Jiminy-py

Patches and bug fixes:

- [Viewer] Do not apply the optimized patch for handling kernel shell messages selectively for ipykernel < 5.0
- [Viewer] Fix non-resizeable display window on notebook and wrong initial window size on Google Colab

Patches and bug fixes:

- [Viewer] No longer messing up with the queue of tasks in notebooks, so that it is now possible to schedule the execution of other cells and the replay of a simulation is running without causing kernel corruptions
- [Viewer] Do not examine Ipython ports while looking for running Meshcat server to avoid throwing a low-level kernel exception in notebooks, the later not being caught in Google Colab

- [Viewer] Set default backend at class level automatically
- [Viewer] Fix 'fix_mesh_path' method returning None for package only mesh paths
- [Viewer] Fix Meshcat index.html event handling on closing ipython comm
- [Viewer] Bypass Chrome/WebGL GPU backlisting with Pypetter recording backend
- [Viewer] Fix chrome executable path for Google Colab
- [Viewer/play_trajectories] Do not delete robot automatically in Notebooks
- [Viewer/server] Use set to manage comm pool instead of list
- [BasicSimulator] Fix callback
- [engine_async] Update default engine_async camera pose
- [misc] Fix corrupted example notebook
- [misc] OpenCV is now an optional dependency (only used for Gepetto-gui backend)
- [misc] Generate pip wheel artefacts systematically when running the CI

New features and improvements:

- [Viewer] Native and full support of Jupyter, using directly kernel communication to avoid websockets and port forward all together
- [Viewer] Remove the support of port forwarding, since it is not longer relevant
- [Viewer] Create display cell in notebook mode when instantiating a viewer while no display cell is already available

Patches and bug fixes:

- [Viewer] Make sure the backend browser is killed at exit
- [Viewer] Do NOT catch KeyboardInterrupt anymore
- [Viewer] Avoid timeout on low-hand machine when starting video recording
- [Viewer] Improve the reliability of running Meshcat server detection.
- [Viewer] Remove heartbeat check since it is impossible to estimate appropriate response time
- [Viewer] Make sure that the viewer backend is alive before executing commands
- [Viewer] Make sure the backend processes are terminated cleanly in any cases
- [Viewer] Do NOT close backend automatically when 'close' is called by an instance
- [Viewer] Check for browser availability when calling 'open_gui', and wait for the client to be ready

Various other minor fixes. More details in 187 .

New features and improvements:

- [Viewer] 'wait' methods no longer requires being parent of meshcat server
- [Viewer] Enable to set replay speed of recorded video
- [Viewer] Improve recording speed for meshcat from 2 fps to 10 fps by using latest Chrome version and Javascript WebM Writer
- [Viewer] Recorded video format is now '.webm' instead of '.mp4'

Patches and bug fixes:

- [Viewer] Make sure no orphan process is left behind at exit, with a clean backtrace, even for SIGTERM signal and Python exceptions
- [Viewer] Detach camera if it has been attached by play_trajectory
- [Viewer] Capture frame using Meshcat in ".webp" format instead of ".png" to improve efficiency
- [Viewer] Fix meshcat client redirection error when trailing backslash is missing in url

New features:

- [viewer/Viewer] Add viewer 'attach_camera' / 'detach_camera' mechanism and use it for travelling

Patch and bug fixes:

- [viewer/Viewer] Remove misused signal handling
- [viewer/Viewer] Do not enforce multiprocess spawn on linux
- [viewer/Viewer] Fix meshcat camera using capture_frame
- [viewer/Viewer] Fix logger warning filtering
- [viewer/Viewer] Fix relative camera pose wrong computation
- [viewer/play_trajectory] Fix video recording not working with Gepetto-gui
- [viewer/play_trajectory] Enforce video framerate and file format automatically (30fps, mp4)
- [viewer/play_trajectory] Add video compatibility with HTML5 (can be embedded in markdown...etc)
- [viewer/play_trajectory] Enable robots offset during video recording
- [viewer/play_trajectory] Add support of camera travelling for both video recording and "human" mode
- [viewer/play_trajectory] Enable custom relative camera pose during travelling
- [Gym/Robot] Remove 'depth_array' rendering mode since it is not available
- ... Various other minor bug fixes.