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Remove all visual-only assets if discardvisual is selected, not only the geoms.

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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
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Alessio Quaglino
2024-01-15 06:38:11 -08:00
committed by Copybara-Service
parent acf698e2df
commit 1e2e0b3053
11 changed files with 557 additions and 65 deletions
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doc/changelog.rst
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@@ -5,16 +5,22 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
1. Improved the :ref:discardvisual<compiler-discardvisual> compiler flag, which now discards all visual-only assets. See
:ref:discardvisual<compiler-discardvisual> for details.
MJX
^^^
1. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
2. Added :at:`site` transmission.
3. Updated MJX colab tutorial with more stable quadruped environment.
4. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, and boxes.
2. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
3. Added :at:`site` transmission.
4. Updated MJX colab tutorial with more stable quadruped environment.
5. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, and boxes.
Bug fixes
^^^^^^^^^
5. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes :github:issue:`1270`.
6. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
:github:issue:`1270`.
Version 3.1.1 (December 18, 2023)