Version 2.1.5

[saran-t]

General

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

Bug fixes

2. 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 mujoco.FatalError: gladLoadGL error dm_control#283.

3. 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 Cannot assign to .ctrl via named indexers #238.

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This discussion was created from the release 2.1.5.