v1.0beta2 (Biro)

Compatible with the Ignition Robotics Citadel release.

• Search only required CMake components of ignition-physics (#93)
• Finalize the implementation of base pose feature (#96)
• Update setup instructions and citation (#99)
• Implement dofs, get / set joint control mode in Ignition Gazebo, refactor PID (#104)
• Implement joint limits and initial joint position for Gazebo Robot (#105)
• Improve Gazebo robot performance (#106)
• Expose the environment timestamp to the agent (#108)
• Minor fixes and cleanup (#109)
• Import PyBullet lazily (#110)
• Fix ECM lock during the first Gazebo step (#111)
• Fix Ignition Robot configuration (#112)
• Get tests from the right branch in PyPI bdist Github Action (#113)
• Update models and worlds (#114)
• Clone the entire git history before pushing to PyPI (#115)
• Add contact support for Ignition Gazebo (#116)
• Add links and base velocity support to Gazebo robots (#117)
• Update to IgnitionRobotics Citadel (#122)
• Apply external forces (#124)
• Implement JointType for Gazebo robots (#125)
• Fix stepping PID controllers when physics and controllers rate are different (#131)
• Add Franka-Emika Panda robot (#135)
• Add NLP Inverse Kinematics (#137)
• Fix model insertion after reset and make hard reset the default behaviour (#138)
• Merge upstream modifications into vendored Physics system (#140)
• Extract last applied joint forces (#141)
• Always import Python bindings from the gym_ignition package (#142)
• Fix virtualenv in docker images (#143)
• [v1.0beta2] devel -> master (#144)
• Prepare v1beta2 release (#145)
• Cache joint names in GazeboRobot (#146)
• Update cartpole and pendulum to use models from gym-ignition-models (#147)
• Save the seed in the Task class(#148)
• Import pybullet lazily (#149)
• Store the agent rate in the Task (#150)
• Introduce joint effort limit to clip PID controllers output (#152)
• Minor fixes (#153)
• Improve the PyBullet backend (#154)
• Update fixed-base robots and update Python tests (#156)
• Do not use removed struct setter (#159)
• Update citation (#162)

v1.0beta1.post

Compatible with the Ignition Robotics Blueprint release.

Enhancements

• Automatically set environment variables in Python applications (#71)
• Improve Runtimes initialization (#78)
• Vendor Physics system (#82)

CI / CD / Documentation

• Improve CI/CD pipelines (#72)
• Nightly builds on devel branch (#73)
• Fix Python tests (#74)
• Remove TestPyPI step (#75)
• New docker image to run examples (#77)
• Update installation instructions and add demo section (#79)
• Push together sdist and bdist packages to PyPI (#84)
• Update setup instructions and Docker images (#85)

v1.0beta (Aloha)

Initial release.

Compatible with the Ignition Robotics Blueprint release.

C++

Gympp

• gympp

Ignition

• ignition

Plugins

• plugins

Bindings

• bindings

Python

Base

• base.task.Task
• base.runtime.Runtime
• base.robot.robot_abc.RobotABC
• base.robot.robot_baseframe.RobotBaseFrame
• base.robot.robot_contacts.RobotContacts
• base.robot.robot_joints.RobotJoints
• base.robot.robot_links.RobotLinks
• robots.base.gazebo_robot.GazeboRobot
• robots.base.pybullet_robot.PyBulletRobot

Runtimes

• runtimes.gazebo_runtime.GazeboRuntime
• runtimes.pybullet_runtime.PyBulletRuntime

Environments

• Pendulum-Gazebo-v0
• Pendulum-PyBullet-v0
• CartPoleDiscrete-Gympp-v0
• CartPoleDiscrete-Gazebo-v0
• CartPoleContinuous-Gazebo-v0
• CartPoleDiscrete-PyBullet-v0

Tasks

• tasks.cartpole_discrete.CartPoleDiscrete
• tasks.cartpole_continuous.CartPoleContinuous
• tasks.pendulum_swingup.PendulumSwingUp

Robots

• robots.sim.gazebo.cartpole.CartPoleGazeboRobot
• robots.sim.pybullet.cartpole.CartPolePyBulletRobot
• robots.sim.gazebo.pendulum.PendulumGazeboRobot
• robots.sim.pybullet.pendulum.PendulumPyBulletRobot
• robots.sim.pybullet.icub.ICubPyBulletRobot (experimental)

Data

• gym_ignition_data

Examples

• launch_cartpole.py
• RandomPolicy.ipynb
• LaunchCartPole.cpp
• LaunchParallelCartPole.cpp

Tests

• tests/python