gazebosim · chapulina · Jun 3, 2022 · Apr 20, 2022 · Apr 21, 2022 · Apr 22, 2022
@@ -0,0 +1,72 @@
+---
+name: Bug report
+about: Report a bug
+labels: bug
+---
+
+<!-- If you're not sure whether your problem is a bug, please ask a question at
+http://answers.gazebosim.org instead.-->
+
+## Environment
+* OS Version: <!-- e.g, Ubuntu 20.04 -->
+* Source or binary build?
+  <!-- If binary, which version? -->
+  <!-- If source, which branch and what is the latest commit? -->
+* If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section. <!-- If you do not know some values, leave them out. But please, at least give a try to finding them - they are really helpful when debugging rendering errors. -->
+    - Rendering plugin: [ogre | ogre2]. <!-- You can find it in the logs of Gazebo it outputs to console when you launch it with `-v 3` or `-v 4` argument. -->
+      - [ ] Sensor rendering error. <!-- Search for message like "[Msg] Loading plugin [ignition-rendering-ogre]" (not starting with "[GUI]"). -->
+      - [ ] GUI rendering error. <!-- Search for message like "[GUI] [Msg] Loading plugin [ignition-rendering-ogre2] -->
+    - EGL headless mode:
+      - [ ] Running in EGL headless mode <!-- only available since Ignition Fortress, GPU display is specified as /dev/dri/card* instead of :0 -->
+    - Generally, mention all circumstances that might affect rendering capabilities: <!-- remove lines that do not apply to keep the list short -->
+      - [ ] running on a dual GPU machine (integrated GPU + discrete GPU)
+      - [ ] running on a multi-GPU machine (it has multiple discrete GPUs)
+      - [ ] running on real hardware
+      - [ ] running in virtual machine
+      - [ ] running in Docker/Singularity
+      - [ ] running remotely (e.g. via SSH)
+      - [ ] running in a cloud
+      - [ ] using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
+      - [ ] GPU is concurrently used for other tasks
+        - [ ] desktop acceleration
+        - [ ] video decoding (i.e. a playing Youtube video)
+        - [ ] video encoding
+        - [ ] CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
+        - [ ] multiple simulators running at the same time
+      - [ ] other...
+    - Rendering system info:
+      - On Linux, provide the outputs of the following commands:
+          ```bash
+          LANG=C lspci -nn | grep VGA  # might require installing pciutils
+          echo "$DISPLAY"
+          LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  # might require installing mesa-utils package
+          ps aux | grep Xorg
+          sudo env LANG=C X -version  # if you don't have root access, try to tell the version of Xorg e.g. via package manager
+          ```
+      - On Windows, run `dxdiag` and report the GPU-related information.
+      - On Mac OS, open a terminal and type `system_profiler SPDisplaysDataType`. Copy the output here.
+        <!-- Please note that GUI rendering is not supported on macOS. -->
+    - [ ] Please, attach the ogre.log or ogre2.log file from  `~/.ignition/rendering` <!-- Choose the relevant version based on what you checked in the "Rendering plugin" question. -->
+
+<details>
+
+```
+# paste log here
+```
+
+</details>
+
+## Description
+* Expected behavior: <!-- Tell us what you expected to happen -->
+* Actual behavior: <!-- What happened instead -->
+
+## Steps to reproduce
+<!-- Provide steps so we can try to reproduce this issue -->
+
+1.
+2.
+3.
+
+## Output
+<!-- Provide screenshots, console logs, backtraces, and/or anything that could
+be useful to us resolving this issue -->
@@ -0,0 +1,23 @@
+---
+name: Feature request
+about: Request a new feature
+labels: enhancement
+---
+
+<!-- If you're not sure on the specifics of the feature or would like a broader
+discussion, please consider posting a proposal to
+http://community.gazebosim.org/ instead.-->
+
+## Desired behavior
+<!-- Describe the current problem and the feature you want implemented.-->
+
+## Alternatives considered
+<!-- Describe alternate solutions or features you've considered.-->
+
+## Implementation suggestion
+<!-- Provide a suggestion on how to implement this feature, which could help us
+expedite this implementation.-->
+
+## Additional context
+<!-- Provide any other additional context (e.g., screenshots) about your feature
+request.-->
@@ -123,7 +123,7 @@ export GZ_CONFIG_PATH=$HOME/.gz/tools/configs
 
 This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).
 
-# Documentation
+# Documentation
 
 See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html).
 

@@ -3,4 +3,4 @@
 This example shows how to use Gazebo Sim's Python API.
 
 For more information, see the
-[Python interfaces](https://gazebosim.org/api/gazebo/6.4/python_interfaces.html) tutorial.
+[Python interfaces](https://gazebosim.org/api/gazebo/6.9/python_interfaces.html) tutorial.
@@ -23,7 +23,6 @@
 # python3 examples/scripts/python_api/testFixture.py
 
 import os
-import time
 
 from ignition.common import set_verbosity
 from ignition.gazebo import TestFixture, World, world_entity
@@ -47,7 +46,7 @@ def on_pre_udpate_cb(_info, _ecm):
     pre_iterations += 1
     if first_iteration:
         first_iteration = False
-        world_e = world_entity(_ecm);
+        world_e = world_entity(_ecm)
         print('World entity is ', world_e)
         w = World(world_e)
         v = w.gravity(_ecm)
@@ -74,10 +73,7 @@ def on_post_udpate_cb(_info, _ecm):
 fixture.finalize()
 
 server = fixture.server()
-server.run(False, 1000, False)
-
-while(server.is_running()):
-    time.sleep(0.1)
+server.run(True, 1000, False)
 
 print('iterations ', iterations)
 print('post_iterations ', post_iterations)

@@ -59,7 +59,7 @@
 
     <include>
       <pose>-5 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/mabel/models/Turquoise turbidity generator</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
     </include>
 
     <include>
@@ -346,12 +346,12 @@
     <!-- Swimming race lane signs -->
     <include>
       <pose>0 0 -1 0 0 3.1415926</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/mabel/models/ABCSign_5m</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/ABCSign_5m</uri>
       <name>start_line</name>
     </include>
     <include>
       <pose>0 -25 -1 0 0 3.1415926</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/mabel/models/ABCSign_5m</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/ABCSign_5m</uri>
       <name>finish_line</name>
     </include>
 

@@ -0,0 +1,233 @@
+<?xml version="1.0" ?>
+<!--
+
+  Demo of polyline geometries for collisions and visuals.
+
+-->
+<sdf version="1.6">
+  <world name="polylines">
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="triangle">
+      <pose>-5 0 5 0 1.57 0</pose>
+      <link name="link">
+        <inertial>
+          <pose>0 0 0.5 0 0 0</pose>
+          <mass>1.0</mass>
+          <inertia>
+            <ixx>0.1666</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.1666</iyy>
+            <iyz>0</iyz>
+            <izz>0.1666</izz>
+          </inertia>
+        </inertial>
+
+        <collision name="collision">
+          <geometry>
+            <polyline>
+              <point>-0.5 -0.5</point>
+              <point>-0.5 0.5</point>
+              <point>0.5 0.5</point>
+              <point>0 0</point>
+              <point>0.5 -0.5</point>
+              <height>1</height>
+            </polyline>
+          </geometry>
+        </collision>
+
+        <visual name="triangle">
+          <geometry>
+            <polyline>
+              <point>-0.5 -0.5</point>
+              <point>-0.5 0.5</point>
+              <point>0.5 0.5</point>
+              <point>0 0</point>
+              <point>0.5 -0.5</point>
+              <height>1</height>
+            </polyline>
+          </geometry>
+          <material>
+            <ambient>1.0 0 0 1</ambient>
+            <diffuse>1.0 0 0 1</diffuse>
+            <specular>1.0 0 0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="pentagon">
+      <pose>-5 -3 5 0 1.3 0</pose>
+      <link name="polyLine2">
+        <inertial>
+          <pose>0 0 2 0 0 0</pose>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <polyline>
+              <point>-0.3 0.5</point>
+              <point>0.3 0.3</point>
+              <point>0.3 -0.3</point>
+              <point>-0.3 -0.5</point>
+              <point>-0.5 0</point>
+              <height>4</height>
+            </polyline>
+          </geometry>
+        </collision>
+
+        <visual name="polyLineGeom2">
+          <geometry>
+            <polyline>
+              <point>-0.3 0.5</point>
+              <point>0.3 0.3</point>
+              <point>0.3 -0.3</point>
+              <point>-0.3 -0.5</point>
+              <point>-0.5 0</point>
+              <height>4</height>
+            </polyline>
+          </geometry>
+          <material>
+            <ambient>0 1.0 0 1</ambient>
+            <diffuse>0 1.0 0 1</diffuse>
+            <specular>0 1.0 0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="cube">
+      <pose>-5 2 5 0 1.57 0</pose>
+      <link name="polyLine2">
+        <inertial>
+          <pose>0.5 0.5 0.75 0 0 0</pose>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <polyline>
+              <point>0 0</point>
+              <point>0 1</point>
+              <point>1 1</point>
+              <point>1 0 </point>
+              <height>1.5</height>
+            </polyline>
+          </geometry>
+        </collision>
+
+        <visual name="polyLineGeom2">
+          <geometry>
+            <polyline>
+              <point>0 0</point>
+              <point>0 1</point>
+              <point>1 1</point>
+              <point>1 0 </point>
+              <height>1.5</height>
+            </polyline>
+          </geometry>
+          <material>
+            <ambient>0 1.0 1.0 1</ambient>
+            <diffuse>0 1.0 1.0 1</diffuse>
+            <specular>0 1.0 1.0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="letter">
+      <pose>-5 2 5 0 1.57 0</pose>
+      <link name="link">
+        <inertial>
+          <pose>2.2 1.5 0.5 0 0 0</pose>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <polyline>
+              <point>2.27467 1.0967</point>
+              <point>1.81094 2.35418</point>
+              <point>2.74009 2.35418</point>
+              <height>1.0</height>
+            </polyline>
+            <polyline>
+              <point>2.08173 0.7599</point>
+              <point>2.4693 0.7599</point>
+              <point>3.4323 3.28672</point>
+              <point>3.07689 3.28672</point>
+              <point>2.84672 2.63851</point>
+              <point>1.7077 2.63851</point>
+              <point>1.47753 3.28672</point>
+              <point>1.11704 3.28672</point>
+              <height>1.0</height>
+            </polyline>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <polyline>
+              <point>2.27467 1.0967</point>
+              <point>1.81094 2.35418</point>
+              <point>2.74009 2.35418</point>
+              <height>1.0</height>
+            </polyline>
+            <polyline>
+              <point>2.08173 0.7599</point>
+              <point>2.4693 0.7599</point>
+              <point>3.4323 3.28672</point>
+              <point>3.07689 3.28672</point>
+              <point>2.84672 2.63851</point>
+              <point>1.7077 2.63851</point>
+              <point>1.47753 3.28672</point>
+              <point>1.11704 3.28672</point>
+              <height>1.0</height>
+            </polyline>
+          </geometry>
+          <material>
+            <ambient>1.0 0 1.0 1</ambient>
+            <diffuse>1.0 0 1.0 1</diffuse>
+            <specular>1.0 0 1.0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>