configurable default visualizer #2419
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jcarpent
approved these changes
Sep 16, 2024
nim65s
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Nov 8, 2024
## [3.3.0] - 2024-11-06
### Added
- Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
- Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
- Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
- Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
- Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
- Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
- Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
- Add Pixi support stack-of-tasks/pinocchio#2459
### Fixed
- Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
- Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
- Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
- Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
- Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
- Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
- Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
- Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
- Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
- Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
- Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
- Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
- Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466
### Changed
- Modernize python code base with ruff stack-of-tasks/pinocchio#2418
- Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Nov 21, 2024
## [3.3.0] - 2024-11-06
### Added
- Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
- Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
- Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
- Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
- Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
- Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
- Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
- Add Pixi support stack-of-tasks/pinocchio#2459
### Fixed
- Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
- Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
- Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
- Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
- Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
- Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
- Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
- Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
- Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
- Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
- Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
- Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
- Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466
### Changed
- Modernize python code base with ruff stack-of-tasks/pinocchio#2418
- Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Dec 6, 2024
## [3.3.0] - 2024-11-06
### Added
- Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
- Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
- Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
- Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
- Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
- Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
- Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
- Add Pixi support stack-of-tasks/pinocchio#2459
### Fixed
- Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
- Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
- Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
- Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
- Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
- Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
- Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
- Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
- Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
- Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
- Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
- Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
- Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466
### Changed
- Modernize python code base with ruff stack-of-tasks/pinocchio#2418
- Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
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Following #2331, the default viewer was updated from gepetto to meshcat.
This caused some troubles for users with gepetto set up and not meshcat.
This PR allows users to define their favorite viewer with the
PINOCCHIO_VIEWERenvironment variable.When it is not defined, the default viewer is automatically inferred from the available python modules.