merged with gz-sim7

Signed-off-by: Nate Koenig <[email protected]>
gazebosim · Nov 23, 2022 · 6c45078 · 6c45078
2 parents ce30722 + e5c3ee9
commit 6c45078
Show file tree

Hide file tree

Showing 204 changed files with 3,567 additions and 397 deletions.
diff --git a/.github/ci-focal/before_cmake.sh b/.github/ci-focal/before_cmake.sh
diff --git a/.github/ci/after_make.sh b/.github/ci/after_make.sh
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -9,6 +9,10 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v2
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]
+        with:
+          extra_args: --all-files
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@focal
@@ -22,6 +26,10 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v2
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]
+        with:
+          extra_args: --all-files
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy

diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml
@@ -16,4 +16,3 @@ jobs:
           COLUMN: Inbox
           GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
           CHECK_ORG_PROJECT: true
-
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,18 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+    -   id: check-added-large-files
+        args: ['--maxkb=500']
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-shebang-scripts-are-executable
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: destroyed-symlinks
+    -   id: end-of-file-fixer
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -93,6 +93,7 @@ gz_find_package(gz-common5
     profiler
     events
     av
+    io
   REQUIRED
 )
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})

diff --git a/COPYING b/COPYING
@@ -174,5 +174,3 @@
       of your accepting any such warranty or additional liability.
 
    END OF TERMS AND CONDITIONS
-
-
diff --git a/api.md.in b/api.md.in
@@ -1,7 +1,7 @@
 ## Gazebo @GZ_DESIGNATION_CAP@
 
 Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
-designed to rapidly develop robot and simulation applications. 
+designed to rapidly develop robot and simulation applications.
 
 **Useful links**
 

diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
@@ -13,4 +13,3 @@ RUN scripts/install_common_deps.sh
 
 COPY docker/scripts/enable_gcc8.sh scripts/enable_gcc8.sh
 RUN scripts/enable_gcc8.sh
-
diff --git a/examples/plugin/custom_component/CustomComponentPlugin.cc b/examples/plugin/custom_component/CustomComponentPlugin.cc
@@ -21,4 +21,3 @@
 GZ_ADD_PLUGIN(examples::CustomComponentPlugin,
     gz::sim::System,
     examples::CustomComponentPlugin::ISystemConfigure)
-
diff --git a/examples/plugin/hello_world/HelloWorld.cc b/examples/plugin/hello_world/HelloWorld.cc
@@ -51,6 +51,3 @@ void HelloWorld::PostUpdate(const gz::sim::UpdateInfo &_info,
   // higher (i.e. gz sim -v 3)
   gzmsg << msg << std::endl;
 }
-
-
-
diff --git a/examples/plugin/reset_plugin/CMakeLists.txt b/examples/plugin/reset_plugin/CMakeLists.txt
@@ -9,6 +9,6 @@ find_package(gz-sim7 REQUIRED)
 set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 
 add_library(JointPositionRandomizer SHARED JointPositionRandomizer.cc)
-target_link_libraries(JointPositionRandomizer 
+target_link_libraries(JointPositionRandomizer
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::core)
diff --git a/examples/plugin/reset_plugin/README.md b/examples/plugin/reset_plugin/README.md
@@ -1,6 +1,6 @@
 # System Reset API
 
-This example uses the JointPositionRandomizer system to randomize the joint 
+This example uses the JointPositionRandomizer system to randomize the joint
 positions of a robot arm at every reset.
 
 

diff --git a/examples/scripts/blender/distort_mesh.py b/examples/scripts/blender/distort_mesh.py
diff --git a/examples/scripts/distributed/README.md b/examples/scripts/distributed/README.md
@@ -31,4 +31,3 @@ the GUI.
 You can run the same world in a standalone process as follows:
 
     ./standalone.sh
-
diff --git a/examples/scripts/distributed/primary.sh b/examples/scripts/distributed/primary.sh
@@ -3,4 +3,3 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 gz sim -v 4 -z 100000000 --network-role primary --network-secondaries 3 $DIR/primary.sdf
-
diff --git a/examples/scripts/distributed/secondary.sh b/examples/scripts/distributed/secondary.sh
@@ -3,4 +3,3 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 gz sim -s -v 4 -z 100000000 --network-role secondary $DIR/secondary.sdf
-
diff --git a/examples/scripts/distributed_levels/primary.sh b/examples/scripts/distributed_levels/primary.sh
@@ -4,4 +4,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 # --levels is implied by --network-role
 gz sim -v 4 -z 100000000 --network-role primary --network-secondaries 2 $DIR/primary.sdf
-
diff --git a/examples/scripts/distributed_levels/secondary.sdf b/examples/scripts/distributed_levels/secondary.sdf
@@ -10,14 +10,14 @@
 <sdf version="1.6">
   <world name="default">
 
-    
+
     <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
     </plugin>
-
 
-
+
+
 
     <scene>
       <ambient>0.8 0.8 0.8 1.0</ambient>
@@ -40,7 +40,7 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
-    
+
 
     <model name="green_sphere">
       <pose>0 -1.5 2.5 0 0 0</pose>
@@ -74,7 +74,7 @@
         </visual>
       </link>
     </model>
-    
+
 
     <model name="yellow_box">
       <pose>0 1.5 2.5 0 0 0</pose>
@@ -108,9 +108,9 @@
         </visual>
       </link>
     </model>
-
 
-
+
+
     <model name="block_0_A">
       <static>true</static>
       <pose>0.0 -1.5 -0.0 0 0.5235987755982988 0</pose>
@@ -171,7 +171,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_0_B">
       <static>true</static>
       <pose>0.0 1.5 -0.0 0 0.5235987755982988 0</pose>
@@ -232,7 +232,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_1_A">
       <static>true</static>
       <pose>2.598076211353316 -1.5 -1.4999999999999998 0 0.5235987755982988 0</pose>
@@ -293,7 +293,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_1_B">
       <static>true</static>
       <pose>2.598076211353316 1.5 -1.4999999999999998 0 0.5235987755982988 0</pose>
@@ -354,7 +354,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_2_A">
       <static>true</static>
       <pose>5.196152422706632 -1.5 -2.9999999999999996 0 0.5235987755982988 0</pose>
@@ -415,7 +415,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_2_B">
       <static>true</static>
       <pose>5.196152422706632 1.5 -2.9999999999999996 0 0.5235987755982988 0</pose>
@@ -476,7 +476,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_3_C">
       <static>true</static>
       <pose>7.794228634059948 0 -4.499999999999999 0 0.5235987755982988 0</pose>
@@ -537,7 +537,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_4_A">
       <static>true</static>
       <pose>10.392304845413264 -1.5 -5.999999999999999 0 0.5235987755982988 0</pose>
@@ -598,7 +598,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_4_B">
       <static>true</static>
       <pose>10.392304845413264 1.5 -5.999999999999999 0 0.5235987755982988 0</pose>
@@ -659,7 +659,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_5_A">
       <static>true</static>
       <pose>12.99038105676658 -1.5 -7.499999999999999 0 0.5235987755982988 0</pose>
@@ -720,7 +720,7 @@
         </visual>
       </link>
     </model>
-    
+
     <model name="block_5_B">
       <static>true</static>
       <pose>12.99038105676658 1.5 -7.499999999999999 0 0.5235987755982988 0</pose>
@@ -781,7 +781,7 @@
         </visual>
       </link>
     </model>
-    
+
 
     <model name="end_block_A">
       <static>true</static>
@@ -851,7 +851,7 @@
 
     <plugin name="gz::sim" filename="dummy">
 
-    
+
       <performer name="perf_green_sphere">
         <ref>green_sphere</ref>
         <geometry>
@@ -860,7 +860,7 @@
           </box>
         </geometry>
       </performer>
-    
+
       <performer name="perf_yellow_box">
         <ref>yellow_box</ref>
         <geometry>
@@ -869,9 +869,9 @@
           </box>
         </geometry>
       </performer>
-
 
-
+
+
     <level name="level_block_0_A">
       <pose>0.0 -1.5 -0.0 0 0 0</pose>
       <geometry>
@@ -882,7 +882,7 @@
       <buffer>1.0</buffer>
       <ref>block_0_A</ref>
     </level>
-    
+
     <level name="level_block_0_B">
       <pose>0.0 1.5 -0.0 0 0 0</pose>
       <geometry>
@@ -893,7 +893,7 @@
       <buffer>1.0</buffer>
       <ref>block_0_B</ref>
     </level>
-    
+
     <level name="level_block_1_A">
       <pose>2.598076211353316 -1.5 -1.4999999999999998 0 0 0</pose>
       <geometry>
@@ -904,7 +904,7 @@
       <buffer>1.0</buffer>
       <ref>block_1_A</ref>
     </level>
-    
+
     <level name="level_block_1_B">
       <pose>2.598076211353316 1.5 -1.4999999999999998 0 0 0</pose>
       <geometry>
@@ -915,7 +915,7 @@
       <buffer>1.0</buffer>
       <ref>block_1_B</ref>
     </level>
-    
+
     <level name="level_block_2_A">
       <pose>5.196152422706632 -1.5 -2.9999999999999996 0 0 0</pose>
       <geometry>
@@ -926,7 +926,7 @@
       <buffer>1.0</buffer>
       <ref>block_2_A</ref>
     </level>
-    
+
     <level name="level_block_2_B">
       <pose>5.196152422706632 1.5 -2.9999999999999996 0 0 0</pose>
       <geometry>
@@ -937,7 +937,7 @@
       <buffer>1.0</buffer>
       <ref>block_2_B</ref>
     </level>
-    
+
     <level name="level_block_3_C">
       <pose>7.794228634059948 0 -4.499999999999999 0 0 0</pose>
       <geometry>
@@ -948,7 +948,7 @@
       <buffer>1.0</buffer>
       <ref>block_3_C</ref>
     </level>
-    
+
     <level name="level_block_4_A">
       <pose>10.392304845413264 -1.5 -5.999999999999999 0 0 0</pose>
       <geometry>
@@ -959,7 +959,7 @@
       <buffer>1.0</buffer>
       <ref>block_4_A</ref>
     </level>
-    
+
     <level name="level_block_4_B">
       <pose>10.392304845413264 1.5 -5.999999999999999 0 0 0</pose>
       <geometry>
@@ -970,7 +970,7 @@
       <buffer>1.0</buffer>
       <ref>block_4_B</ref>
     </level>
-    
+
     <level name="level_block_5_A">
       <pose>12.99038105676658 -1.5 -7.499999999999999 0 0 0</pose>
       <geometry>
@@ -981,7 +981,7 @@
       <buffer>1.0</buffer>
       <ref>block_5_A</ref>
     </level>
-    
+
     <level name="level_block_5_B">
       <pose>12.99038105676658 1.5 -7.499999999999999 0 0 0</pose>
       <geometry>
@@ -992,7 +992,7 @@
       <buffer>1.0</buffer>
       <ref>block_5_B</ref>
     </level>
-    
+
 
 
     </plugin>
Original file line number	Diff line number	Diff line change
Expand Up		@@ -16,4 +16,3 @@ jobs:
		COLUMN: Inbox
		GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
		CHECK_ORG_PROJECT: true
-Original file line number
+Diff line change
@@ Expand Up / @@ -93,6 +93,7 @@ gz_find_package(gz-common5 @@
         profiler
         events
         av
+        io
       REQUIRED
     )
     set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
@@ Expand Down @@
Original file line number	Diff line number	Diff line change
Expand Up		@@ -174,5 +174,3 @@
		of your accepting any such warranty or additional liability.

		END OF TERMS AND CONDITIONS
Original file line number	Diff line number	Diff line change
Expand Up		@@ -13,4 +13,3 @@ RUN scripts/install_common_deps.sh

		COPY docker/scripts/enable_gcc8.sh scripts/enable_gcc8.sh
		RUN scripts/enable_gcc8.sh
Original file line number	Diff line number	Diff line change
Expand Up		@@ -21,4 +21,3 @@
		GZ_ADD_PLUGIN(examples::CustomComponentPlugin,
		gz::sim::System,
		examples::CustomComponentPlugin::ISystemConfigure)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -51,6 +51,3 @@ void HelloWorld::PostUpdate(const gz::sim::UpdateInfo &_info,
		// higher (i.e. gz sim -v 3)
		gzmsg << msg << std::endl;
		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -31,4 +31,3 @@ the GUI.
		You can run the same world in a standalone process as follows:

		./standalone.sh
Original file line number	Diff line number	Diff line change
Expand Up		@@ -3,4 +3,3 @@
		DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"

		gz sim -v 4 -z 100000000 --network-role primary --network-secondaries 3 $DIR/primary.sdf
Original file line number	Diff line number	Diff line change
Expand Up		@@ -4,4 +4,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"

		# --levels is implied by --network-role
		gz sim -v 4 -z 100000000 --network-role primary --network-secondaries 2 $DIR/primary.sdf