Master branch updates (#221)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

.github/workflows/ci.yml

@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@master
+        uses: ignition-tooling/action-ignition-ci@bionic
         with:
           codecov-token: ${{ secrets.CODECOV_TOKEN }}
   focal-ci:

README.md

@@ -9,9 +9,9 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/master/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-master-bionic-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-master-bionic-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-master-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-master-homebrew-amd64)
+Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/ign-physics2/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
+Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics2-bionic-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics2-bionic-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics2-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics2-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_physics-ci-win)](https://build.osrfoundation.org/job/ign_physics-ci-win)
 
 Ignition Physics, a component of [Ignition
@@ -139,7 +139,7 @@ sudo update-alternatives --install \
 
 # Usage
 
-Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/master/examples/).
+Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/ign-physics2/examples/).
 
 # Folder Structure
 
@@ -166,18 +166,17 @@ ign-physics
 ```
 # Contributing
 
-Please see
-[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md).
+Please see the [contribution guide](https://ignitionrobotics.org/docs/all/contributing).
 
 # Code of Conduct
 
 Please see
-[CODE\_OF\_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CODE_OF_CONDUCT.md).
+[CODE\_OF\_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CODE_OF_CONDUCT.md).
 
 # Versioning
 
 This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Ignition Robotics project](https://ignitionrobotics.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Ignition Robotics website](https://ignitionrobotics.org) for version and release information.
 
 # License
 
-This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-physics/blob/master/LICENSE) file.
+This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-physics/blob/main/LICENSE) file.

tutorials/03_physics_plugins.md

@@ -77,7 +77,7 @@ Users do not need to organize their own plugin implementations this way.
 
 Dart ([Dynamic Animation and Robotics Toolkit](https://dartsim.github.io/)) is an open source library that provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation.
 It is the default physics engine used in Ignition Simulation.
-The source code for Dartsim plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/master) under `dartsim` directory.
+The source code for Dartsim plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2) under `dartsim` directory.
 
 TPE ([Trivial Physics Engine](<!-- add repo link after merged-->)) is an open source library created by Open Robotics that enables fast, inexpensive kinematics simulation for entities at large scale.
 It supports higher-order fleet dynamics without real physics (eg. gravity, force, constraint etc.) and multi-machine synchronization.

tutorials/06-physics-simulation-concepts.md

@@ -68,7 +68,7 @@ This command tells the car to move in its coordinate frame with velocity
 second in Z-axis.
 
 Note that the mechanism to move the car is different depending on the used physics
-engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/master/dartsim),
+engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2/dartsim),
 the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo3/src/systems/diff_drive/DiffDrive.cc#L333) code.
 Using [TPE](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2/tpe),
 TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo3/src/systems/velocity_control/VelocityControl.cc#L117) code.

tutorials/08-implementing-a-custom-feature.md

@@ -11,7 +11,7 @@ In the last \ref createphysicsplugin "Implement a physics plugin" tutorial, we
 know how to implement a dummy physics engine as a plugin and load it using
 \ref ignition::physics "Ignition Physics API". In this tutorial, we will look
 deeper into the structure of a physics engine plugin, for example, the available
-[DART](https://github.com/ignitionrobotics/ign-physics/tree/master/dartsim)
+[DART](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2/dartsim)
 physics engine in `ign-physics` repository and how to define a custom
 \ref ignition::physics::Feature "Feature" for the plugin.
 
@@ -181,11 +181,11 @@ dart::simulation::WorldPtr RetrieveWorld::World<PolicyT, FeaturesT>
 The new defined feature file is placed in `dartsim/include/ignition/physics/dartsim`:
 ```
 dartsim
-├── worlds                           
-├── src                       
+├── worlds
+├── src
 ├── include/ignition/physics/dartsim
 │    ├──  World.hh
-└── CMakeLists.txt                 
+└── CMakeLists.txt
 ```
 
 As seen above, after including the necessary library of `dartsim` and `ign-physics`,
@@ -214,13 +214,13 @@ and implemented in [CustomFeatures.cc](https://github.com/ignitionrobotics/ign-p
 These files are place as follows:
 ```
 dartsim
-├── worlds                           
+├── worlds
 ├── src
 │    ├── CustomFeatures.hh
 │    ├── CustomFeatures.cc
-│    ├── ...                           
-├── include/ignition/physics/dartsim  
-└── CMakeLists.txt                 
+│    ├── ...
+├── include/ignition/physics/dartsim
+└── CMakeLists.txt
 ```
 
 We display them here for convenience: