Release 2.1.5 · google-deepmind/mujoco

General

Added an experimental feature: multi-contact convex collision detection, activated by an enable flag. See full
description here.

GLAD initialization logic on Linux now calls dlopen to load a GL platform dynamic library if a *GetProcAddress function is not already present in the process' global symbol table. In particular, processes that use GLFW to set up a rendering context that are not explicitly linked against libGLX.so (this applies to the Python interpreter, for example) will now work correctly rather than fail with a gladLoadGL error when mjr_makeContext is called. Fixes google-deepmind/dm_control#283.
In the Python bindings, named indexers for scalar fields (e.g. the ctrl field for actuators) now return a NumPy array of shape (1,) rather than (). This allows values to be assigned to these fields more straightforwardly. Fixes #238.