Various minor fixes and improvements. (#189)

- [Viewer/play_trajectories] Do not delete robot automatically in Notebooks
- [Viewer] Set default backend
- [Viewer] Fix fix_mesh_path
- [Viewer] Fix index.html
- [Viewer] Bypass chrome/webgl GPU backlisting
- [Viewer] Fix chrome executable path for Google Colab
- [Meshcat/server] Use set to manage comm pool
- [BasicSimulator] Fix callback
- [engine_async] Update default engine_async camera pose.
- [misc] Fix notebook.
- [misc] OpenCV is now an optional dependency
- [misc] Always generate pip wheels artefacts for both Linux and Windows on CI

Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>

.github/workflows/manylinux.yml

@@ -85,6 +85,12 @@ jobs:
         cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake
         auditwheel repair pypi/jiminy_py/dist/*.whl
         "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps wheelhouse/*.whl
+    - name: Upload the wheel for Linux of Jiminy_py
+      if: success() && github.repository == 'Wandercraft/jiminy'
+      uses: actions/upload-artifact@v1
+      with:
+        name: jiminy_py${{ matrix.python-version }}-wheel
+        path: build/wheelhouse/
 
     #####################################################################################
 

.github/workflows/win.yml

@@ -94,13 +94,13 @@ jobs:
     #####################################################################################
 
     - name: Generating the Python Pip wheels
-      if: success() && github.repository == 'Wandercraft/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
+      if: success() && github.repository == 'Wandercraft/jiminy'
       run: |
         Set-Location -Path "./build"
         cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake
         Remove-Item -Path "./pypi/jiminy_py/dist/*" -Include *.tar.gz
     - name: Upload the wheel for Windows of Jiminy_py
-      if: success() && github.repository == 'Wandercraft/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
+      if: success() && github.repository == 'Wandercraft/jiminy'
       uses: actions/upload-artifact@v1
       with:
         name: jiminy_py${{ matrix.python-version }}-wheel

CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 # Set the build version
-set(BUILD_VERSION 1.3.4)
+set(BUILD_VERSION 1.3.5)
 
 # Add definition of Jiminy version for C++ headers
 add_definitions("-DJIMINY_VERSION=\"${BUILD_VERSION}\"")

python/jiminy_py/setup.py

@@ -46,7 +46,11 @@ def finalize_options(self):
           'matplotlib',
           'meshcat>=0.0.18',
           'psutil',
-          'requests_html',
-          'opencv-python-headless<=4.3.0.36'
-      ]
+          'requests_html'
+      ],
+      extras_require = {
+        'gepetto': [
+            'opencv-python-headless<=4.3.0.36'
+        ]
+      }
 )

python/jiminy_py/src/jiminy_py/engine_asynchronous.py

@@ -245,8 +245,8 @@ def render(self, return_rgb_array=False, width=None, height=None):
                                   window_name="_".join(("window", uniq_id)))
             if self._viewer.is_backend_parent:
                 self._viewer.set_camera_transform(
-                    translation=[0.0, 9.0, 2e-5],
-                    rotation=[np.pi/2, 0.0, np.pi])
+                    translation=[9.0, 0.0, 2e-5],
+                    rotation=[np.pi/2, 0.0, np.pi/2])
             self._viewer.wait(False)  # Wait for backend to finish loading
 
         # Try refreshing the viewer

python/jiminy_py/src/jiminy_py/meshcat/index.html

@@ -48,7 +48,7 @@
                         viewer.handle_command_bytearray(new Uint8Array(message.buffers[0].buffer));
                     });
                     viewer.connection.on_close(function(message) {
-                        console.log("connection to Jupyter kernel closed:", evt);
+                        console.log("connection to Jupyter kernel closed:", message);
                     });
                 }
                 else {

python/jiminy_py/src/jiminy_py/meshcat/recorder.py

@@ -9,6 +9,7 @@
 import subprocess
 import multiprocessing
 import multiprocessing.managers
+from pathlib import Path
 from ctypes import c_char_p, c_bool, c_int
 from contextlib import redirect_stderr
 
@@ -20,7 +21,7 @@
     # Note that the downside is that chrome must be installed manually.
     import pyppeteer.chromium_downloader
     pyppeteer.chromium_downloader.chromium_executable = \
-        lambda : "/usr/lib/chromium-browser/chromium-browser"
+        lambda : Path("/usr/lib/chromium-browser/chromium-browser")
     if not pyppeteer.chromium_downloader.check_chromium():
         logging.warning("Chrome must be installed manually on Google Colab. "\
             "It must be done using '!apt install chromium-chromedriver'.")
@@ -53,6 +54,7 @@ async def launch(self) -> Browser:
         "--disable-frame-rate-limit",
         "--disable-gpu-vsync",
         # "--disable-gpu",  # GPU acceleration is not available in headless mode on Windows for now apparently...
+        "--ignore-gpu-blacklist",
         "--ignore-certificate-errors",
         "--disable-infobars",
         "--disable-breakpad",

python/jiminy_py/src/jiminy_py/meshcat/server.py

@@ -90,7 +90,7 @@ def f(port):
                  self.setup_comm(comm_url)
 
         # Extra buffers for  comm ids and messages
-        self.comm_pool = []
+        self.comm_pool = set()
         self.comm_msg = []
         self.websocket_msg = []
 
@@ -135,7 +135,7 @@ def handle_comm(self, frames):
         if cmd.startswith("open:"):
             comm_id = f"{cmd.split(':', 1)[1]}"
             self.send_scene(comm_id=comm_id)
-            self.comm_pool.append(comm_id)
+            self.comm_pool.add(comm_id)
         elif cmd.startswith("close:"):
             comm_id = f"{cmd.split(':', 1)[1]}"
             self.comm_pool.remove(comm_id)

python/jiminy_py/src/jiminy_py/simulator.py

@@ -95,8 +95,7 @@ def callback(t, q, v, out):
         """
         @brief Callback method for the simulation.
         """
-        pass
-
+        out[:] = True
 
     def _compute_command_wrapper(self, t, q, v, sensors_data, u):
         """

python/jiminy_py/src/jiminy_py/viewer.py

@@ -51,6 +51,12 @@
     except ImportError:
         pass
 
+def default_backend():
+    if is_notebook() or not 'gepetto-gui' in backends_available:
+        return 'meshcat'
+    else:
+        return 'gepetto-gui'
+
 
 # Create logger
 class DuplicateFilter:
@@ -142,7 +148,7 @@ def kill(self):
 
 
 class Viewer:
-    backend = None
+    backend = default_backend()
     _backend_obj = None
     _backend_exceptions = ()
     _backend_proc = None
@@ -192,10 +198,10 @@ def __init__(self,
         # Handling of default arguments
         if robot_name is None:
             uniq_id = next(tempfile._get_candidate_names())
-            robot_name="_".join(("robot", uniq_id))
+            robot_name = "_".join(("robot", uniq_id))
 
         # Backup some user arguments
-        self.urdf_path = robot.urdf_path
+        self.urdf_path = os.path.realpath(robot.urdf_path)
         self.robot_name = robot_name
         self.scene_name = scene_name
         self.window_name = window_name
@@ -603,7 +609,7 @@ def _urdf_fix_mesh_path(urdf_path, mesh_root_path, output_root_path=None):
             for filename in re.findall('<mesh filename="(.*)"', urdf_contents)
             if not filename.startswith('package://')]
         if not pathlists:
-            return
+            return urdf_path
 
         # If mesh root path already matching, then nothing to do
         mesh_root_path_orig = os.path.commonpath(pathlists)
@@ -1103,7 +1109,7 @@ def play_trajectories(trajectory_data,
                       window_name='python-pinocchio',
                       scene_name='world',
                       close_backend=None,
-                      delete_robot_on_close=True,
+                      delete_robot_on_close=None,
                       verbose=True):
     """!
     @brief      Replay one or several robot trajectories in a viewer.
@@ -1175,6 +1181,10 @@ def play_trajectories(trajectory_data,
             close_backend = False
 
     if viewers is None:
+        # Delete robot by default only if not in notebook
+        if delete_robot_on_close is None:
+            delete_robot_on_close = not is_notebook()
+
         # Create new viewer instances
         viewers = []
         lock = Lock()