diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp
index 7758d6d8f3..fa9388d3f4 100644
--- a/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp
+++ b/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp
@@ -34,6 +34,7 @@
 #if defined(VISP_HAVE_PANDA3D)
 
 #include "load_prc_file.h"
+#include <antialiasAttrib.h>
 
 const vpHomogeneousMatrix vpPanda3DBaseRenderer::VISP_T_PANDA({
   1.0, 0.0, 0.0, 0.0,
@@ -79,6 +80,7 @@ void vpPanda3DBaseRenderer::initFromParent(std::shared_ptr<PandaFramework> frame
 void vpPanda3DBaseRenderer::setupScene()
 {
   m_renderRoot = m_window->get_render().attach_new_node(m_name);
+  m_renderRoot.set_antialias(AntialiasAttrib::M_none);
 }
 
 void vpPanda3DBaseRenderer::setupCamera()
diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
index 3ecf5e769e..c48d43172f 100644
--- a/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
+++ b/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
@@ -82,12 +82,11 @@ void main()
 )shader";
 
 const char *vpPanda3DGeometryRenderer::SHADER_FRAG_NORMAL_AND_DEPTH = R"shader(
-#version 140
+#version 120
 
 varying vec3 oNormal;
 varying float distToCamera;
 
-
 void main()
 {
   vec3 n = normalize(oNormal);
@@ -203,6 +202,7 @@ void vpPanda3DGeometryRenderer::getRender(vpImage<vpRGBf> &normals, vpImage<floa
   }
   else if (m_normalDepthTexture->get_component_type() == Texture::T_unsigned_byte) {
     unsigned char *data = (unsigned char *)(&(m_normalDepthTexture->get_ram_image().front()));
+    std::cout << "AAAAAAA" << std::endl;
     for (unsigned int i = 0; i < normals.getSize(); ++i) {
       normals.bitmap[i].B = (static_cast<float>(data[i * 4]) / 127.5f - 1.0);
       normals.bitmap[i].G = (static_cast<float>(data[i * 4 + 1]) / 127.5f - 1.0);
diff --git a/tutorial/ar/tutorial-panda3d-renderer.cpp b/tutorial/ar/tutorial-panda3d-renderer.cpp
index dd84a7408d..d922bfd05e 100644
--- a/tutorial/ar/tutorial-panda3d-renderer.cpp
+++ b/tutorial/ar/tutorial-panda3d-renderer.cpp
@@ -100,7 +100,7 @@ int main(int argc, const char **argv)
   }
 
   std::cout << "Initializing Panda3D rendering framework" << std::endl;
-  renderer.initFramework(false);
+  renderer.initFramework(true);
 
   std::cout << "Loading object " << modelPath << std::endl;
   NodePath object = renderer.loadObject(objectName, modelPath);