From af246efb94ef497b7f56538217898d18506eafe4 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Tue, 13 Sep 2022 19:43:24 +0200
Subject: [PATCH 1/6] Add ResourceSpawner example file

---
 examples/worlds/resource_spawner.sdf | 180 +++++++++++++++++++++++++++
 1 file changed, 180 insertions(+)
 create mode 100644 examples/worlds/resource_spawner.sdf

diff --git a/examples/worlds/resource_spawner.sdf b/examples/worlds/resource_spawner.sdf
new file mode 100644
index 0000000000..c507f653d6
--- /dev/null
+++ b/examples/worlds/resource_spawner.sdf
@@ -0,0 +1,180 @@
+<?xml version="1.0" ?>
+<!--
+  Demo world with a Resource Spawner plugin. It might take some minutes to
+  download the models
+-->
+<sdf version="1.6">
+  <world name="resource_spawner">
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+
+    <gui fullscreen="0">
+
+      <!-- 3D scene -->
+      <plugin filename="MinimalScene" name="3D View">
+        <gz-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </gz-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.4 0.4 0.4</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+      </plugin>
+
+      <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <gz-gui>
+          <property key="state" type="string">floating</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="GzSceneManager" name="Scene Manager">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="CameraTracking" name="Camera Tracking">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <!-- World control -->
+      <plugin filename="WorldControl" name="World control">
+        <gz-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </gz-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <use_event>true</use_event>
+
+      </plugin>
+
+      <!-- World statistics -->
+      <plugin filename="WorldStats" name="World stats">
+        <gz-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </gz-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+      <!-- Resource Spawner plugin -->
+      <plugin filename="ResourceSpawner" name="ResourceSpawner">
+        <gz-gui>
+          <property type="string" key="state">docked</property>
+        </gz-gui>
+      </plugin>
+    </gui>
+
+    <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>0.2 0.2 0.2 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-->
+            <box>
+              <size>20 20 0.1</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <!--plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane-->
+            <box>
+              <size>20 20 0.1</size>
+            </box>
+          </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>
+  </world>
+</sdf>

From 5926ccab609803f90338dd8023d8487389f1a7c0 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Mon, 19 Sep 2022 12:11:09 +0200
Subject: [PATCH 2/6] Update examples/worlds/resource_spawner.sdf
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 examples/worlds/resource_spawner.sdf | 2 --
 1 file changed, 2 deletions(-)

diff --git a/examples/worlds/resource_spawner.sdf b/examples/worlds/resource_spawner.sdf
index c507f653d6..072306802c 100644
--- a/examples/worlds/resource_spawner.sdf
+++ b/examples/worlds/resource_spawner.sdf
@@ -92,12 +92,10 @@
             <line own="bottom" target="bottom"/>
           </anchors>
         </gz-gui>
-
         <play_pause>true</play_pause>
         <step>true</step>
         <start_paused>true</start_paused>
         <use_event>true</use_event>
-
       </plugin>
 
       <!-- World statistics -->

From 3362a6fb5a34593b550aff331b99aa6e4de21bd0 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Mon, 19 Sep 2022 12:11:17 +0200
Subject: [PATCH 3/6] Update examples/worlds/resource_spawner.sdf
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 examples/worlds/resource_spawner.sdf | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/worlds/resource_spawner.sdf b/examples/worlds/resource_spawner.sdf
index 072306802c..6850c740f4 100644
--- a/examples/worlds/resource_spawner.sdf
+++ b/examples/worlds/resource_spawner.sdf
@@ -32,7 +32,6 @@
           <property type="bool" key="showTitleBar">false</property>
           <property type="string" key="state">docked</property>
         </gz-gui>
-
         <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0.4 0.4 0.4</ambient_light>

From 450e8d59856c33276befe43fb8b34baac6fe9c95 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Mon, 19 Sep 2022 12:11:28 +0200
Subject: [PATCH 4/6] Update examples/worlds/resource_spawner.sdf
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 examples/worlds/resource_spawner.sdf | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/worlds/resource_spawner.sdf b/examples/worlds/resource_spawner.sdf
index 6850c740f4..c7a9fa9a90 100644
--- a/examples/worlds/resource_spawner.sdf
+++ b/examples/worlds/resource_spawner.sdf
@@ -24,7 +24,6 @@
     </plugin>
 
     <gui fullscreen="0">
-
       <!-- 3D scene -->
       <plugin filename="MinimalScene" name="3D View">
         <gz-gui>

From 0e37e1e2dd321cf54d4975ce43ae5919a92ad21c Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Mon, 19 Sep 2022 12:26:05 +0200
Subject: [PATCH 5/6] Clean up

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
---
 examples/worlds/resource_spawner.sdf | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/examples/worlds/resource_spawner.sdf b/examples/worlds/resource_spawner.sdf
index c7a9fa9a90..99eafd9bac 100644
--- a/examples/worlds/resource_spawner.sdf
+++ b/examples/worlds/resource_spawner.sdf
@@ -145,10 +145,6 @@
       <link name="link">
         <collision name="collision">
           <geometry>
-            <!--plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane-->
             <box>
               <size>20 20 0.1</size>
             </box>
@@ -156,10 +152,6 @@
         </collision>
         <visual name="visual">
           <geometry>
-            <!--plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane-->
             <box>
               <size>20 20 0.1</size>
             </box>

From db3bd280062310060fdff26c62a4679d645bf54e Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Mon, 19 Sep 2022 12:26:37 +0200
Subject: [PATCH 6/6] Update examples/worlds/resource_spawner.sdf
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 examples/worlds/resource_spawner.sdf | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/worlds/resource_spawner.sdf b/examples/worlds/resource_spawner.sdf
index 99eafd9bac..ec9eb90392 100644
--- a/examples/worlds/resource_spawner.sdf
+++ b/examples/worlds/resource_spawner.sdf
@@ -83,7 +83,6 @@
           <property type="double" key="height">72</property>
           <property type="double" key="width">121</property>
           <property type="double" key="z">1</property>
-
           <property type="string" key="state">floating</property>
           <anchors target="3D View">
             <line own="left" target="left"/>