Compatible with [Ignition **Fortress**](https://ignitionrobotics.org/docs/fortress/install) (`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::vector`s (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 https://github.com/robotology/gym-ignition/pull/321, we performed a minor update of our public APIs. If you used the following function:
cpp
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:
cpp
bool scenario::gazebo::utils::renameSDFModel(sdf::Root& sdfRoot,
const std::string& newModelName);
Contributors
- diegoferigo
- traversaro