Merge pull request #685 from robotology/feature/gym-ignition

Add gym-ignition project

.github/workflows/ci.yml

@@ -90,6 +90,8 @@ jobs:
         # Additional dependencies only useful on Linux
         # See https://github.com/robotology/robotology-superbuild/issues/477
         mamba install expat-cos6-x86_64 freeglut libdc1394 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
+        # Ignition Gazebo
+        mamba install libignition-gazebo4
 
     - name: Print used environment [Conda]
       shell: bash -l {0}
@@ -103,12 +105,17 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        cmake -GNinja -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON  -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
+        cmake -GNinja -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
         # Disable options not tested on Conda for now
         # Reference issue: https://github.com/robotology/robotology-superbuild/issues/563
         cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF .
         cat ./install/share/robotology-superbuild/setup.sh
 
+    - name: Configure Extra [Conda/Linux]
+      if: contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: cmake -S . -B build/ -DROBOTOLOGY_USES_IGNITION:BOOL=ON
+
     - name: Configure [Conda/Windows]
       if: contains(matrix.os, 'windows')
       # ROBOTOLOGY_ENABLE_ICUB_HEAD is disabled due to https://github.com/robotology/icub-main/issues/685

cmake/Buildgym-ignition.cmake

@@ -0,0 +1,21 @@
+# Copyright (C) 2021 iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Diego Ferigo <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(iDynTree QUIET)
+
+ycm_ep_helper(gym-ignition TYPE GIT
+              STYLE GITHUB
+              REPOSITORY robotology/gym-ignition.git
+              TAG master
+              COMPONENT core
+              FOLDER src
+              CMAKE_ARGS -DSCENARIO_USE_IGNITION:BOOL=${ROBOTOLOGY_USES_IGNITION}
+                         -DSCENARIO_ENABLE_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}
+                         -DBINDINGS_INSTALL_PREFIX:PATH=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}
+              DEPENDS iDynTree)
+
+# TODO: gym-ignition_CONDA_DEPENDENCIES

cmake/ProjectsTagsUnstable.cmake

@@ -30,3 +30,4 @@ set_tag(icub-gazebo-wholebody_TAG devel)
 set_tag(whole-body-controllers_TAG master)
 set_tag(OsqpEigen_TAG master)
 set_tag(YARP_telemetry_TAG master)
+set_tag(gym-ignition_TAG devel)

cmake/RobotologySuperbuildLogic.cmake

@@ -18,6 +18,9 @@ if(ROBOTOLOGY_ENABLE_CORE)
   if(ROBOTOLOGY_USES_GAZEBO)
     find_or_build_package(GazeboYARPPlugins)
   endif()
+  if(ROBOTOLOGY_USES_IGNITION)
+    find_or_build_package(gym-ignition)
+  endif()
   if(ROBOTOLOGY_USES_MATLAB OR ROBOTOLOGY_USES_OCTAVE)
     find_or_build_package(yarp-matlab-bindings)
   endif()

cmake/RobotologySuperbuildOptions.cmake

@@ -17,13 +17,17 @@ option(ROBOTOLOGY_USES_LUA "Enable compilation of software that depend on Lua" F
 mark_as_advanced(ROBOTOLOGY_USES_LUA)
 option(ROBOTOLOGY_USES_PYTHON "Enable compilation of software that depend on Python" FALSE)
 
-## Enable packages that depend on the Gazebo simulator
+## Enable packages that depend on the Gazebo Classic simulator
 if(WIN32)
   set(ROBOTOLOGY_USES_GAZEBO_DEFAULT FALSE)
 else()
   set(ROBOTOLOGY_USES_GAZEBO_DEFAULT TRUE)
 endif()
-option(ROBOTOLOGY_USES_GAZEBO "Enable compilation of software that depends on Gazebo" ${ROBOTOLOGY_USES_GAZEBO_DEFAULT})
+option(ROBOTOLOGY_USES_GAZEBO "Enable compilation of software that depends on Gazebo Classic" ${ROBOTOLOGY_USES_GAZEBO_DEFAULT})
+
+## Enable packages that depend on the Ignition Gazebo simulator
+set(ROBOTOLOGY_USES_IGNITION_DEFAULT FALSE)
+option(ROBOTOLOGY_USES_IGNITION "Enable compilation of software that depends on Ignition Gazebo" ${ROBOTOLOGY_USES_IGNITION_DEFAULT})
 
 ## Enable Oculus SDK and Cyberith treadmill options
 option(ROBOTOLOGY_USES_OCULUS_SDK "Enable compilation of software that depend on Oculus SDK" FALSE)

doc/profiles.md

@@ -18,6 +18,7 @@ Table of Contents
     * [Event-driven profile](#event-driven)
   * [Dependencies-specific documentation](#dependencies-specific-documentation)
     * [Gazebo simulator](#gazebo)
+    * [Ignition](#ignition)
     * [MATLAB](#matlab)
     * [Octave](#octave)
     * [Python](#python)
@@ -41,7 +42,7 @@ All these options are named `ROBOTOLOGY_ENABLE_<profile>` .
 
 | CMake Option | Description | Main packages included | Default Value | Profile-specific documentation |
 |:------------:|:-----------:|:---------------------:|:-------------:|:----:|
-| `ROBOTOLOGY_ENABLE_CORE` | The core robotology software packages, necessary for most users. | [`YARP`](https://github.com/robotology/yarp), [`ICUB`](https://github.com/robotology/icub-main), [`ICUBcontrib`](https://github.com/robotology/icub-contrib-common), [`icub-models`](https://github.com/robotology/icub-models) and  [`robots-configurations`](https://github.com/robotology/robots-configuration). [`GazeboYARPPlugins`](https://github.com/robotology/GazeboYARPPlugins) and [`icub-gazebo`](https://github.com/robotology/icub-gazebo) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. | `ON` | [Documentation on Core profile.](#core) |
+| `ROBOTOLOGY_ENABLE_CORE` | The core robotology software packages, necessary for most users. | [`YARP`](https://github.com/robotology/yarp), [`ICUB`](https://github.com/robotology/icub-main), [`ICUBcontrib`](https://github.com/robotology/icub-contrib-common), [`icub-models`](https://github.com/robotology/icub-models) and  [`robots-configurations`](https://github.com/robotology/robots-configuration). [`GazeboYARPPlugins`](https://github.com/robotology/GazeboYARPPlugins) and [`icub-gazebo`](https://github.com/robotology/icub-gazebo) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. [`gym-ignition`](https://github.com/robotology/gym-ignition) if the `ROBOTOLOGY_USES_IGNITION` option is enabled. | `ON` | [Documentation on Core profile.](#core) |
 | `ROBOTOLOGY_ENABLE_ROBOT_TESTING` | The robotology software packages related to robot testing. |  [`RobotTestingFramework`](https://github.com/robotology/robot-testing-framework), [`icub-tests`](https://github.com/robotology/icub-tests), [`blocktest`](https://github.com/robotology/blocktest) and [`blocktest-yarp-plugins`](https://github.com/robotology/blocktest-yarp-plugins) | `OFF` | [Documentation on Robot Testing profile.](#robot-testing)  |
 | `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers), [`matioCpp`](https://github.com/dic-iit/matio-cpp), [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework), [`YARP_telemetry`](https://github.com/robotology/yarp-telemetry). | `OFF` | [Documentation on Dynamics profile.](#dynamics)  |
 | `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` | Optional dependencies for [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework). | [`manif`](https://github.com/artivis/manif), [`qhull`](https://github.com/qhull/qhull), [`casadi`](https://github.com/casadi/casadi). [`CppAD`](https://github.com/coin-or/CppAD). | `OFF` | [Documentation on Dynamics full deps profile.](#dynamics-full-deps)  |
@@ -60,7 +61,8 @@ The dependencies CMake options specify if the packages dependending on something
 
 | CMake Option | Description | Default Value | Dependency-specific documentation |
 |:------------:|:-----------:|:-------------:|:---------------------------------:|
-| `ROBOTOLOGY_USES_GAZEBO`  | Include software and plugins that depend on the [Gazebo simulator](http://gazebosim.org/).  | `ON` on Linux and macOS, `OFF` on Windows   | [Documentation on Gazebo dependency.](#gazebo) |
+| `ROBOTOLOGY_USES_GAZEBO`  | Include software and plugins that depend on the [Gazebo Classic simulator](http://gazebosim.org/).  | `ON` on Linux and macOS, `OFF` on Windows   | [Documentation on Gazebo Classic dependency.](#gazebo) |
+| `ROBOTOLOGY_USES_IGNITION` | Include software that depends on [Ignition](ignitionrobotics.org/). | `OFF` | [Documentation on Ignition Gazebo dependency.](#ignition) |
 | `ROBOTOLOGY_USES_MATLAB`  | Include software and plugins that depend on the [Matlab](https://mathworks.com/products/matlab.html). | `OFF` | [Documentation on MATLAB dependency.](#matlab) |
 | `ROBOTOLOGY_USES_OCTAVE`  | Include software and plugins that depend on [Octave](https://www.gnu.org/software/octave/).  | `OFF` |  [Documentation on Octave dependency.](#octave) |
 | `ROBOTOLOGY_USES_PYTHON`  | Include software that depends on [Python](https://www.python.org/).  | `OFF` |  [Documentation on Python dependency.](#python) |
@@ -86,6 +88,7 @@ Not all options are supported on all platforms. The following table provides a r
 | `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS`  | ✔️   |        ✔️                     |             ✔️                |                 ✔️              |              ✔️                |                 ✔️              |
 | `ROBOTOLOGY_ENABLE_EVENT_DRIVEN`  | ✔️   |        ✔️                     |             ❌                |                 ✔️              |              ✔️                |                 ❌              |
 | `ROBOTOLOGY_USES_GAZEBO` |  ✔️           |        ✔️                     |             ✔️                |                 ✔️              |              ✔️                |                 ✔️              |
+| `ROBOTOLOGY_USES_IGNITION` |  ❌           |        ❌                     |             ❌                |                 ✔️              |              ❌                |                 ❌              |
 | `ROBOTOLOGY_USES_MATLAB` |  ✔️           |        ✔️                     |             ✔️                |                 ✔️              |              ✔️                |                 ✔️              |
 | `ROBOTOLOGY_USES_OCTAVE` |  ✔️           |        ✔️                     |              ❌                |                  ❌              |               ❌                |                  ❌              |
 | `ROBOTOLOGY_USES_PYTHON` |  ✔️           |         ❌                     |              ❌                |                  ✔️              |               ✔️               |                  ✔️              |
@@ -228,6 +231,30 @@ the correct enviroment variables as documented in [`robotology-superbuild-depend
 ### Check the installation
 Follow the steps in https://github.com/robotology/icub-gazebo#usage and/or https://github.com/robotology/icub-models#use-the-models-with-gazebo to check if the Gazebo-based iCub simulation works fine.
 
+## Ignition
+Support for this dependency is enabled by the `ROBOTOLOGY_USES_IGNITION` CMake option.
+This option is set to `OFF` on all platforms as it is still experimental.
+
+### System Dependencies
+
+Different Ignition distributions can be installed alongside. 
+The projects included in the superbuild might require different distributions. 
+From the superbuild point of view, we currently do not allow enabling projects that only support a specific Ignition distribution, therefore all required distributions have to be found in the system.
+
+#### Using conda
+
+Follow [the source installation with conda-forge provided dependencies](https://github.com/robotology/robotology-superbuild/blob/master/doc/conda-forge.md#source-installation) and, after creating and environment and installing the default dependencies, execute:
+
+```bash
+conda install -c conda-forge libignition-gazebo4
+```
+
+#### Using official instructions
+
+Follow the official instructions to install Ignition on your platform, available at https://ignitionrobotics.org/docs.
+
+Note: this installation method is not currently tested in Continuous Integration.
+
 ## MATLAB
 Support for this dependency is enabled by the `ROBOTOLOGY_USES_MATLAB` CMake option.
 

releases/latest.releases.yaml

@@ -191,3 +191,7 @@ repositories:
     type: git
     url: https://github.com/robotology/yarp-telemetry.git
     version: v0.1.0
+  gym-ignition:
+    type: git
+    url: https://github.com/robotology/gym-ignition.git
+    version: v1.2.1