Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD.

PiperOrigin-RevId: 441482552
Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb

python/mujoco/CMakeLists.txt

@@ -55,7 +55,7 @@ include(FindOrFetch)
 
 # ==================== MUJOCO LIBRARY ==========================================
 if(NOT TARGET mujoco)
-  find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.4 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
+  find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.5 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
   find_path(MUJOCO_INCLUDE mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
   message("MuJoCo is at ${MUJOCO_LIBRARY}")
   message("MuJoCo headers are at ${MUJOCO_INCLUDE}")

python/mujoco/bindings_test.py

@@ -660,7 +660,7 @@ Euler integrator, semi-implicit in velocity.
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1<<1)
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1<<2)
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_SENSORNOISE, 1<<3)
-    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 4)
+    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 5)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
@@ -672,11 +672,6 @@ Euler integrator, semi-implicit in velocity.
   def test_enum_from_int(self):
     self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, mujoco.mjtJoint(0))
     self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, mujoco.mjtGeom(value=100))
-    # mjENABLE_FWDINV and mjNENABLE have the same int value. Default to the
-    # first defined one.
-    self.assertEqual(
-        mujoco.mjtEnableBit.mjENBL_FWDINV,
-        mujoco.mjtEnableBit(mujoco.mjtEnableBit.mjNENABLE.value))
     with self.assertRaises(ValueError):
       mujoco.mjtJoint(1000)
     with self.assertRaises(ValueError):

python/setup.py

@@ -30,7 +30,7 @@ from setuptools import find_packages
 from setuptools import setup
 from setuptools.command import build_ext
 
-__version__ = '2.1.4'
+__version__ = '2.1.5'
 
 MUJOCO_CMAKE = 'MUJOCO_CMAKE'
 MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'