New release v1.3.0 🚀

[diegoferigo]

Compatible with Ignition Fortress (Gazebo ≥ 6.0.0).

Bug fixing and new features

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

Documentation, CI/CD, tests

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

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This discussion was created from the release v1.3.0.

[AndrejOrsula]

Thank you once again for the great work! I can confirm that local (development) build of v1.3.0.post0 works out of the box for me and I have not noticed any issues yet.

[diegoferigo]

Thanks Andrej for the feedback, much appreciated! It's important from our side knowing that things didn't break, the jump Dome → Fortress was pretty big.