From 99d990cbdb148416672dc7525e308a9651ae55f5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Tue, 17 Sep 2024 11:45:48 +0200 Subject: [PATCH] Added feedback MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- .github/workflows/pr-collection-labeler.yml | 2 +- CMakeLists.txt | 8 ++++---- src/Conversions.hh | 8 ++++---- src/cmd/sdf2usd.cc | 6 +++--- src/sdf_parser/Geometry.cc | 2 +- src/sdf_parser/Joint.cc | 2 +- src/sdf_parser/Sensor.cc | 2 +- src/usd_parser/USDLinks.cc | 2 +- src/usd_parser/USDSensors.cc | 2 +- src/usd_parser/USDTransforms.cc | 2 +- src/usd_parser/USDWorld.cc | 4 ++-- test/test_config.h.in | 2 +- 12 files changed, 21 insertions(+), 21 deletions(-) diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml index 7d7b4e1..38c4fc1 100644 --- a/.github/workflows/pr-collection-labeler.yml +++ b/.github/workflows/pr-collection-labeler.yml @@ -8,6 +8,6 @@ jobs: steps: - name: Add collection labels if: github.event.action == 'opened' - uses: ignition-tooling/pr-collection-labeler@v1 + uses: gazebo-tooling/pr-collection-labeler@v1 with: github-token: ${{ secrets.GITHUB_TOKEN }} diff --git a/CMakeLists.txt b/CMakeLists.txt index 27c530f..1d7dfec 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,13 +8,13 @@ project(gz_usd0 VERSION 0.0.1) if("$ENV{GZ_VERSION}" STREQUAL "harmonic") find_package(gz-cmake3 REQUIRED) #-------------------------------------- - # Find ignition-common + # Find gz-common gz_find_package(gz-common5 REQUIRED COMPONENTS graphics) set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR}) set(GZ_COMMON_LIB gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}) set(GZ_COMMON_GRAPHICS_LIB gz-common${GZ_COMMON_VER}::graphics) #-------------------------------------- - # Find ignition-utils + # Find gz-utils gz_find_package(gz-utils2 REQUIRED COMPONENTS cli) set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR}) set(GZ_UTILS_LIB gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}) @@ -24,13 +24,13 @@ if("$ENV{GZ_VERSION}" STREQUAL "harmonic") else() find_package(gz-cmake4 REQUIRED) #-------------------------------------- - # Find ignition-common + # Find gz-common gz_find_package(gz-common6 REQUIRED COMPONENTS graphics) set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR}) set(GZ_COMMON_LIB gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}) set(GZ_COMMON_GRAPHICS_LIB gz-common${GZ_COMMON_VER}::graphics) #-------------------------------------- - # Find ignition-utils + # Find gz-utils gz_find_package(gz-utils3 REQUIRED COMPONENTS cli) set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR}) set(GZ_UTILS_LIB gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}) diff --git a/src/Conversions.hh b/src/Conversions.hh index 6df9527..b7652c8 100644 --- a/src/Conversions.hh +++ b/src/Conversions.hh @@ -34,16 +34,16 @@ namespace gz // namespace usd { - /// \brief Specialized conversion from an Ignition Common Material + /// \brief Specialized conversion from an Gazebo Common Material /// to a SDF material - /// \param[in] _in Ignition Common Material. + /// \param[in] _in Gazebo Common Material. /// \return SDF material. sdf::Material GZ_USD_VISIBLE convert(const gz::common::Material *_in); - /// \brief Specialized conversion from an SDF material to a Ignition Common + /// \brief Specialized conversion from an SDF material to a Gazebo Common /// material. /// \param[in] _in SDF material. - /// \param[out] _out The Ignition Common Material. + /// \param[out] _out The Gazebo Common Material. void GZ_USD_VISIBLE convert(const sdf::Material &_in, gz::common::Material &_out); } diff --git a/src/cmd/sdf2usd.cc b/src/cmd/sdf2usd.cc index 48756a0..b2ee591 100644 --- a/src/cmd/sdf2usd.cc +++ b/src/cmd/sdf2usd.cc @@ -178,11 +178,11 @@ std::string FindResources(const std::string &_uri) const std::string type = gz::common::lowercase(tokens[3]); const std::string modelName = gz::common::lowercase(tokens[4]); path = gz::common::joinPaths( - home, ".ignition", "fuel", server, owner, type, modelName); + home, ".gz", "fuel", server, owner, type, modelName); } else { - path = gz::common::joinPaths(home, ".ignition", "fuel"); + path = gz::common::joinPaths(home, ".gz", "fuel"); } auto fileName = gz::common::basename(uri.Path().Str()); @@ -211,7 +211,7 @@ std::string FindResourceUri(const gz::common::URI &_uri) void runCommand(const Options &_opt) { - // Configure SDF to fetch assets from ignition fuel. + // Configure SDF to fetch assets from Gazebo fuel. sdf::setFindCallback(std::bind(&FindResources, std::placeholders::_1)); gz::common::addFindFileURICallback( std::bind(&FindResourceUri, std::placeholders::_1)); diff --git a/src/sdf_parser/Geometry.cc b/src/sdf_parser/Geometry.cc index f471d6f..63ae0ef 100644 --- a/src/sdf_parser/Geometry.cc +++ b/src/sdf_parser/Geometry.cc @@ -398,7 +398,7 @@ namespace usd // TODO(adlarkin) update this call in sdf13 to avoid casting the index to // an int: - // https://github.com/ignitionrobotics/ign-common/pull/319 + // https://github.com/gazebosim/gz-common/pull/319 int materialIndex = subMesh->GetMaterialIndex().value(); if (materialIndex != -1) { diff --git a/src/sdf_parser/Joint.cc b/src/sdf_parser/Joint.cc index be1c2af..2212c7a 100644 --- a/src/sdf_parser/Joint.cc +++ b/src/sdf_parser/Joint.cc @@ -357,7 +357,7 @@ namespace usd // range, SDF does not have limits for a ball joint. So, there's // nothing to do after creating a UsdPhysicsSphericalJoint, since this // joint by default has no limits (i.e., allows for circular motion) - // related issue https://github.com/ignitionrobotics/sdformat/issues/860 + // related issue https://github.com/gazebosim/sdformat/issues/860 pxr::UsdPhysicsSphericalJoint::Define(_stage, pxr::SdfPath(_path)); break; case sdf::JointType::FIXED: diff --git a/src/sdf_parser/Sensor.cc b/src/sdf_parser/Sensor.cc index 27860cb..d7221b7 100644 --- a/src/sdf_parser/Sensor.cc +++ b/src/sdf_parser/Sensor.cc @@ -82,7 +82,7 @@ namespace usd else { // The default value in USD is 50, but something more - // similar to ignition Gazebo is 40. + // similar to Gazebo is 40. usdCamera.CreateFocalLengthAttr().Set( static_cast(40.0f)); } diff --git a/src/usd_parser/USDLinks.cc b/src/usd_parser/USDLinks.cc index 0b6bd5c..c155dc0 100644 --- a/src/usd_parser/USDLinks.cc +++ b/src/usd_parser/USDLinks.cc @@ -123,7 +123,7 @@ void GetInertial( // TODO(ahcorde) Figure out how to use PrincipalMoments and // PrincipalAxesOffset: see - // https://github.com/ignitionrobotics/sdformat/pull/902#discussion_r840905534 + // https://github.com/gazebosim/sdformat/pull/902#discussion_r840905534 massMatrix.SetDiagonalMoments( math::Vector3d( diagonalInertia[0], diff --git a/src/usd_parser/USDSensors.cc b/src/usd_parser/USDSensors.cc index 4d1120f..7dc5a86 100644 --- a/src/usd_parser/USDSensors.cc +++ b/src/usd_parser/USDSensors.cc @@ -71,7 +71,7 @@ namespace gz camera.SetName(_prim.GetPath().GetName()); camera.SetHorizontalFov(20.955); camera.SetLensFocalLength(focalLength); - // Camera is Y up axis, rotate the camera to match with Ignition + // Camera is Y up axis, rotate the camera to match with Gazebo math::Pose3d poseCamera(0, 0, 0, GZ_PI_2, 0, -GZ_PI_2); sensor.SetRawPose(pose * poseCamera.Inverse()); camera.SetNearClip(clippingRange[0]); diff --git a/src/usd_parser/USDTransforms.cc b/src/usd_parser/USDTransforms.cc index 313d5a4..f93ced9 100644 --- a/src/usd_parser/USDTransforms.cc +++ b/src/usd_parser/USDTransforms.cc @@ -256,7 +256,7 @@ UDSTransforms ParseUSDTransform(const pxr::UsdPrim &_prim) // TODO(ahcorde) This part should be reviewed, revisit how rotateXYZ // and rotateZYX are handle. - // Related issue https://github.com/ignitionrobotics/sdformat/issues/926 + // Related issue https://github.com/gazebosim/sdformat/issues/926 // if (op == kXFormOpRotateZYX) // { // std::swap(angleX, angleZ); diff --git a/src/usd_parser/USDWorld.cc b/src/usd_parser/USDWorld.cc index bb9799e..9e44468 100644 --- a/src/usd_parser/USDWorld.cc +++ b/src/usd_parser/USDWorld.cc @@ -154,7 +154,7 @@ namespace usd // This conversion might only work with Issac Sim USDs // TODO(adlarkin) find a better way to get root model prims/parent prims // of lights attached to the stage: see - // https://github.com/ignitionrobotics/sdformat/issues/927 + // https://github.com/gazebosim/sdformat/issues/927 if (primPathTokens.size() >= 2) { bool shortName = false; @@ -411,7 +411,7 @@ namespace usd if (_useGazeboPlugins) { - // Add some plugins to run the Ignition Gazebo simulation + // Add some plugins to run the Gazebo simulation sdf::Plugin physicsPlugin; physicsPlugin.SetName("gz::sim::systems::Physics"); physicsPlugin.SetFilename("gz-sim-physics-system"); diff --git a/test/test_config.h.in b/test/test_config.h.in index 0973409..aa0ad1e 100644 --- a/test/test_config.h.in +++ b/test/test_config.h.in @@ -21,7 +21,7 @@ #define GZ_CONFIG_PATH "@CMAKE_BINARY_DIR@/test/conf" #define GZ_PATH "@GZ_PATH@" #define GZ_TEST_LIBRARY_PATH "${PROJECT_BINARY_DIR}/src:"\ - "@IGNITION-MSGS_LIBRARY_DIRS@:" + "@GZ-MSGS_LIBRARY_DIRS@:" #define PROJECT_SOURCE_PATH "${PROJECT_SOURCE_DIR}" #define PROJECT_BINARY_DIR "${CMAKE_BINARY_DIR}" #define GZ_USD_TMP_DIR "tmp-gz-usd/"