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v0.12.0

v0.12.0: Port planar_scenegraph_visualizer from underactuated (#12218)
@tehbelinda tehbelinda tagged this 07 Nov 21:49 
Mesh support is removed for now
See https://github.com/RobotLocomotion/drake/issues/11104

Co-authored-by: Russ Tedrake <[email protected]>
Co-authored-by: Eric Cousineau <[email protected]>
Co-authored-by: Greg Izatt <[email protected]>
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