[python/viewer] Remove support of 'gepetto-gui' backend.

INSTALL.md

@@ -6,25 +6,7 @@
 
 #### Dependencies installation
 
-There is not requirement to install `jiminy_py` on linux if one does not want to build it. Nevertheless, this package does not provide the backend viewer `gepetto-gui` (still, the backend `meshcat` is available).
-
-##### (optional) Gepetto viewer
-
-The first step to install `gepetto-gui` is to setup the APT repository `robotpkg` to have access to compiled binaries.
-
-```bash
-sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub bionic robotpkg' >> /etc/apt/sources.list.d/robotpkg.list" && \
-curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
-apt update
-```
-
-Once done, it is straightforward to install the required package for Python 3.6.
-
-For Python 3.6
-
-```bash
-sudo apt install -y robotpkg-gepetto-viewer=4.4.0 robotpkg-py36-qt4-gepetto-viewer-corba=5.1.2 robotpkg-py36-omniorbpy
-```
+There is no requirement to install `jiminy_py` on linux if one does not want to build it.
 
 #### Install Jiminy Python package
 

build_tools/easy_install_deps_ubuntu.sh

@@ -81,8 +81,7 @@ fi
 # Note that `apt-get` is used instead of `apt` because it supports wildcard in package names
 apt-get install -y --allow-downgrades --allow-unauthenticated \
     robotpkg-octomap=1.9.0 robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=1.7.1 robotpkg-pinocchio=2.5.6 \
-    robotpkg-qt5-osgqt=3.5.7r2 robotpkg-py3*-qt5-gepetto-viewer=4.12.0r2 robotpkg-py3*-qt5-gepetto-viewer-corba=5.6.0 \
-    robotpkg-py3*-omniorbpy=4.2.4 robotpkg-py3*-eigenpy=2.6.2 robotpkg-py3*-hpp-fcl=1.7.1 robotpkg-py3*-pinocchio=2.5.6
+    robotpkg-py3*-eigenpy=2.6.2 robotpkg-py3*-hpp-fcl=1.7.1 robotpkg-py3*-pinocchio=2.5.6
 
 # Add openrobots libraries to python packages search path
 if ! [ -f "${PYTHON_SITELIB}/openrobots.pth" ]; then

examples/python/tutorial.ipynb

@@ -141,10 +141,10 @@
   },
   {
    "cell_type": "markdown",
+   "metadata": {},
    "source": [
-    "The results of a simulation can also be visualized in a 3D viewer: either `gepetto-gui` or `meshcat`. We use the latter here as it can be integrated in jupyter."
-   ],
-   "metadata": {}
+    "The results of a simulation can also be visualized in a 3D viewer: either `panda3d` or `meshcat`. We use the latter here as it can be integrated in jupyter."
+   ]
   },
   {
    "cell_type": "code",

python/jiminy_py/src/jiminy_py/core/__init__.py

@@ -58,7 +58,7 @@
         _module = _importlib.import_module(".".join((__name__, module_name)))
         _sys.modules[module_name] = _module
 
-# Register pinocchio_pywrap to avoid importing bindings twise, which messes up
+# Register pinocchio_pywrap to avoid importing bindings twice, which messes up
 # with boost python converters. In addition, submodules search path needs to be
 # fixed for releases older than 2.5.6.
 submodules = _inspect.getmembers(
@@ -82,11 +82,6 @@
         __all__.append(name)
         attrib.__module__ = __name__
 
-# Patch Pinocchio to avoid loading ground geometry in viewer, and force
-# `np.ndarray` type for from/to Python matrix converters.
-from . import _pinocchio_init  # noqa
-
-
 # Define helpers to build extension modules
 def get_cmake_module_path():
     return _os.path.join(_os.path.dirname(__file__), "cmake")

python/jiminy_py/src/jiminy_py/simulator.py

@@ -465,10 +465,6 @@ def render(self,
         """Render the current state of the simulation. One can display it
                or return an RGB array instead.
 
-        .. note::
-            Gepetto-gui supports parallel rendering, which means that one can
-            display multiple simulations at the same time in different tabs.
-
         :param return_rgb_array: Whether or not to return the current frame as
                                  an rgb array.
         :param width: Width of the returned RGB frame, if enabled.

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

@@ -173,8 +173,7 @@
                 console.info("not connected to MeshCat server: ", e);
             }
 
-            // Replace the mesh grid by a filled checkerboard, similar to
-            // the one of Gepetto-gui. The paving size is 1m by 1m.
+            // Replace the mesh grid by tiles. The paving size is 1m by 1m.
             var segments = 20;
             var cmap = [new MeshCat.THREE.Color(0x222233), new MeshCat.THREE.Color(0xf2f2fe)];
             var geometry = new MeshCat.THREE.PlaneBufferGeometry(
@@ -199,8 +198,7 @@
 
             viewer.scene_tree.find(["Axes", "<object>"]).object.material.linewidth = 2.5
 
-            // Update the "zoom" of the camera to match the behavior of
-            // Gepetto-gui, and update the default position of the camera.
+            // Update the "zoom" of the camera and its default position
             viewer.camera.fov = 30;
             viewer.camera.position.set(8.0, 1.2, 0);
             viewer.render();

python/jiminy_py/src/jiminy_py/viewer/replay.py

@@ -79,8 +79,8 @@ def play_trajectories(trajs_data: Union[
     """Replay one or several robot trajectories in a viewer.
 
     The ratio between the replay and the simulation time is kept constant to
-    the desired ratio. One can choose between several backend (gepetto-gui or
-    meshcat).
+    the desired ratio. One can choose between several backend ('panda3d' or
+    'meshcat').
 
     .. note::
         Replay speed is independent of the platform (windows, linux...) and
@@ -172,9 +172,9 @@ def play_trajectories(trajs_data: Union[
                          input before starting to play the trajectories.
                          Only available if `record_video_path` is None.
                          Optional: False by default.
-    :param backend: Backend, one of 'panda3d', 'meshcat', or 'gepetto-gui'. If
-                    `None`, the most appropriate backend will be selected
-                    automatically, based on hardware and python environment.
+    :param backend: Backend, one of 'panda3d', 'meshcat'. If `None`, the most
+                    appropriate backend will be selected automatically, based
+                    on hardware and python environment.
                     Optional: `None` by default.
     :param delete_robot_on_close: Whether or not to delete the robot from the
                                   viewer when closing it.
@@ -690,7 +690,7 @@ def _play_logs_files_entrypoint() -> None:
               "assuming the robot has a freeflyer."))
     parser.add_argument(
         '-b', '--backend', default='panda3d',
-        help="Display backend (panda3d, meshcat, or gepetto-gui).")
+        help="Display backend ('panda3d' or 'meshcat').")
     parser.add_argument(
         '-m', '--mesh_package_dir', default=None,
         help="Fullpath location of mesh package directory.")