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[jiminy/viewer] Panda3d as default viewer backend.
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@duburcqa duburcqa released this 10 Mar 06:45
· 119 commits to master since this release
1.6.3
624de49
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Learn about vigilant mode.

This release fixes the last remaining blocking issues with Panda3d in order to make it the default viewer backend. So, starting from this point, it will be the default backend, useless for interactive environment like Jupyter, for which Meshcat is still the only appropriate alternative. In addition URDF and meshes associated with Atlas have been updated to make it look better:

Improvements

  • [jiminy/viewer] Fallback to software rendering with panda3d if necessary.
  • [jiminy/viewer] Limit Panda3d framerate to 30FPS to avoid consuming too much resources.
  • [jiminy/viewer] Do not shrink legend automatically and slightly increase size on Panda3d.
  • [jiminy/viewer] Zoom out default relative camera pose for travelling.
  • [gym/common/envs] Automatically update rendering after 'reset' if available.
  • [misc] Enable 'panda3d' by default instead of 'meshcat'.

Bug fixes

  • [misc] Fix viewer replay on Windows by not removing 'Pinocchio::interpolate' from build anymore.
  • [jiminy/simulator] Fix viewer not opening graphical window after closing it once.
  • [jiminy/viewer] Fix widgets positioning and scaling on Panda3d.
  • [jiminy/viewer] Improve exception handling if window closed during replay to avoid deadlock.
  • [jiminy/viewer] Fix panda3d offscreen rendering not always updated before capturing frame.
  • [jiminy/viewer] Fix panda3d mesh loader 'assimp' specific path formatting on Windows.
  • [gym/common/envs] Fix keyword arguments forwarding for WalkerEnvs class.

Miscellaneous

  • [core] Minor improvement of robot weak_ptr management for sensors/motors.
  • [jiminy/simulator] Rename 'disable_flexiblity_data' or 'enable_flexiblity_data' for clarity.
  • [gym/examples] Rllib 'test' method now returns the environment used for testing.
  • [misc] Globally less restrictive Python requirements by using different specifications depending on the platform.
  • [misc] Update atlas URDF and meshes to improve rendering.
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