
| mujoco-4.0.1-macos-universal2.dmg.sha256 | 2026-11-11 | 100 Bytes | |
| mujoco-4.0.1-macos-universal2.dmg | 2026-11-11 | 57.6 MB | |
| mujoco-4.0.1-windows-x86_64.zip.sha256 | 2026-11-11 | 98 Bytes | |
| mujoco-4.0.1-linux-aarch64.tar.gz.sha256 | 2026-11-11 | 100 Bytes | |
| mujoco-4.0.1-windows-x86_64.zip | 2026-11-11 | 22.7 MB | |
| mujoco-4.0.1-linux-aarch64.tar.gz | 2026-11-11 | 34.8 MB | |
| mujoco-4.0.1-linux-x86_64.tar.gz.sha256 | 2026-11-11 | 99 Bytes | |
| mujoco-4.0.1-linux-x86_64.tar.gz | 2026-11-11 | 35.4 MB | |
| 4.0.1 source code.tar.gz | 2026-11-11 | 77.5 MB | |
| 4.0.1 source code.zip | 2026-11-11 | 78.8 MB | |
| README.md | 2026-11-11 | 2.2 kB | |
| Totals: 11 Items | 306.9 MB | 12 | |
Version 4.0.1 (November 11, 2026)
Compiler
21a076966Addedmjs_getInStringVecto read entries from an mjStringVec by index.
Python bindings
a937a4f91Enabled the MuJoCo Studio Web Viewer (mujoco-studio --gfx=webandmujoco.studio.launch_web) on Windows by shipping the precompiled browser client in a platform-independentmujoco-studio-wasmwheel installed automatically bymujoco-studio.
Bug fixes
-
9ae9bad01Fixed a bug in the sparse Cholesky factorization introduced in 4.0.0, which merged rows with different descendants into one supernode and gave the Newton solver a wrong Hessian factor when the constraint Jacobian is sparse, causing slow convergence, wrong accelerations and divergence (#3767). -
144ede984mj_loadAllPluginLibrariesnow skips a dynamic library that fails to load with a warning instead of callingmju_error, so one unloadable library in the plugin directory no longer aborts simulate at startup. In the 4.0.0 macOS and Linux archives this happened with the USD decoder plugin, which can only be loaded from a Python process. -
409f981abFixed issues in single-shot multicontact for cylinder edge collisions (#3748, #3752).
