v1.3.0

Compatible with Ignition Fortress (Gazebo ≥ 6.0.0).

Bug fixing and new features

• Bump Ignition distribution to Edifice (#307)
• Align Physics system (#318)
• Address sdformat11 deprecations (#321)
• Align empty world with upstream (#336)
• Simplify passing the physics parameters to the Server (#335)
• Improve how links with no collision elements are handled in contact detection (#334)
• Prepare multiple physics engines support (#338)
• Move inheritance from ModelWithFile to ICubGazeboABC (#342)
• Automatic configuration of a sane default verbosity (#343)
• Allow loading link and joint plugins (#345)
• Fix call to setComTarget in InverseKinematicsNLP (#339)
• Split scenario and gym-ignition Python packages (#346)
• Support setting joint velocity limits (#356)
• Fix type hinting of binded methods returning std::vectors (#357)
• Fix include directories in SWIG bindings (#358)
• Update vendored FindPython resources to CMake 3.20.2 (#360)
• Update setuptools resources introducing setup.cfg (#364)
• Align Physics system (Edifice 5.1) (#365)
• Update vendored FindPython3 to CMake 3.20.5 (#367)
• Use the versioned name of the DART physics plugin (#369)
• Update the PyPI name to scenario (#373)
• Align Physics system (#376)
• Format Python files with black and isort (#377)
• Remove the need to use a singleton to get the ECM pointer (#379)
• Fix leftover after removing ScenarioGazeboPlugins CMake component (#382)
• Disable joint velocity limits in the manipulation example (#384)
• Allow inserting worlds from file containing models (#386)
• Fix test_velocity_direct (#387)
• Allow specifying different pos and rot weights for POSE IK targets (#388)
• Application of external wrenches: new empty method and new Python test (#391)
• Minor cleanup (#395)
• Align Physics system (Fortress) (#392)
• Check for a compatible Ignition distribution in the system when importing the scenario Python package (#399)
• Fix positivity option of model randomizations (#400)
• Bump Ignition distribution to Fortress (#383)
• [devel]→[master] Preparation of v1.3.0 (#361)

Documentation, CI/CD, tests

• Add issue templates (#352)
• Test a multi-world simulation with DART and bullet collision detector (#368)
• Disable test_multi_world_simulation (#374)
• Enforce compliance of clang-format style (#375)
• Create CODEOWNERS (#380)

Migration comments

Python Packages

This release includes #346 that changes how we distribute the project in PyPI. Starting with v1.3.0, the PyPI package gym-ignition will only provide the Python resources of the gym_ignition module (and the demo gym_ignition_environments). A new scenario PyPI package will provide the C++ resources. The import names didn't change (import gym_ignition, import scenario), and downstream should not be affected in most cases.

Warning: if a downstream Python package was using the exported CMake targets of ScenarIO, some maintenance action is necessary. These projects have gym_ignition in the [build-system]/requires of their pyproject.toml.

In order to update to this v1.3.0 release, maintainers have to take the following action:

• pyproject.toml: replace gym_ignition with scenario ~= 1.3.0.

API change

This time, in #321, we performed a minor update of our public APIs. If you used the following function:

bool  scenario::gazebo::utils::renameSDFModel(sdf::Root& sdfRoot, 
                                              const std::string& newModelName, 
                                              const size_t modelIndex = 0);

please note that the modelIndex defaulted argument has been removed. The new signature is the following:

bool  scenario::gazebo::utils::renameSDFModel(sdf::Root& sdfRoot,
                                              const std::string& newModelName);

Contributors

• @diegoferigo
• @traversaro