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[viewer] New features for Meshcat
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@duburcqa duburcqa released this 07 Dec 20:31
· 169 commits to master since this release
1.4.22
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Learn about vigilant mode.

This release introduces new options for the viewer to display a customizable matplotlib-like legend (draggable!) and a log/watermark on top of Meshcat web-based visualizer.

New features:

  • [python/viewer] Add 'legend' and 'logo_fullpath' optional argument to 'play_trajectories'.

Improvements:

  • [core/python] Do not use Eigenpy to convert systemState.q/v/a to improve efficiency and preserve constness.
  • [gym] Define shared memories/proxies at init when possible.
  • [gym/envs] Improve performance of classic control environments (acrobot, cartpole).

Miscellaneous:

  • [python|gym] Add Python native 'is_simulation_running' attribute to Simulator for fast access.
  • [gym] Replace 'engine' proxy by 'simulator' for greater flexibility.
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