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[python/viewer] Add support of CoM and contact forces display.
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@duburcqa duburcqa released this 03 May 09:55
· 103 commits to master since this release
1.6.15
c7f3b95
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Learn about vigilant mode.

This release focuses on making the viewer more informative to ease analysis to control strategies by showing the center of mass and contact forces when replaying log data.

New features

  • [python/viewer] Add helper to emulate sensor update from log, and use it in 'play_log_data' method.
  • [python/viewer] Add top-level options to enable/disable display of com/contacts.

Improvements

  • [core|core/python] Add public setter 'AbstractSensorBase.set' for sensor data and expose it in Python.
  • [python/viewer] Add option to place cylinder anchor at bottom in Panda3d.
  • [python/viewer] Add option to always display node at foreground in Panda3d, and use it for markers.
  • [python/viewer] Add method to show/hide a single node in Panda3d.
  • [python/viewer] Custom 'update_hook' can be provided to 'display' and 'replay' methods.
  • [python/viewer] 'add_marker' now supports passing callables.
  • [python/viewer] Make objects clickable in Panda3d.

Patches and bug fixes

  • [python/viewer] Fix error when using exotic matplotlib backends.
  • [python/viewer] Fix 'Viewer.add_marker' and 'Panda3dApp.move_node' node placement.
  • [python/viewer] Fix 'append_group' when 'remove_if_exits=False'.
  • [python/viewer] Do not add legend if replay of the single log.
  • [python/viewer] Hide node if scale is too small.

Miscellaneous

  • [core] Make sensor setter 'AbstractSensorBase.setAll' private.
  • [core/python] 'result_converter' now supports Eigen::Ref.
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