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Bumps in ionic : ci_matching_branch/bump_ionic_gz-physics8 #561

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merged 4 commits into from
Oct 17, 2023
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Bumps in ionic : ci_matching_branch/bump_ionic_gz-physics8 #561

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f5d3c15
Bumps in ionic : ci_matching_branch/bump_ionic_gz-physics8
azeey Oct 16, 2023
d3d3e74
Bumps in ionic : ci_matching_branch/bump_ionic_gz-physics8
azeey Oct 16, 2023
a9fab00
Bumps in ionic : ci_matching_branch/bump_ionic_gz-physics8
azeey Oct 16, 2023
f3068a1
Bumps in ionic : ci_matching_branch/bump_ionic_gz-physics8
azeey Oct 16, 2023
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16 changes: 8 additions & 8 deletions .github/ci/packages.apt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,11 @@ libdart6.13-external-ikfast-dev
libdart6.13-external-odelcpsolver-dev
libdart6.13-utils-urdf-dev
libeigen3-dev
libgz-cmake3-dev
libgz-common5-dev
libgz-math7-dev
libgz-math7-eigen3-dev
libgz-plugin2-dev
libgz-utils2-cli-dev
libgz-utils2-dev
libsdformat14-dev
libgz-cmake4-dev
libgz-common6-dev
libgz-math8-dev
libgz-math8-eigen3-dev
libgz-plugin3-dev
libgz-utils3-cli-dev
libgz-utils3-dev
libsdformat15-dev
20 changes: 10 additions & 10 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ project(gz-physics8 VERSION 8.0.0)
#============================================================================
# Find gz-cmake
#============================================================================
find_package(gz-cmake3 REQUIRED)
find_package(gz-cmake4 REQUIRED)

#============================================================================
# Configure the project
Expand Down Expand Up @@ -37,33 +37,33 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")

#--------------------------------------
# Find gz-common
gz_find_package(gz-common5
gz_find_package(gz-common6
COMPONENTS geospatial graphics profiler
REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet)
set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR})

#--------------------------------------
# Find gz-math
gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
gz_find_package(gz-math8 REQUIRED COMPONENTS eigen3)
set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})

#--------------------------------------
# Find gz-plugin
gz_find_package(gz-plugin2 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
gz_find_package(gz-plugin3 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})

#--------------------------------------
# Find gz-utils
gz_find_package(gz-utils2 REQUIRED COMPONENTS cli)
set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
gz_find_package(gz-utils3 REQUIRED COMPONENTS cli)
set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR})

#--------------------------------------
# Find Eigen
gz_find_package(EIGEN3 REQUIRED)

#--------------------------------------
# Find SDFormat for the SDF features
gz_find_package(sdformat14
gz_find_package(sdformat15
REQUIRED_BY sdf dartsim tpe bullet)

#--------------------------------------
Expand Down
4 changes: 2 additions & 2 deletions examples/hello_world_loader/CMakeLists.txt
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Expand Up @@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)

project(gz-physics-hello-world-loader)

find_package(gz-plugin2 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
find_package(gz-plugin3 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})

find_package(gz-physics8 REQUIRED)
set(GZ_PHYSICS_VER ${gz-physics8_VERSION_MAJOR})
Expand Down
4 changes: 2 additions & 2 deletions examples/hello_world_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)

project(gz-physics-hello-world-plugin)

find_package(gz-plugin2 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
find_package(gz-plugin3 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})

find_package(gz-physics8 REQUIRED)
set(GZ_PHYSICS_VER ${gz-physics8_VERSION_MAJOR})
Expand Down
4 changes: 2 additions & 2 deletions examples/simple_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)

project(gz-physics-simple-plugin)

find_package(gz-plugin2 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
find_package(gz-plugin3 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})

find_package(gz-physics8 REQUIRED)
set(GZ_PHYSICS_VER ${gz-physics8_VERSION_MAJOR})
Expand Down
12 changes: 6 additions & 6 deletions tutorials/06-physics-simulation-concepts.md
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Expand Up @@ -26,7 +26,7 @@ For a comprehensive tutorial for constructing your robot model from SDFormat, re
In this tutorial, we will show how to
manipulate and visualize some physics aspects using demos on Gazebo.

All demos can be found in [gz-sim/examples/worlds](https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/worlds/) folder.
All demos can be found in [gz-sim/examples/worlds](https://github.com/gazebosim/gz-sim/blob/gz-sim9/examples/worlds/) folder.

### Differential drive

Expand Down Expand Up @@ -100,7 +100,7 @@ The Lift Drag demo world shows how joint force, torque, and pressure are support
Gazebo Physics. To run the demo, download by:

```bash
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/examples/worlds/lift_drag.sdf -P ~
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/examples/worlds/lift_drag.sdf -P ~
```

Run demo in Gazebo by:
Expand Down Expand Up @@ -142,7 +142,7 @@ contains the following three models:
To run the demo, download the Buoyancy demo to your home folder by:

```bash
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/examples/worlds/buoyancy.sdf -P ~
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/examples/worlds/buoyancy.sdf -P ~
```

Run demo on Gazebo by:
Expand All @@ -167,7 +167,7 @@ movement by showing free swing of the pendulum. Download the
Pendulum demo to your home folder by:

```bash
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/examples/worlds/video_record_dbl_pendulum.sdf -P ~
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/examples/worlds/video_record_dbl_pendulum.sdf -P ~
```

and start the Pendulum demo on Gazebo by:
Expand Down Expand Up @@ -195,7 +195,7 @@ inertia to control object velocity.
Download the Multicopter demo to your home folder by:

```bash
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/examples/worlds/multicopter_velocity_control.sdf -P ~
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/examples/worlds/multicopter_velocity_control.sdf -P ~
```

and start the Multicopter demo on Gazebo by:
Expand Down Expand Up @@ -224,4 +224,4 @@ Do the same for the `X4` multicopter. After pressing the Play button, you will s
both of the multicopters will ascend, this demonstrates how the physics engine
utilizes model kinematics and dynamics to support simulating complex model and
its controller. For more details about the multicopter controller, please see
[MulticopterVelocityControl.cc](https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/multicopter_control/MulticopterVelocityControl.cc).
[MulticopterVelocityControl.cc](https://github.com/gazebosim/gz-sim/blob/gz-sim9/src/systems/multicopter_control/MulticopterVelocityControl.cc).