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Remove "global" option from [compiler/coordinate](https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate) attribute.

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Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older.

PiperOrigin-RevId: 521739137
Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
This commit is contained in:
Yuval Tassa
2023-04-04 05:58:53 -07:00
committed by Copybara-Service
parent b327058641
commit 7cc42ecf2a
14 changed files with 705 additions and 806 deletions
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doc/changelog.rst
+6 -2
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@@ -8,12 +8,16 @@ Upcoming version (not yet released)
General
^^^^^^^
- Removed the "global" setting of the :ref:`compiler/coordinate<compiler-coordinate>` attribute. This rarely-used
setting complicates the compiler logic and is blocking future improvements. In order to convert older models which
used this option, load and save them in MuJoCo 2.3.3 or older.
.. image:: images/changelog/ellipsoidinertia.gif
:align: right
:width: 240px
- Added :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` to visualize equivalent inertias with ellipsoids instead
of the default boxes.
- Added :ref:`visual-global<visual-global>` flag :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` to visualize
equivalent body inertias with ellipsoids instead of the default boxes.
- Added documentation for :ref:`engine plugins<exPlugin>`.
Bug fixes