Release 2.1.4 · google-deepmind/mujoco

General

MuJoCo now uses GLAD to manage OpenGL API access instead of GLEW. On Linux, there is no longer a need to link against different GL wrangling libraries depending on whether GLX, EGL, or OSMesa is being used. Instead, users can simply use GLX, EGL, or OSMesa to create a GL context and mjr_makeContext will detect which one is being used.
Add visualisation for contact frames. This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.

The _nogl dynamic library is no longer provided on Linux and Windows. The switch to GLAD allows us to resolve OpenGL symbols when mjr_makeContext is called rather than when the library is loaded. As a result, the MuJoCo library no longer has an explicit dynamic dependency on OpenGL, and can be used on system where OpenGL is not present.

Fix a bug in simulate where pressing '[' or ']' when a model is not loaded causes a crash.
Contact frame visualisation is added to the Simulate GUI.
Rename "set key", "reset to key" to "save key" and "load key", respectively.
Change bindings of F6 and F7 from the not very useful "vertical sync" and "busy wait" to the more useful cycling of frames and labels.

mj_resetData now zeroes out the solver_nnz field.
Remove a special branch in mju_quat2mat for unit quaternions. Previously, mju_quat2mat skipped all computation if the real part of the quaternion equals 1.0. For very small angles (e.g. when finite differencing), the cosine can evaluate to exactly 1.0 at double precision while the sine is still nonzero.