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Fix meshcat backend
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@duburcqa duburcqa released this 27 Sep 10:49
· 89 commits to master since this release
1.6.30
b5b9b70
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Meshcat viewer backend was mostly unmaintained since a year and was partially broken. This should now be fixed, with the addition of 3D rendering directly inside local VSCode notebooks and local Jupyterlab !

New features

  • [python/viewer] Add height map rendering capability to Panda3d backend.
  • [python/viewer] Add support of jupyterlab and vscode notebooks locally using Meshcat backend.
  • [gym/common] Add flag to 'play_interactive' to ignore 'is_done' state.
  • [gym/rllib] Support obs normalization for PPO spatial regularization.
  • [gym/rllib] Scale spatial loss by observation distance.

Improvements

  • [core] Shuffle constraint solver iterations iif necessary, no matter if constraint set changes.
  • [core] Move contact point at the interface with the ground for impulse model. (#404)
  • [python/viewer] Properly close opening viewer if raises exception at init.
  • [gym/common] Check that simulation data is available before plotting.
  • [gym/rllib] Raise clear exception if observation space is not dict in PPO.
  • [gym/rllib] Replace L2-norm temporal smoothness regularization by L1-norm.

Patches and bug fixes

  • [core/python] Fix bindings signature of some controller's method.
  • [python/plot] Fix missing grid for single plot tabs.
  • [python/viewer] Fix viewer compatibility with meshcat>=0.3.1.
  • [python/viewer] Fix meshcat viewer 'has_gui' method.
  • [python/viewer] Fix meshcat notebook viewer.
  • [gym/common] Fix 'play_interactive' not disabling 'is_training' flag.
  • [gym/rllib] Fix L2 reg not backpropagating gradient.

Miscellaneous

  • [python/viewer] Increase meshcat recorder timeout.
  • [misc] Fix CI dependency install.
  • [misc] Relax ray version requirement.
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