Migrate ign to gz (#105)

Signed-off-by: ahcorde <[email protected]>

.github/workflows/ci.yml

@@ -25,7 +25,7 @@ jobs:
         sudo /tmp/gzdev/gzdev.py repository enable osrf stable
         sudo /tmp/gzdev/gzdev.py repository enable osrf nightly
         sudo apt-get update
-        sudo apt-get install -y libsdformat13-dev python3-ignition-math7 python3-sdformat13
+        sudo apt-get install -y libsdformat13-dev python3-gz-math7 python3-sdformat13
     - name: Install test dependencies
       run: python3 -m pip install -U tox
     - name: Test sdformat_mjcf

sdformat_mjcf/README.md

@@ -19,7 +19,7 @@ pip install -U pip
 pip install dm-control
 ```
 
-Install `python3-ignition-math7` and `python3-sdformat13` from the
+Install `python3-gz-math7` and `python3-sdformat13` from the
 [nightly](https://gazebosim.org/docs/all/release#type-of-releases) repo.
 
 Install the `sdformat-mjcf` package

sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/geometry.py

@@ -15,7 +15,7 @@
 """Module to convert MJCF geoms to SDFormat Collision/Visual geometries"""
 
 import os
-from ignition.math import Vector2d, Vector3d
+from gz.math import Vector2d, Vector3d
 
 import sdformat as sdf
 import sdformat_mjcf.utils.sdf_utils as su

sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/joint.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ignition.math import Vector3d
+from gz.math import Vector3d
 import logging
 import math
 import sdformat as sdf

sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/light.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ignition.math import Angle, Color, Pose3d, Quaterniond, Vector3d
+from gz.math import Angle, Color, Pose3d, Quaterniond, Vector3d
 
 import math
 

sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/link.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ignition.math import (Inertiald, MassMatrix3d, Vector3d, Pose3d,
-                           Quaterniond)
+from gz.math import (Inertiald, MassMatrix3d, Vector3d, Pose3d,
+                     Quaterniond)
 
 from sdformat_mjcf.mjcf_to_sdformat.converters.geometry import (
     mjcf_visual_to_sdf,
@@ -129,7 +129,7 @@ def get_orientation(geom):
 
         :param mjcf.Element geom: MJCF geom to extract the orientation
         :return: The newly created quaterion.
-        :rtype ignition.math.Quateriond
+        :rtype gz.math.Quateriond
         """
         if geom.fromto is not None:
             v1 = Vector3d(geom.fromto[0], geom.fromto[1], geom.fromto[2])
@@ -148,7 +148,7 @@ def get_position(geom):
 
         :param mjcf.Element geom: MJCF geom to extract the position
         :return: The newly created Vector3d.
-        :rtype ignition.math.Vector3d
+        :rtype gz.math.Vector3d
         """
         if geom.fromto is not None:
             v1 = Vector3d(geom.fromto[0], geom.fromto[1], geom.fromto[2])

sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/sensor.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ignition.math import Quaterniond, Vector3d, Pose3d
+from gz.math import Quaterniond, Vector3d, Pose3d
 
 import logging
 

sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/world.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ignition.math import Vector3d, MassMatrix3d, Inertiald
+from gz.math import Vector3d, MassMatrix3d, Inertiald
 
 from sdformat_mjcf.mjcf_to_sdformat.converters.joint import (mjcf_joint_to_sdf,
                                                              add_fixed_joint)
@@ -189,19 +189,19 @@ def _get_model_from_sensor(sensor):
 
     if export_world_plugins:
         plugins = {
-            "ignition-gazebo-physics-system":
+            "gz-gazebo-physics-system":
                 "gz::sim::systems::Physics",
-            "ignition-gazebo-sensors-system":
+            "gz-gazebo-sensors-system":
                 "gz::sim::systems::Sensors",
-            "ignition-gazebo-user-commands-system":
+            "gz-gazebo-user-commands-system":
                 "gz::sim::systems::UserCommands",
-            "ignition-gazebo-scene-broadcaster-system":
+            "gz-gazebo-scene-broadcaster-system":
                 "gz::sim::systems::SceneBroadcaster",
-            "ignition-gazebo-forcetorque-system":
+            "gz-gazebo-forcetorque-system":
                 "gz::sim::systems::ForceTorque",
-            "ignition-gazebo-altimeter-system":
+            "gz-gazebo-altimeter-system":
                 "gz::sim::systems::Altimeter",
-            "ignition-gazebo-imu-system":
+            "gz-gazebo-imu-system":
                 "gz::sim::systems::Imu"
         }
         for [key, value] in plugins.items():

sdformat_mjcf/src/sdformat_mjcf/sdformat_to_mjcf/converters/joint.py

@@ -17,7 +17,7 @@
 import math
 
 import sdformat as sdf
-from ignition.math import Pose3d
+from gz.math import Pose3d
 
 from sdformat_mjcf.sdformat_to_mjcf.converters.sensor import add_sensor
 from sdformat_mjcf.sdformat_to_mjcf.sdf_kinematics import (
@@ -40,7 +40,7 @@ def _compute_joint_axis(joint_axis, joint_pose):
     joint.
 
     :param sdformat.JointAxis: The input joint axis
-    :param ignition.math.Pose3d joint_pose: The pose of the joint that contains
+    :param gz.math.Pose3d joint_pose: The pose of the joint that contains
     the joint axis.
     :param axis_xyz_resolver: Function to resolve the unit vector a joint axis.
     :return: The computed axis unit vector.

sdformat_mjcf/src/sdformat_mjcf/sdformat_to_mjcf/converters/link.py

@@ -30,7 +30,7 @@ def add_link(body, link, parent_name="world", link_pose=None):
     :param mjcf.Element body: The MJCF body to which the body is added.
     :param sdformat.Link link: The SDFormat link to be converted.
     :param str parent_name: Name of parent link.
-    :param ignition.math.Pose3d link_pose: Pose of link. This is optional and
+    :param gz.math.Pose3d link_pose: Pose of link. This is optional and
     if set to None, the pose will be resolved from the link.
     :return: The newly created MJCF body.
     :rtype: mjcf.Element

sdformat_mjcf/src/sdformat_mjcf/sdformat_to_mjcf/converters/material.py

@@ -14,7 +14,7 @@
 
 """Module to convert SDFormat MAterials to MJCF"""
 
-from ignition.math import clamp
+from gz.math import clamp
 
 from sdformat import Pbr, PbrWorkflow, Material  # noqa: F401
 import sdformat as sdf

sdformat_mjcf/src/sdformat_mjcf/utils/sdf_utils.py

@@ -16,14 +16,14 @@
 
 import logging
 import math
-from ignition.math import Color, Pose3d, Quaterniond, Vector3d, Matrix3d
+from gz.math import Color, Pose3d, Quaterniond, Vector3d, Matrix3d
 
 NAME_DELIMITER = '_'
 
 
 def vec3d_to_list(vec):
     """Convert a Vector3d object to a list.
-    :param ignition.math.Vector3d vec: Vector3d object to be converted
+    :param gz.math.Vector3d vec: Vector3d object to be converted
     :return: List of values of the x, y, and z components of `vec`
     respectively.
     :rtype: list[float]
@@ -36,15 +36,15 @@ def list_to_vec3d(list):
     :param List of values of the x, y, and z components of `vec`
     respectively.
     :return: Vector3d object
-    :rtype: ignition.math.Vector3d
+    :rtype: gz.math.Vector3d
     """
     return Vector3d(list[0], list[1], list[2])
 
 
 def get_rotation(element):
     """Get the angles from a MJCF element
     :param mjcf.Element element: Element to extract the angles
-    :rtype: ignition.math.Quateriond
+    :rtype: gz.math.Quateriond
     """
     angle_type = "degree"
     if element.root.compiler.angle is not None:
@@ -93,7 +93,7 @@ def get_rotation(element):
 def vec2d_to_list(vec):
     """
     Convert a Vector2d object to a list.
-    :param ignition.math.Vector2d vec: Vector2d object to be converted.
+    :param gz.math.Vector2d vec: Vector2d object to be converted.
     :return: List of values of the x, and y components of `vec` respectively.
     :rtype: list[float]
     """
@@ -106,15 +106,15 @@ def euler_list_to_quat(list):
     :param List of values of the roll, pitch, and yaw components of `vec`
     respectively.
     :return: The newly created Quaterniond
-    :rtype: ignition.math.Quaterniond
+    :rtype: gz.math.Quaterniond
     """
     return Quaterniond(Vector3d(list[0], list[1], list[2]))
 
 
 def quat_to_list(quat):
     """
     Convert a Quaterniond object to a list in the order expected by MJCF.
-    :param ignition.math.Quaterniond quat: Quaterniond object to be converted.
+    :param gz.math.Quaterniond quat: Quaterniond object to be converted.
     :return: List of values of the quaternion in wxyz order.
     :rtype: list[float]
     """
@@ -124,7 +124,7 @@ def quat_to_list(quat):
 def quat_to_euler_list(quat):
     """
     Convert a Quaterniond object to a list of Euler angles in degrees.
-    :param ignition.math.Quaterniond quat: Quaterniond object to be converted.
+    :param gz.math.Quaterniond quat: Quaterniond object to be converted.
     :return: List of values of the euler angles.
     :rtype: list[float]
     """
@@ -143,10 +143,10 @@ def wxyz_list_to_quat(quat):
 
 def rgba_to_color(rgba):
     """
-    Convert a MJCF rgba color list to a ignition math Color
+    Convert a MJCF rgba color list to a gz math Color
     :param list rgba: List of color (red, green, blue, alpha).
     :return: The newly created color
-    :rtype: ignition.math.color
+    :rtype: gz.math.color
     """
     return Color(rgba[0], rgba[1], rgba[2], rgba[3])
 
@@ -156,7 +156,7 @@ def get_pose_from_mjcf(element):
     Get the pose from a MJCF element
     :param mjcf.Element element: MJCF element to get the pose
     :return: The newly created Pose3d
-    :rtype: ignition.math.Pose3d
+    :rtype: gz.math.Pose3d
     """
     pos = [0, 0, 0]
     quat = Quaterniond()
@@ -275,7 +275,7 @@ def resolve_pose(self, sem_pose, relative_to=None):
         :param str relative_to: (Optional) The frame relative to which the pose
         is resolved.
         :return: The resolved pose.
-        :rtype: ignition.math.Pose3d
+        :rtype: gz.math.Pose3d
         :raises SDFErrorsException: if an error is encountered when resolving
         the pose.
         """
@@ -290,7 +290,7 @@ def resolve_axis_xyz(self, joint_axis):
         :param sdformat.JointAxis joint_axis: The JointAxis object to be
         resolved.
         :return: The resolved xyz vector.
-        :rtype: ignition.math.Vector3d
+        :rtype: gz.math.Vector3d
         :raises SDFErrorsException: if an error is encountered when resolving
         the vector.
         """

sdformat_mjcf/tests/mjcf_to_sdformat/test_add_mjcf_geometry_to_sdf.py

@@ -16,7 +16,7 @@
 from numpy.testing import assert_allclose
 
 import sdformat as sdf
-from ignition.math import Vector3d
+from gz.math import Vector3d
 from dm_control import mjcf
 
 from sdformat_mjcf.mjcf_to_sdformat.converters import geometry as geometry_conv

sdformat_mjcf/tests/mjcf_to_sdformat/test_add_mjcf_light_to_sdf.py

@@ -16,7 +16,7 @@
 
 from dm_control import mjcf
 
-from ignition.math import Color, Vector3d
+from gz.math import Color, Vector3d
 
 import sdformat as sdf
 

sdformat_mjcf/tests/mjcf_to_sdformat/test_add_mjcf_worldbody_to_sdf.py

@@ -19,7 +19,7 @@
 import math
 from math import pi
 
-from ignition.math import Color, Vector3d, Pose3d
+from gz.math import Color, Vector3d, Pose3d
 
 import sdformat as sdf
 

sdformat_mjcf/tests/mjcf_to_sdformat/test_defaults.py

@@ -22,7 +22,7 @@
 )
 
 import sdformat as sdf
-from ignition.math import Vector3d, Color
+from gz.math import Vector3d, Color
 
 from tests.helpers import get_resources_dir
 

sdformat_mjcf/tests/mjcf_to_sdformat/test_force_torque.py

@@ -15,7 +15,7 @@
 import math
 import unittest
 
-from ignition.math import Vector3d
+from gz.math import Vector3d
 
 from dm_control import mjcf
 from dm_control import mujoco

sdformat_mjcf/tests/mjcf_to_sdformat/test_imu.py

@@ -15,7 +15,7 @@
 import unittest
 import math
 
-from ignition.math import Vector3d
+from gz.math import Vector3d
 
 from dm_control import mjcf
 from dm_control import mujoco

sdformat_mjcf/tests/mjcf_to_sdformat/test_joints.py

@@ -14,7 +14,7 @@
 
 import unittest
 
-from ignition.math import Pose3d, Vector3d
+from gz.math import Pose3d, Vector3d
 
 from dm_control import mjcf
 from dm_control import mujoco

sdformat_mjcf/tests/mjcf_to_sdformat/test_mjcf_material_to_sdf.py

@@ -15,7 +15,7 @@
 import os
 import unittest
 
-from ignition.math import Color
+from gz.math import Color
 
 from dm_control import mjcf
 from dm_control import mujoco

sdformat_mjcf/tests/mjcf_to_sdformat/test_mjcf_sensor_to_sdf.py

@@ -17,7 +17,7 @@
 from dm_control import mjcf
 from dm_control import mujoco
 
-from ignition.math import Vector3d
+from gz.math import Vector3d
 
 from sdformat_mjcf.mjcf_to_sdformat.converters import sensor as sensor_conv
 from sdformat_mjcf.mjcf_to_sdformat.converters.world import (
@@ -87,31 +87,31 @@ def test_sensor_worldbody_to_sdf(self):
         self.assertEqual(7, len(world.plugins()))
         self.assertEqual("gz::sim::systems::Physics",
                          world.plugins()[0].name())
-        self.assertEqual("ignition-gazebo-physics-system",
+        self.assertEqual("gz-gazebo-physics-system",
                          world.plugins()[0].filename())
         self.assertEqual("gz::sim::systems::Sensors",
                          world.plugins()[1].name())
-        self.assertEqual("ignition-gazebo-sensors-system",
+        self.assertEqual("gz-gazebo-sensors-system",
                          world.plugins()[1].filename())
         self.assertEqual("gz::sim::systems::UserCommands",
                          world.plugins()[2].name())
-        self.assertEqual("ignition-gazebo-user-commands-system",
+        self.assertEqual("gz-gazebo-user-commands-system",
                          world.plugins()[2].filename())
         self.assertEqual("gz::sim::systems::SceneBroadcaster",
                          world.plugins()[3].name())
-        self.assertEqual("ignition-gazebo-scene-broadcaster-system",
+        self.assertEqual("gz-gazebo-scene-broadcaster-system",
                          world.plugins()[3].filename())
         self.assertEqual("gz::sim::systems::ForceTorque",
                          world.plugins()[4].name())
-        self.assertEqual("ignition-gazebo-forcetorque-system",
+        self.assertEqual("gz-gazebo-forcetorque-system",
                          world.plugins()[4].filename())
         self.assertEqual("gz::sim::systems::Altimeter",
                          world.plugins()[5].name())
-        self.assertEqual("ignition-gazebo-altimeter-system",
+        self.assertEqual("gz-gazebo-altimeter-system",
                          world.plugins()[5].filename())
         self.assertEqual("gz::sim::systems::Imu",
                          world.plugins()[6].name())
-        self.assertEqual("ignition-gazebo-imu-system",
+        self.assertEqual("gz-gazebo-imu-system",
                          world.plugins()[6].filename())
 
     def test_sensor_non_root_body_site(self):

sdformat_mjcf/tests/mjcf_to_sdformat/test_mjcf_to_sdformat.py

@@ -18,7 +18,7 @@
 from math import pi
 
 import sdformat as sdf
-from ignition.math import Vector3d
+from gz.math import Vector3d
 
 from sdformat_mjcf.mjcf_to_sdformat.mjcf_to_sdformat import (
     mjcf_file_to_sdformat)