Changelogs » Gym-ignition

Gym-ignition

1.0beta2

Compatible with the [Ignition Robotics **Citadel**](https://ignitionrobotics.org/docs/citadel/install) 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)

1.0beta1.post

Compatible with the [Ignition Robotics **Blueprint**](https://ignitionrobotics.org/docs/blueprint/install) 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)

1.0beta

Initial release.

Compatible with the [Ignition Robotics **Blueprint**](https://ignitionrobotics.org/docs/blueprint/install) release.

C++

Gympp

- [`gympp`](gympp/)

Ignition

- [`ignition`](ignition/)

Plugins

- [`plugins`](plugins/)

Bindings

- [`bindings`](bindings/)

Python

Base

- [`base.task.Task`](gym_ignition/base/task.py)
- [`base.runtime.Runtime`](gym_ignition/base/runtime.py)
- [`base.robot.robot_abc.RobotABC`](gym_ignition/base/robot/robot_abc.py)
- [`base.robot.robot_baseframe.RobotBaseFrame`](gym_ignition/base/robot/robot_baseframe.py)
- [`base.robot.robot_contacts.RobotContacts`](gym_ignition/base/robot/robot_contacts.py)
- [`base.robot.robot_joints.RobotJoints`](gym_ignition/base/robot/robot_joints.py)
- [`base.robot.robot_links.RobotLinks`](gym_ignition/base/robot/robot_links.py)
- [`robots.base.gazebo_robot.GazeboRobot`](gym_ignition/robots/base/gazebo_robot.py)
- [`robots.base.pybullet_robot.PyBulletRobot`](gym_ignition/robots/base/pybullet_robot.py)

Runtimes

- [`runtimes.gazebo_runtime.GazeboRuntime`](gym_ignition/runtimes/gazebo_runtime.py)
- [`runtimes.pybullet_runtime.PyBulletRuntime`](gym_ignition/runtimes/pybullet_runtime.py)

Environments

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

Tasks

- [`tasks.cartpole_discrete.CartPoleDiscrete`](gym_ignition/tasks/cartpole_discrete.py)
- [`tasks.cartpole_continuous.CartPoleContinuous`](gym_ignition/tasks/cartpole_continuous.py)
- [`tasks.pendulum_swingup.PendulumSwingUp`](gym_ignition/tasks/pendulum_swingup.py)

Robots

- [`robots.sim.gazebo.cartpole.CartPoleGazeboRobot`](gym_ignition/robots/sim/gazebo/cartpole.py)
- [`robots.sim.pybullet.cartpole.CartPolePyBulletRobot`](gym_ignition/robots/sim/pybullet/cartpole.py)
- [`robots.sim.gazebo.pendulum.PendulumGazeboRobot`](gym_ignition/robots/sim/gazebo/pendulum.py)
- [`robots.sim.pybullet.pendulum.PendulumPyBulletRobot`](gym_ignition/robots/sim/pybullet/cartpole.py)
- [`robots.sim.pybullet.icub.ICubPyBulletRobot`](gym_ignition/robots/sim/pybullet/icub.py) (experimental)

Data

- [`gym_ignition_data`](gym_ignition_data)

Examples

- [`launch_cartpole.py`](examples/python/launch_cartpole.py)
- [`RandomPolicy.ipynb`](examples/colab/RandomPolicy.ipynb)
- [`LaunchCartPole.cpp`](examples/cpp/LaunchCartPole.cpp)
- [`LaunchParallelCartPole.cpp`](examples/cpp/LaunchParallelCartPole.cpp)

Tests

- [`tests/python`](tests/python)