From d46fba0fabd2d088222c5070996f69e6a9b1dcaa Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Fri, 19 Jan 2024 14:39:48 +0800
Subject: [PATCH 1/9] ECS refactor for lifts and doors

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 .../building_map/building.py                  |   2 +-
 .../building_map/doors/double_sliding_door.py |  13 +-
 .../building_map/doors/double_swing_door.py   |  13 +-
 .../building_map/doors/sliding_door.py        |  14 +-
 .../building_map/doors/swing_door.py          |  14 +-
 rmf_building_map_tools/building_map/lift.py   | 163 ++++------
 .../building_map/templates/ign_world.sdf      | 288 ++++++++++++------
 7 files changed, 293 insertions(+), 214 deletions(-)

diff --git a/rmf_building_map_tools/building_map/building.py b/rmf_building_map_tools/building_map/building.py
index a0ab55db2..42ea3f0b0 100644
--- a/rmf_building_map_tools/building_map/building.py
+++ b/rmf_building_map_tools/building_map/building.py
@@ -503,7 +503,7 @@ def generate_sdf_world(self, options):
                 {'name': 'toggle_floors', 'filename': 'libtoggle_floors.so'})
 
         elif 'ignition' in options:
-            plugin_ele = gui_ele.find('.//plugin[@filename="GzScene3D"]')
+            plugin_ele = gui_ele.find('.//plugin[@filename="MinimalScene"]')
             camera_pose_ele = plugin_ele.find('camera_pose')
             camera_pose_ele.text = camera_pose
 
diff --git a/rmf_building_map_tools/building_map/doors/double_sliding_door.py b/rmf_building_map_tools/building_map/doors/double_sliding_door.py
index 7c984c961..00132f699 100644
--- a/rmf_building_map_tools/building_map/doors/double_sliding_door.py
+++ b/rmf_building_map_tools/building_map/doors/double_sliding_door.py
@@ -30,20 +30,23 @@ def generate(self, world_ele, options):
 
         if not self.plugin == 'none':
             plugin_ele = SubElement(self.model_ele, 'plugin')
-            plugin_ele.set('name', 'door')
-            plugin_ele.set('filename', 'libdoor.so')
+            plugin_ele.set('name', 'register_component')
+            plugin_ele.set('filename', 'libregister_component.so')
+            component_ele = SubElement(plugin_ele, 'component')
+            component_ele.set('name', 'Door')
             plugin_params = {
                 'v_max_door': '0.2',
                 'a_max_door': '0.2',
                 'a_nom_door': '0.08',
                 'dx_min_door': '0.001',
-                'f_max_door': '100.0'
+                'f_max_door': '100.0',
+                'ros_interface': 'true'
             }
             for param_name, param_value in plugin_params.items():
-                ele = SubElement(plugin_ele, param_name)
+                ele = SubElement(component_ele, param_name)
                 ele.text = param_value
 
-            door_ele = SubElement(plugin_ele, 'door')
+            door_ele = SubElement(component_ele, 'door')
             door_ele.set('name', self.name)
             door_ele.set('type', 'DoubleSlidingDoor')
             door_ele.set('left_joint_name', 'left_joint')
diff --git a/rmf_building_map_tools/building_map/doors/double_swing_door.py b/rmf_building_map_tools/building_map/doors/double_swing_door.py
index 3bd0e19f9..d768849f7 100644
--- a/rmf_building_map_tools/building_map/doors/double_swing_door.py
+++ b/rmf_building_map_tools/building_map/doors/double_swing_door.py
@@ -48,20 +48,23 @@ def generate(self, world_ele, options):
 
         if not self.plugin == 'none':
             plugin_ele = SubElement(self.model_ele, 'plugin')
-            plugin_ele.set('name', 'door')
-            plugin_ele.set('filename', 'libdoor.so')
+            plugin_ele.set('name', 'register_component')
+            plugin_ele.set('filename', 'libregister_component.so')
+            component_ele = SubElement(plugin_ele, 'component')
+            component_ele.set('name', 'Door')
             plugin_params = {
                 'v_max_door': '0.5',
                 'a_max_door': '0.3',
                 'a_nom_door': '0.15',
                 'dx_min_door': '0.01',
-                'f_max_door': '500.0'
+                'f_max_door': '500.0',
+                'ros_interface': 'true'
             }
             for param_name, param_value in plugin_params.items():
-                ele = SubElement(plugin_ele, param_name)
+                ele = SubElement(component_ele, param_name)
                 ele.text = param_value
 
-            door_ele = SubElement(plugin_ele, 'door')
+            door_ele = SubElement(component_ele, 'door')
             door_ele.set('name', self.name)
             door_ele.set('type', 'DoubleSwingDoor')
             door_ele.set('left_joint_name', 'left_joint')
diff --git a/rmf_building_map_tools/building_map/doors/sliding_door.py b/rmf_building_map_tools/building_map/doors/sliding_door.py
index 781db3b80..4c47b811a 100644
--- a/rmf_building_map_tools/building_map/doors/sliding_door.py
+++ b/rmf_building_map_tools/building_map/doors/sliding_door.py
@@ -16,23 +16,27 @@ def generate(self, world_ele, options):
 
         if not self.plugin == 'none':
             plugin_ele = SubElement(self.model_ele, 'plugin')
-            plugin_ele.set('name', 'door')
-            plugin_ele.set('filename', 'libdoor.so')
+            plugin_ele.set('name', 'register_component')
+            plugin_ele.set('filename', 'libregister_component.so')
+            component_ele = SubElement(plugin_ele, 'component')
+            component_ele.set('name', 'Door')
             plugin_params = {
                 'v_max_door': '0.2',
                 'a_max_door': '0.2',
                 'a_nom_door': '0.08',
                 'dx_min_door': '0.001',
-                'f_max_door': '100.0'
+                'f_max_door': '100.0',
+                'ros_interface': 'true'
             }
             for param_name, param_value in plugin_params.items():
-                ele = SubElement(plugin_ele, param_name)
+                ele = SubElement(component_ele, param_name)
                 ele.text = param_value
 
-            door_ele = SubElement(plugin_ele, 'door')
+            door_ele = SubElement(component_ele, 'door')
             door_ele.set('name', self.name)
             door_ele.set('type', 'SlidingDoor')
             door_ele.set('left_joint_name', 'empty_joint')
             door_ele.set('right_joint_name', 'right_joint')
 
         world_ele.append(self.model_ele)
+
diff --git a/rmf_building_map_tools/building_map/doors/swing_door.py b/rmf_building_map_tools/building_map/doors/swing_door.py
index eba38280a..166b5571d 100644
--- a/rmf_building_map_tools/building_map/doors/swing_door.py
+++ b/rmf_building_map_tools/building_map/doors/swing_door.py
@@ -25,23 +25,27 @@ def generate(self, world_ele, options):
 
         if not self.plugin == 'none':
             plugin_ele = SubElement(self.model_ele, 'plugin')
-            plugin_ele.set('name', 'door')
-            plugin_ele.set('filename', 'libdoor.so')
+            plugin_ele.set('name', 'register_component')
+            plugin_ele.set('filename', 'libregister_component.so')
+            component_ele = SubElement(plugin_ele, 'component')
+            component_ele.set('name', 'Door')
             plugin_params = {
                 'v_max_door': '0.5',
                 'a_max_door': '0.3',
                 'a_nom_door': '0.15',
                 'dx_min_door': '0.01',
-                'f_max_door': '500.0'
+                'f_max_door': '500.0',
+                'ros_interface': 'true'
             }
             for param_name, param_value in plugin_params.items():
-                ele = SubElement(plugin_ele, param_name)
+                ele = SubElement(component_ele, param_name)
                 ele.text = param_value
 
-            door_ele = SubElement(plugin_ele, 'door')
+            door_ele = SubElement(component_ele, 'door')
             door_ele.set('name', self.name)
             door_ele.set('type', 'SwingDoor')
             door_ele.set('left_joint_name', 'empty_joint')
             door_ele.set('right_joint_name', 'right_joint')
 
         world_ele.append(self.model_ele)
+
diff --git a/rmf_building_map_tools/building_map/lift.py b/rmf_building_map_tools/building_map/lift.py
index dd286b5e3..0ea8846b2 100644
--- a/rmf_building_map_tools/building_map/lift.py
+++ b/rmf_building_map_tools/building_map/lift.py
@@ -66,10 +66,11 @@ def generate_cabin_door(self, lift_model_ele, name):
         door_pose.text = \
             f'{x} {y} 0 0 0 {self.motion_axis_orientation}'
 
-        self.generate_door_link_and_joint(door_model_ele, parent='platform')
+        self.generate_door_link(door_model_ele, parent='platform')
+        self.generate_joint(lift_model_ele, "platform", name)
 
         if self.plugin:
-            self.generate_door_plugin(door_model_ele, name)
+            self.generate_door_plugin(door_model_ele, name, True)
 
     def generate_shaft_door(self, world_ele, x, y, z, yaw, name):
         model_ele = SubElement(world_ele, 'model')
@@ -82,7 +83,8 @@ def generate_shaft_door(self, world_ele, x, y, z, yaw, name):
         yaw_new = yaw + self.motion_axis_orientation
         door_pose.text = f'{x_new} {y_new} {z} 0 0 {yaw_new}'
 
-        self.generate_door_link_and_joint(model_ele)
+        self.generate_door_link(model_ele)
+        self.generate_joint(model_ele)
 
         floor_thickness = 0.05
         ramp_depth = self.gap * 2
@@ -97,9 +99,33 @@ def generate_shaft_door(self, world_ele, x, y, z, yaw, name):
         model_ele.append(joint('ramp_joint', 'fixed', 'world', 'ramp'))
 
         if self.plugin:
-            self.generate_door_plugin(model_ele, name)
+            self.generate_door_plugin(model_ele, name, False)
 
-    def generate_door_link_and_joint(self, model_ele, parent='world'):
+    def generate_joint(
+            self, parent_element, parent_name="world", child_name=None):
+        if child_name is not None:
+            name_prefix = f'{child_name}_'
+            joint_child_prefix = f'{child_name}::'
+        else:
+            name_prefix = ''
+            joint_child_prefix = f''
+        parent_element.append(joint(f'{name_prefix}right_joint',
+                                    'prismatic',
+                                    parent_name,
+                                    f'{joint_child_prefix}right_door',
+                                    joint_axis='x',
+                                    lower_limit=0,
+                                    upper_limit=self.width / 2))
+
+        parent_element.append(joint(f'{name_prefix}left_joint',
+                                    'prismatic',
+                                    parent_name,
+                                    f'{joint_child_prefix}left_door',
+                                    joint_axis='x',
+                                    lower_limit=-self.width / 2,
+                                    upper_limit=0))
+
+    def generate_door_link(self, model_ele, parent='world'):
         door_size = [self.width / 2, self.thickness, self.height]
         right_door_pose = Element('pose')
         right_door_pose.text = f'{self.width / 4} 0 {self.height / 2} 0 0 0'
@@ -110,14 +136,6 @@ def generate_door_link_and_joint(self, model_ele, parent='world'):
                                   material=lift_material(),
                                   bitmask='0x02'))
 
-        model_ele.append(joint('right_joint',
-                               'prismatic',
-                               parent,
-                               'right_door',
-                               joint_axis='x',
-                               lower_limit=0,
-                               upper_limit=self.width / 2))
-
         left_door_pose = Element('pose')
         left_door_pose.text = f'{-self.width / 4} 0 {self.height / 2} 0 0 0'
 
@@ -127,88 +145,25 @@ def generate_door_link_and_joint(self, model_ele, parent='world'):
                                   material=lift_material(),
                                   bitmask='0x02'))
 
-        model_ele.append(joint('left_joint',
-                               'prismatic',
-                               parent,
-                               'left_door',
-                               joint_axis='x',
-                               lower_limit=-self.width / 2,
-                               upper_limit=0))
-
-    def generate_door_plugin(self, model_ele, name):
+    def generate_door_plugin(self, model_ele, name, append_prefix=False):
+        if append_prefix is True:
+            prefix = f'{name}_'
+        else:
+            prefix = ''
         plugin_ele = SubElement(model_ele, 'plugin')
-        plugin_ele.set('name', 'door')
-        plugin_ele.set('filename', 'libdoor.so')
+        plugin_ele.set('name', 'register_component')
+        plugin_ele.set('filename', 'libregister_component.so')
+        component_ele = SubElement(plugin_ele, 'component')
+        component_ele.set('name', 'Door')
         for param_name, param_value in self.params.items():
-            ele = SubElement(plugin_ele, param_name)
+            ele = SubElement(component_ele, param_name)
             ele.text = f'{param_value}'
-        door_ele = SubElement(plugin_ele, 'door')
-        door_ele.set('left_joint_name', 'left_joint')
+        door_ele = SubElement(component_ele, 'door')
+        door_ele.set('left_joint_name', f'{prefix}left_joint')
         door_ele.set('name', f'{name}')
-        door_ele.set('right_joint_name', 'right_joint')
+        door_ele.set('right_joint_name', f'{prefix}right_joint')
         door_ele.set('type', 'DoubleSlidingDoor')
 
-    # TODO: remove this function once nesting model is supported in ignition.
-    def generate_cabin_door_ign(self, lift_model_ele, name):
-        # This is for cabin door generation for ignition gazebo as it doesn't
-        # support nested models yet. Once ignition gazebo supports nested
-        # models, this should be removed.
-        (x, y) = self.cabin_door_pose
-        yaw = self.motion_axis_orientation
-        right_x = x + np.cos(yaw) * self.width/4
-        left_x = x - np.cos(yaw) * self.width/4
-        right_y = y + np.sin(yaw) * self.width/4
-        left_y = y - np.sin(yaw) * self.width/4
-
-        door_size = [self.width / 2, self.thickness, self.height]
-        right_door_pose = Element('pose')
-        right_door_pose.text = \
-            f'{right_x} {right_y} {self.height / 2} 0 0 {yaw}'
-
-        lift_model_ele.append(box_link(f'{name}_right_door',
-                                       door_size,
-                                       right_door_pose,
-                                       material=lift_material(),
-                                       bitmask='0x02'))
-
-        lift_model_ele.append(joint(f'{name}_right_joint',
-                                    'prismatic',
-                                    'platform',
-                                    f'{name}_right_door',
-                                    joint_axis='x',
-                                    lower_limit=0,
-                                    upper_limit=self.width / 2))
-
-        left_door_pose = Element('pose')
-        left_door_pose.text = f'{left_x} {left_y} {self.height / 2} 0 0 {yaw}'
-
-        lift_model_ele.append(box_link(f'{name}_left_door',
-                                       door_size,
-                                       left_door_pose,
-                                       material=lift_material(),
-                                       bitmask='0x02'))
-
-        lift_model_ele.append(joint(f'{name}_left_joint',
-                                    'prismatic',
-                                    'platform',
-                                    f'{name}_left_door',
-                                    joint_axis='x',
-                                    lower_limit=-self.width / 2,
-                                    upper_limit=0))
-
-        if self.plugin:
-            plugin_ele = SubElement(lift_model_ele, 'plugin')
-            plugin_ele.set('name', 'door')
-            plugin_ele.set('filename', 'libdoor.so')
-            for param_name, param_value in self.params.items():
-                ele = SubElement(plugin_ele, param_name)
-                ele.text = f'{param_value}'
-            door_ele = SubElement(plugin_ele, 'door')
-            door_ele.set('left_joint_name', f'{name}_left_joint')
-            door_ele.set('name', f'{name}')
-            door_ele.set('right_joint_name', f'{name}_right_joint')
-            door_ele.set('type', 'DoubleSlidingDoor')
-
 
 class Lift:
     def __init__(self, yaml_node, name, transform, levels, coordinate_system):
@@ -429,28 +384,23 @@ def generate_cabin(self, world_ele, options):
                                     joint_axis='z'))
 
         # cabin doors
-        # TODO: remove the if statement here once nesting model is supported
-        # in ignition.
-        if 'ignition' in options:
-            for lift_door in self.doors:
-                lift_door.generate_cabin_door_ign(
-                    lift_model_ele, f'CabinDoor_{self.name}_{lift_door.name}')
-        else:
-            for lift_door in self.doors:
-                lift_door.generate_cabin_door(
-                    lift_model_ele, f'CabinDoor_{self.name}_{lift_door.name}')
+        for lift_door in self.doors:
+            lift_door.generate_cabin_door(
+                lift_model_ele, f'CabinDoor_{self.name}_{lift_door.name}')
 
         # lift cabin plugin
         if self.plugins:
             plugin_ele = SubElement(lift_model_ele, 'plugin')
-            plugin_ele.set('name', 'lift')
-            plugin_ele.set('filename', 'liblift.so')
+            plugin_ele.set('name', 'register_component')
+            plugin_ele.set('filename', 'libregister_component.so')
+            component_ele = SubElement(plugin_ele, 'component')
+            component_ele.set('name', 'Lift')
 
-            lift_name_ele = SubElement(plugin_ele, 'lift_name')
+            lift_name_ele = SubElement(component_ele, 'lift_name')
             lift_name_ele.text = f'{self.name}'
 
             for level_name, door_names in self.level_doors.items():
-                floor_ele = SubElement(plugin_ele, 'floor')
+                floor_ele = SubElement(component_ele, 'floor')
                 floor_ele.set('name', f'{level_name}')
                 floor_ele.set(
                     'elevation', f'{self.level_elevation[level_name]}')
@@ -464,13 +414,13 @@ def generate_cabin(self, world_ele, options):
                             'shaft_door',
                             f'ShaftDoor_{self.name}_{level_name}_{door.name}')
 
-            initial_floor_ele = SubElement(plugin_ele, 'initial_floor')
+            initial_floor_ele = SubElement(component_ele, 'initial_floor')
             initial_floor_ele.text = f'{self.initial_floor_name}'
             for param_name, param_value in self.params.items():
-                ele = SubElement(plugin_ele, param_name)
+                ele = SubElement(component_ele, param_name)
                 ele.text = f'{param_value}'
 
-            cabin_joint_ele = SubElement(plugin_ele, 'cabin_joint_name')
+            cabin_joint_ele = SubElement(component_ele, 'cabin_joint_name')
             cabin_joint_ele.text = 'cabin_joint'
         else:
             static_lift_ele = SubElement(lift_model_ele, 'static')
@@ -479,3 +429,4 @@ def generate_cabin(self, world_ele, options):
         # pose
         model_pose = SubElement(lift_model_ele, 'pose')
         model_pose.text = f'{self.x} {self.y} 0 0 0 {self.yaw}'
+
diff --git a/rmf_building_map_tools/building_map/templates/ign_world.sdf b/rmf_building_map_tools/building_map/templates/ign_world.sdf
index 81444b97f..d7c75108d 100644
--- a/rmf_building_map_tools/building_map/templates/ign_world.sdf
+++ b/rmf_building_map_tools/building_map/templates/ign_world.sdf
@@ -17,6 +17,14 @@
       filename="libignition-gazebo-scene-broadcaster-system.so"
       name="ignition::gazebo::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename="libdoor.so"
+      name="door">
+    </plugin>
+    <plugin
+      filename="liblift.so"
+      name="lift">
+    </plugin>
 
     <scene>
       <ambient>1 1 1</ambient>
@@ -49,120 +57,225 @@
       </window>
 
       <!-- GUI plugins -->
+      <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>
 
-      <!-- 3D scene -->
-      <plugin filename="GzScene3D" name="3D View">
-        <ignition-gui>
-          <title>3D View</title>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="string" key="state">docked</property>
-        </ignition-gui>
+      <!-- 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>
 
-        <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 3.14</camera_pose>
+      <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>
 
-      <!-- Play / pause / step -->
-      <plugin filename="WorldControl" name="World control">
-        <ignition-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>
+      <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>
 
-          <property type="string" key="state">floating</property>
-          <anchors target="3D View">
-            <line own="left" target="left"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </ignition-gui>
+      <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>
 
-        <play_pause>true</play_pause>
-        <step>true</step>
-        <start_paused>true</start_paused>
+      <plugin filename="MarkerManager" name="Marker 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="SelectEntities" name="Select Entities">
+          <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>
 
-      <!-- Time / RTF -->
-      <plugin filename="WorldStats" name="World stats">
-        <ignition-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>
+      <plugin filename="Spawn" name="Spawn Entities">
+          <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="VisualizationCapabilities" name="Visualization Capabilities">
+          <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>
 
-          <property type="string" key="state">floating</property>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </ignition-gui>
+      <!-- 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="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>
 
-        <sim_time>true</sim_time>
-        <real_time>true</real_time>
-        <real_time_factor>true</real_time_factor>
-        <iterations>true</iterations>
+      <!-- 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>
+
+      <!-- Insert simple shapes -->
+      <plugin filename="Shapes" name="Shapes">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">0</property>
+              <property key="y" type="double">0</property>
+              <property key="width" type="double">250</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#666666</property>
+          </gz-gui>
+      </plugin>
 
+      <!-- Insert lights -->
+      <plugin filename="Lights" name="Lights">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">250</property>
+              <property key="y" type="double">0</property>
+              <property key="width" type="double">150</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#666666</property>
+          </gz-gui>
       </plugin>
 
       <!-- Translate / rotate -->
       <plugin filename="TransformControl" name="Transform control">
-        <ignition-gui>
-          <title>Transform control</title>
-          <anchors target="3D View">
-            <line own="left" target="left"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">230</property>
-          <property key="height" type="double">50</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-          <property key="cardBackground" type="string">#666666</property>
-        </ignition-gui>
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">0</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">250</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
       </plugin>
 
-      <!-- Insert simple shapes -->
-      <plugin filename="Shapes" name="Shapes">
-        <ignition-gui>
-          <anchors target="Transform control">
-            <line own="left" target="right"/>
-            <line own="top" target="top"/>
-          </anchors>
-          <property key="resizable" type="bool">false</property>
-          <property key="width" type="double">200</property>
-          <property key="height" type="double">50</property>
-          <property key="state" type="string">floating</property>
-          <property key="showTitleBar" type="bool">false</property>
-          <property key="cardBackground" type="string">#666666</property>
-        </ignition-gui>
+      <!-- Screenshot -->
+      <plugin filename="Screenshot" name="Screenshot">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">250</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">50</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Copy/Paste -->
+      <plugin filename="CopyPaste" name="CopyPaste">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">300</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">100</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
       </plugin>
 
       <!-- Inspector -->
       <plugin filename="ComponentInspector" name="Component inspector">
-        <ignition-gui>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="string" key="state">docked</property>
-        </ignition-gui>
+          <gz-gui>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="string" key="state">docked</property>
+          </gz-gui>
       </plugin>
 
       <!-- Entity tree -->
       <plugin filename="EntityTree" name="Entity tree">
-        <ignition-gui>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="string" key="state">docked</property>
-        </ignition-gui>
+          <gz-gui>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="string" key="state">docked</property>
+          </gz-gui>
       </plugin>
-
-      <!-- Toggle charging traffic editor plugin -->
-      <plugin filename="toggle_charging" name="toggle_charging"/>
     </gui>
 
     <light type="directional" name="sun">
@@ -181,3 +294,4 @@
 
   </world>
 </sdf>
+

From 755905f0098fa08d10e55d4f2dd3e3d26b4bcadc Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Fri, 19 Jan 2024 14:42:33 +0800
Subject: [PATCH 2/9] Style

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 rmf_building_map_tools/building_map/doors/sliding_door.py | 1 -
 rmf_building_map_tools/building_map/doors/swing_door.py   | 1 -
 rmf_building_map_tools/building_map/lift.py               | 1 -
 3 files changed, 3 deletions(-)

diff --git a/rmf_building_map_tools/building_map/doors/sliding_door.py b/rmf_building_map_tools/building_map/doors/sliding_door.py
index 4c47b811a..ab93f2291 100644
--- a/rmf_building_map_tools/building_map/doors/sliding_door.py
+++ b/rmf_building_map_tools/building_map/doors/sliding_door.py
@@ -39,4 +39,3 @@ def generate(self, world_ele, options):
             door_ele.set('right_joint_name', 'right_joint')
 
         world_ele.append(self.model_ele)
-
diff --git a/rmf_building_map_tools/building_map/doors/swing_door.py b/rmf_building_map_tools/building_map/doors/swing_door.py
index 166b5571d..dcf3ef700 100644
--- a/rmf_building_map_tools/building_map/doors/swing_door.py
+++ b/rmf_building_map_tools/building_map/doors/swing_door.py
@@ -48,4 +48,3 @@ def generate(self, world_ele, options):
             door_ele.set('right_joint_name', 'right_joint')
 
         world_ele.append(self.model_ele)
-
diff --git a/rmf_building_map_tools/building_map/lift.py b/rmf_building_map_tools/building_map/lift.py
index 0ea8846b2..2002c25e0 100644
--- a/rmf_building_map_tools/building_map/lift.py
+++ b/rmf_building_map_tools/building_map/lift.py
@@ -429,4 +429,3 @@ def generate_cabin(self, world_ele, options):
         # pose
         model_pose = SubElement(lift_model_ele, 'pose')
         model_pose.text = f'{self.x} {self.y} 0 0 0 {self.yaw}'
-

From 2844b8bd64187beda577982a3844fbc8795ab3ca Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Tue, 23 Jan 2024 15:37:55 +0800
Subject: [PATCH 3/9] Remove generator options

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 .../building_map/building.py                  |  46 +--
 .../building_map/doors/door.py                |  13 +-
 .../building_map/doors/double_sliding_door.py |   8 +-
 .../building_map/doors/double_swing_door.py   |   8 +-
 .../building_map/doors/sliding_door.py        |   5 +-
 .../building_map/doors/swing_door.py          |   5 +-
 .../building_map/generator.py                 |  31 +-
 rmf_building_map_tools/building_map/level.py  |   8 +-
 rmf_building_map_tools/building_map/lift.py   |   2 +-
 .../building_map/templates/gz_world.sdf       | 297 +++++++++++++++++-
 .../building_map/templates/ign_world.sdf      | 297 ------------------
 rmf_building_map_tools/building_map/utils.py  |  11 +-
 .../building_map_generator/_init_argparse.py  |  10 +-
 .../building_map_generator.py                 |  13 +-
 14 files changed, 329 insertions(+), 425 deletions(-)
 delete mode 100644 rmf_building_map_tools/building_map/templates/ign_world.sdf

diff --git a/rmf_building_map_tools/building_map/building.py b/rmf_building_map_tools/building_map/building.py
index 42ea3f0b0..5955689ae 100644
--- a/rmf_building_map_tools/building_map/building.py
+++ b/rmf_building_map_tools/building_map/building.py
@@ -394,15 +394,9 @@ def generate_nav_graphs(self):
                 nav_graphs[f'{i}'] = g
         return nav_graphs
 
-    def generate_sdf_world(self, options):
+    def generate_sdf_world(self):
         """ Return an etree of this Building in SDF starting from a template"""
-        print(f'generator options: {options}')
-        if 'gazebo' in options:
-            template_name = 'gz_world.sdf'
-        elif 'ignition' in options:
-            template_name = 'ign_world.sdf'
-        else:
-            raise RuntimeError("expected either gazebo or ignition in options")
+        template_name = 'gz_world.sdf'
 
         template_path = os.path.join(
             get_package_share_directory('rmf_building_map_tools'),
@@ -414,7 +408,7 @@ def generate_sdf_world(self, options):
 
         for level_name, level in self.levels.items():
             level.generate_sdf_models(world)  # todo: a better name
-            level.generate_doors(world, options)
+            level.generate_doors(world)
 
             level_include_ele = SubElement(world, 'include')
             level_model_name = f'{self.name}_{level_name}'
@@ -436,7 +430,7 @@ def generate_sdf_world(self, options):
                 print(f'[{lift_name}] is not serving any floor, ignoring.')
                 continue
             lift.generate_shaft_doors(world)
-            lift.generate_cabin(world, options)
+            lift.generate_cabin(world)
 
         charger_waypoints_ele = SubElement(
           world,
@@ -487,30 +481,14 @@ def generate_sdf_world(self, options):
         else:
             camera_pose = f'{c[0]} {c[1]-20} 10 0 0.6 1.57'
         # add floor-toggle GUI plugin parameters
-        if 'gazebo' in options:
-            camera_pose_ele = gui_ele.find('camera').find('pose')
-            camera_pose_ele.text = camera_pose
-
-            toggle_charge_ele = SubElement(
-                gui_ele,
-                'plugin',
-                {'name': 'toggle_charging',
-                 'filename': 'libtoggle_charging.so'})
-
-            toggle_floors_ele = SubElement(
-                gui_ele,
-                'plugin',
-                {'name': 'toggle_floors', 'filename': 'libtoggle_floors.so'})
-
-        elif 'ignition' in options:
-            plugin_ele = gui_ele.find('.//plugin[@filename="MinimalScene"]')
-            camera_pose_ele = plugin_ele.find('camera_pose')
-            camera_pose_ele.text = camera_pose
-
-            toggle_floors_ele = SubElement(
-                gui_ele,
-                'plugin',
-                {'name': 'toggle_floors', 'filename': 'toggle_floors'})
+        plugin_ele = gui_ele.find('.//plugin[@filename="MinimalScene"]')
+        camera_pose_ele = plugin_ele.find('camera_pose')
+        camera_pose_ele.text = camera_pose
+
+        toggle_floors_ele = SubElement(
+            gui_ele,
+            'plugin',
+            {'name': 'toggle_floors', 'filename': 'toggle_floors'})
 
         for level_name, level in self.levels.items():
             floor_ele = SubElement(
diff --git a/rmf_building_map_tools/building_map/doors/door.py b/rmf_building_map_tools/building_map/doors/door.py
index 5cdd74017..5639eb636 100644
--- a/rmf_building_map_tools/building_map/doors/door.py
+++ b/rmf_building_map_tools/building_map/doors/door.py
@@ -29,14 +29,14 @@ def __init__(self, door_edge, level_elevation=0.0):
             static_ele = SubElement(self.model_ele, 'static')
             static_ele.text = 'true'
 
-    def generate_section(self, name, width, x_offset, options):
+    def generate_section(self, name, width, x_offset):
         pose_ele = Element('pose')
         pose_ele.text = f'{x_offset} 0 {self.height/2+0.01} 0 0 0'
         size = [width, self.thickness, self.height]
         link_ele = box_link(name,
                             size,
                             pose_ele,
-                            material=door_material(options),
+                            material=door_material(),
                             bitmask='0x02')
 
         mass = 50.0
@@ -54,8 +54,8 @@ def generate_section(self, name, width, x_offset, options):
         self.model_ele.append(link_ele)
         return link_ele
 
-    def generate_sliding_section(self, name, width, x_offset, bounds, options):
-        self.generate_section(name, width, x_offset, options)
+    def generate_sliding_section(self, name, width, x_offset, bounds):
+        self.generate_section(name, width, x_offset)
 
         self.model_ele.append(joint(f'{name}_joint',
                                     'prismatic',
@@ -83,10 +83,9 @@ def generate_swing_section(
         x_offset,
         bounds,
         axis_pose,
-        axis,
-        options
+        axis
     ):
-        self.generate_section(name, width, x_offset, options)
+        self.generate_section(name, width, x_offset)
 
         pose_ele = Element('pose')
         pose_ele.text = f'{axis_pose[0]} {axis_pose[1]} {axis_pose[2]} 0 0 0'
diff --git a/rmf_building_map_tools/building_map/doors/double_sliding_door.py b/rmf_building_map_tools/building_map/doors/double_sliding_door.py
index 00132f699..58af6605a 100644
--- a/rmf_building_map_tools/building_map/doors/double_sliding_door.py
+++ b/rmf_building_map_tools/building_map/doors/double_sliding_door.py
@@ -9,7 +9,7 @@ def __init__(self, door_edge, level_elevation):
         if 'right_left_ratio' in door_edge.params:
             self.right_left_ratio = door_edge.params['right_left_ratio'].value
 
-    def generate(self, world_ele, options):
+    def generate(self, world_ele):
         right_segment_length = \
             (self.right_left_ratio / (1 + self.right_left_ratio)) * self.length
         left_segment_length = self.length - right_segment_length
@@ -18,15 +18,13 @@ def generate(self, world_ele, options):
             'right',
             right_segment_length - 0.01,
             self.length / 2 - right_segment_length / 2,
-            (0.0, right_segment_length),
-            options)
+            (0.0, right_segment_length))
 
         self.generate_sliding_section(
             'left',
             left_segment_length - 0.01,
             -self.length / 2 + left_segment_length / 2,
-            (-left_segment_length, 0.0),
-            options)
+            (-left_segment_length, 0.0))
 
         if not self.plugin == 'none':
             plugin_ele = SubElement(self.model_ele, 'plugin')
diff --git a/rmf_building_map_tools/building_map/doors/double_swing_door.py b/rmf_building_map_tools/building_map/doors/double_swing_door.py
index d768849f7..c3b65c17f 100644
--- a/rmf_building_map_tools/building_map/doors/double_swing_door.py
+++ b/rmf_building_map_tools/building_map/doors/double_swing_door.py
@@ -12,7 +12,7 @@ def __init__(self, door_edge, level_elevation):
         if 'right_left_ratio' in door_edge.params:
             self.right_left_ratio = door_edge.params['right_left_ratio'].value
 
-    def generate(self, world_ele, options):
+    def generate(self, world_ele):
         right_segment_length = \
             (self.right_left_ratio / (1 + self.right_left_ratio)) * self.length
         left_segment_length = self.length - right_segment_length
@@ -34,8 +34,7 @@ def generate(self, world_ele, options):
             x_offsets[0],
             bounds[0],
             axis_pose[0],
-            axis,
-            options)
+            axis)
 
         self.generate_swing_section(
             'left',
@@ -43,8 +42,7 @@ def generate(self, world_ele, options):
             x_offsets[1],
             bounds[1],
             axis_pose[1],
-            axis,
-            options)
+            axis)
 
         if not self.plugin == 'none':
             plugin_ele = SubElement(self.model_ele, 'plugin')
diff --git a/rmf_building_map_tools/building_map/doors/sliding_door.py b/rmf_building_map_tools/building_map/doors/sliding_door.py
index ab93f2291..adec3cb04 100644
--- a/rmf_building_map_tools/building_map/doors/sliding_door.py
+++ b/rmf_building_map_tools/building_map/doors/sliding_door.py
@@ -6,13 +6,12 @@ class SlidingDoor(Door):
     def __init__(self, door_edge, level_elevation):
         super().__init__(door_edge, level_elevation)
 
-    def generate(self, world_ele, options):
+    def generate(self, world_ele):
         self.generate_sliding_section(
             'right',
             self.length - 0.01,
             0,
-            (0.0, self.length),
-            options)
+            (0.0, self.length))
 
         if not self.plugin == 'none':
             plugin_ele = SubElement(self.model_ele, 'plugin')
diff --git a/rmf_building_map_tools/building_map/doors/swing_door.py b/rmf_building_map_tools/building_map/doors/swing_door.py
index dcf3ef700..e7abe2486 100644
--- a/rmf_building_map_tools/building_map/doors/swing_door.py
+++ b/rmf_building_map_tools/building_map/doors/swing_door.py
@@ -9,7 +9,7 @@ def __init__(self, door_edge, level_elevation):
         self.motion_radians = 3.14 * motion_degrees / 180.0
         self.motion_direction = door_edge.params['motion_direction'].value
 
-    def generate(self, world_ele, options):
+    def generate(self, world_ele):
         # This is configured to be negative by default to reflect how it is
         # rendered on rmf_traffic_editor.
         axis = 'z' if self.motion_direction < 0 else '-z'
@@ -20,8 +20,7 @@ def generate(self, world_ele, options):
             0,
             (0, self.motion_radians),
             (self.length / 2, 0, 0),
-            axis,
-            options)
+            axis)
 
         if not self.plugin == 'none':
             plugin_ele = SubElement(self.model_ele, 'plugin')
diff --git a/rmf_building_map_tools/building_map/generator.py b/rmf_building_map_tools/building_map/generator.py
index ec50a240c..f47d5afa1 100644
--- a/rmf_building_map_tools/building_map/generator.py
+++ b/rmf_building_map_tools/building_map/generator.py
@@ -21,8 +21,7 @@ def generate_sdf(
         self,
         input_filename,
         output_filename,
-        output_models_dir,
-        options
+        output_models_dir)
     ):
         print('generating {} from {}'.format(output_filename, input_filename))
 
@@ -41,7 +40,7 @@ def generate_sdf(
         building.generate_sdf_models(output_models_dir)
 
         # generate a top-level SDF for convenience
-        sdf = building.generate_sdf_world(options)
+        sdf = building.generate_sdf_world()
 
         indent_etree(sdf)
         sdf_str = str(ElementToString(sdf), 'utf-8')
@@ -49,32 +48,6 @@ def generate_sdf(
             f.write(sdf_str)
         print(f'{len(sdf_str)} bytes written to {output_filename}')
 
-    def generate_gazebo_sdf(
-        self,
-        input_filename,
-        output_filename,
-        output_models_dir,
-        options
-    ):
-        self.generate_sdf(
-            input_filename,
-            output_filename,
-            output_models_dir,
-            options + ['gazebo'])
-
-    def generate_ignition_sdf(
-        self,
-        input_filename,
-        output_filename,
-        output_models_dir,
-        options
-    ):
-        self.generate_sdf(
-            input_filename,
-            output_filename,
-            output_models_dir,
-            options + ['ignition'])
-
     def generate_nav(self, input_filename, output_dir):
         building = self.parse_editor_yaml(input_filename)
         nav_graphs = building.generate_nav_graphs()
diff --git a/rmf_building_map_tools/building_map/level.py b/rmf_building_map_tools/building_map/level.py
index 66b036aea..71b00b6a3 100644
--- a/rmf_building_map_tools/building_map/level.py
+++ b/rmf_building_map_tools/building_map/level.py
@@ -256,12 +256,12 @@ def generate_sdf_models(self, world_ele):
             if 'spawn_robot_type' in vertex.params:
                 self.generate_robot_at_vertex_idx(vertex_idx, world_ele)
 
-    def generate_doors(self, world_ele, options):
+    def generate_doors(self, world_ele):
         for door_edge in self.doors:
             door_edge.calc_statistics(self.transformed_vertices)
-            self.generate_door(door_edge, world_ele, options)
+            self.generate_door(door_edge, world_ele)
 
-    def generate_door(self, door_edge, world_ele, options):
+    def generate_door(self, door_edge, world_ele):
         door_name = door_edge.params['name'].value
         door_type = door_edge.params['type'].value
         print(f'generate door name={door_name} type={door_type}')
@@ -279,7 +279,7 @@ def generate_door(self, door_edge, world_ele, options):
             print(f'door type {door_type} not yet implemented')
 
         if door:
-            door.generate(world_ele, options)
+            door.generate(world_ele)
 
     def generate_robot_at_vertex_idx(self, vertex_idx, world_ele):
         vertex = self.transformed_vertices[vertex_idx]
diff --git a/rmf_building_map_tools/building_map/lift.py b/rmf_building_map_tools/building_map/lift.py
index 2002c25e0..22fc7ec76 100644
--- a/rmf_building_map_tools/building_map/lift.py
+++ b/rmf_building_map_tools/building_map/lift.py
@@ -333,7 +333,7 @@ def generate_wall(self, side, pair, name, platform):
         platform.append(visual(f'{name}_visual', pose, dims, lift_material()))
         platform.append(collision(f'{name}_collision', pose, dims, '0x01'))
 
-    def generate_cabin(self, world_ele, options):
+    def generate_cabin(self, world_ele):
         # materials missing for now
         lift_model_name = f'{self.name}'
         lift_model_ele = SubElement(world_ele, 'model')
diff --git a/rmf_building_map_tools/building_map/templates/gz_world.sdf b/rmf_building_map_tools/building_map/templates/gz_world.sdf
index 7dc243700..e8e959acf 100644
--- a/rmf_building_map_tools/building_map/templates/gz_world.sdf
+++ b/rmf_building_map_tools/building_map/templates/gz_world.sdf
@@ -1,21 +1,296 @@
 <?xml version="1.0" ?>
 <sdf version="1.7">
-  <world name="world" xmlns:rmf="rmf">
+  <world name="sim_world" xmlns:rmf="rmf">
+    <physics name="10ms" type="ode">
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="libgz-sim-physics-system.so"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="libgz-sim-user-commands-system.so"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="libgz-sim-scene-broadcaster-system.so"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="libdoor.so"
+      name="door">
+    </plugin>
+    <plugin
+      filename="liblift.so"
+      name="lift">
+    </plugin>
+
     <scene>
-      <ambient>0.8 0.8 0.8 1.0</ambient>
-      <background>0 0 0</background>
+      <ambient>1 1 1</ambient>
+      <background>0.8 0.8 0.8</background>
       <grid>false</grid>
     </scene>
 
-    <include>
-      <uri>model://sun</uri>
-    </include>
+    <gui fullscreen="0">
+
+      <window>
+        <width>1000</width>
+        <height>845</height>
+        <style
+          material_theme="Light"
+          material_primary="DeepOrange"
+          material_accent="LightBlue"
+          toolbar_color_light="#f3f3f3"
+          toolbar_text_color_light="#111111"
+          toolbar_color_dark="#414141"
+          toolbar_text_color_dark="#f3f3f3"
+          plugin_toolbar_color_light="#bbdefb"
+          plugin_toolbar_text_color_light="#111111"
+          plugin_toolbar_color_dark="#607d8b"
+          plugin_toolbar_text_color_dark="#eeeeee"
+        />
+        <menus>
+          <drawer default="false">
+          </drawer>
+        </menus>
+      </window>
+
+      <!-- GUI plugins -->
+      <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>
+
+      <plugin filename="MarkerManager" name="Marker 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="SelectEntities" name="Select Entities">
+          <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="Spawn" name="Spawn Entities">
+          <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="VisualizationCapabilities" name="Visualization Capabilities">
+          <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="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>
+
+      <!-- Insert simple shapes -->
+      <plugin filename="Shapes" name="Shapes">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">0</property>
+              <property key="y" type="double">0</property>
+              <property key="width" type="double">250</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#666666</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Insert lights -->
+      <plugin filename="Lights" name="Lights">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">250</property>
+              <property key="y" type="double">0</property>
+              <property key="width" type="double">150</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#666666</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Translate / rotate -->
+      <plugin filename="TransformControl" name="Transform control">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">0</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">250</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Screenshot -->
+      <plugin filename="Screenshot" name="Screenshot">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">250</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">50</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Copy/Paste -->
+      <plugin filename="CopyPaste" name="CopyPaste">
+          <gz-gui>
+              <property key="resizable" type="bool">false</property>
+              <property key="x" type="double">300</property>
+              <property key="y" type="double">50</property>
+              <property key="width" type="double">100</property>
+              <property key="height" type="double">50</property>
+              <property key="state" type="string">floating</property>
+              <property key="showTitleBar" type="bool">false</property>
+              <property key="cardBackground" type="string">#777777</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Inspector -->
+      <plugin filename="ComponentInspector" name="Component inspector">
+          <gz-gui>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="string" key="state">docked</property>
+          </gz-gui>
+      </plugin>
+
+      <!-- Entity tree -->
+      <plugin filename="EntityTree" name="Entity tree">
+          <gz-gui>
+              <property type="bool" key="showTitleBar">false</property>
+              <property type="string" key="state">docked</property>
+          </gz-gui>
+      </plugin>
+    </gui>
 
-     <gui>
-       <camera name="gui_camera">
-         <pose>10 -20 10 0 0.6 1.57</pose>
-       </camera>
-     </gui>
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.09</constant>
+        <linear>0.001</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
 
   </world>
 </sdf>
diff --git a/rmf_building_map_tools/building_map/templates/ign_world.sdf b/rmf_building_map_tools/building_map/templates/ign_world.sdf
deleted file mode 100644
index d7c75108d..000000000
--- a/rmf_building_map_tools/building_map/templates/ign_world.sdf
+++ /dev/null
@@ -1,297 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.7">
-  <world name="sim_world" xmlns:rmf="rmf">
-    <physics name="10ms" type="ode">
-      <max_step_size>0.01</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
-    </physics>
-    <plugin
-      filename="libignition-gazebo-physics-system.so"
-      name="ignition::gazebo::systems::Physics">
-    </plugin>
-    <plugin
-      filename="libignition-gazebo-user-commands-system.so"
-      name="ignition::gazebo::systems::UserCommands">
-    </plugin>
-    <plugin
-      filename="libignition-gazebo-scene-broadcaster-system.so"
-      name="ignition::gazebo::systems::SceneBroadcaster">
-    </plugin>
-    <plugin
-      filename="libdoor.so"
-      name="door">
-    </plugin>
-    <plugin
-      filename="liblift.so"
-      name="lift">
-    </plugin>
-
-    <scene>
-      <ambient>1 1 1</ambient>
-      <background>0.8 0.8 0.8</background>
-      <grid>false</grid>
-    </scene>
-
-    <gui fullscreen="0">
-
-      <window>
-        <width>1000</width>
-        <height>845</height>
-        <style
-          material_theme="Light"
-          material_primary="DeepOrange"
-          material_accent="LightBlue"
-          toolbar_color_light="#f3f3f3"
-          toolbar_text_color_light="#111111"
-          toolbar_color_dark="#414141"
-          toolbar_text_color_dark="#f3f3f3"
-          plugin_toolbar_color_light="#bbdefb"
-          plugin_toolbar_text_color_light="#111111"
-          plugin_toolbar_color_dark="#607d8b"
-          plugin_toolbar_text_color_dark="#eeeeee"
-        />
-        <menus>
-          <drawer default="false">
-          </drawer>
-        </menus>
-      </window>
-
-      <!-- GUI plugins -->
-      <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>
-
-      <plugin filename="MarkerManager" name="Marker 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="SelectEntities" name="Select Entities">
-          <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="Spawn" name="Spawn Entities">
-          <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="VisualizationCapabilities" name="Visualization Capabilities">
-          <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="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>
-
-      <!-- Insert simple shapes -->
-      <plugin filename="Shapes" name="Shapes">
-          <gz-gui>
-              <property key="resizable" type="bool">false</property>
-              <property key="x" type="double">0</property>
-              <property key="y" type="double">0</property>
-              <property key="width" type="double">250</property>
-              <property key="height" type="double">50</property>
-              <property key="state" type="string">floating</property>
-              <property key="showTitleBar" type="bool">false</property>
-              <property key="cardBackground" type="string">#666666</property>
-          </gz-gui>
-      </plugin>
-
-      <!-- Insert lights -->
-      <plugin filename="Lights" name="Lights">
-          <gz-gui>
-              <property key="resizable" type="bool">false</property>
-              <property key="x" type="double">250</property>
-              <property key="y" type="double">0</property>
-              <property key="width" type="double">150</property>
-              <property key="height" type="double">50</property>
-              <property key="state" type="string">floating</property>
-              <property key="showTitleBar" type="bool">false</property>
-              <property key="cardBackground" type="string">#666666</property>
-          </gz-gui>
-      </plugin>
-
-      <!-- Translate / rotate -->
-      <plugin filename="TransformControl" name="Transform control">
-          <gz-gui>
-              <property key="resizable" type="bool">false</property>
-              <property key="x" type="double">0</property>
-              <property key="y" type="double">50</property>
-              <property key="width" type="double">250</property>
-              <property key="height" type="double">50</property>
-              <property key="state" type="string">floating</property>
-              <property key="showTitleBar" type="bool">false</property>
-              <property key="cardBackground" type="string">#777777</property>
-          </gz-gui>
-      </plugin>
-
-      <!-- Screenshot -->
-      <plugin filename="Screenshot" name="Screenshot">
-          <gz-gui>
-              <property key="resizable" type="bool">false</property>
-              <property key="x" type="double">250</property>
-              <property key="y" type="double">50</property>
-              <property key="width" type="double">50</property>
-              <property key="height" type="double">50</property>
-              <property key="state" type="string">floating</property>
-              <property key="showTitleBar" type="bool">false</property>
-              <property key="cardBackground" type="string">#777777</property>
-          </gz-gui>
-      </plugin>
-
-      <!-- Copy/Paste -->
-      <plugin filename="CopyPaste" name="CopyPaste">
-          <gz-gui>
-              <property key="resizable" type="bool">false</property>
-              <property key="x" type="double">300</property>
-              <property key="y" type="double">50</property>
-              <property key="width" type="double">100</property>
-              <property key="height" type="double">50</property>
-              <property key="state" type="string">floating</property>
-              <property key="showTitleBar" type="bool">false</property>
-              <property key="cardBackground" type="string">#777777</property>
-          </gz-gui>
-      </plugin>
-
-      <!-- Inspector -->
-      <plugin filename="ComponentInspector" name="Component inspector">
-          <gz-gui>
-              <property type="bool" key="showTitleBar">false</property>
-              <property type="string" key="state">docked</property>
-          </gz-gui>
-      </plugin>
-
-      <!-- Entity tree -->
-      <plugin filename="EntityTree" name="Entity tree">
-          <gz-gui>
-              <property type="bool" key="showTitleBar">false</property>
-              <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>1 1 1 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.09</constant>
-        <linear>0.001</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-
-  </world>
-</sdf>
-
diff --git a/rmf_building_map_tools/building_map/utils.py b/rmf_building_map_tools/building_map/utils.py
index 32db29923..321bf63c8 100644
--- a/rmf_building_map_tools/building_map/utils.py
+++ b/rmf_building_map_tools/building_map/utils.py
@@ -16,18 +16,17 @@ def lift_material():
     return material_ele
 
 
-def door_material(options):
+def door_material():
     material_ele = Element('material')
     # blue-green glass as a default, so it's easy to see
     ambient_ele = SubElement(material_ele, 'ambient')
     ambient_ele.text = '{} {} {} {}'.format(0.5, 0.25, 0, 0.6)
     diffuse_ele = SubElement(material_ele, 'diffuse')
     diffuse_ele.text = '{} {} {} {}'.format(0.5, 0.25, 0, 0.6)
-    if 'ignition' in options:
-        pbr_ele = SubElement(material_ele, 'pbr')
-        metal_ele = SubElement(pbr_ele, 'metal')
-        metalness_ele = SubElement(metal_ele, 'metalness')
-        metalness_ele.text = '0.0'
+    pbr_ele = SubElement(material_ele, 'pbr')
+    metal_ele = SubElement(pbr_ele, 'metal')
+    metalness_ele = SubElement(metal_ele, 'metalness')
+    metalness_ele.text = '0.0'
     return material_ele
 
 
diff --git a/rmf_building_map_tools/building_map_generator/_init_argparse.py b/rmf_building_map_tools/building_map_generator/_init_argparse.py
index 6fd612078..bfe01a47f 100644
--- a/rmf_building_map_tools/building_map_generator/_init_argparse.py
+++ b/rmf_building_map_tools/building_map_generator/_init_argparse.py
@@ -16,22 +16,14 @@
                            help="Name of the .world file to output")
 shared_parser.add_argument("OUTPUT_MODEL_DIR", type=str,
                            help="Path to output the map model files")
-shared_parser.add_argument("-o", "--options", type=str, nargs='*', default=[],
-                           help="Generator options")
 
-# Create subparsers for Gazebo, Ignition, and Nav generation
+# Create subparsers for Gazebo and Nav generation
 gazebo_parser = subparsers.add_parser(
     'gazebo',
     help='Generate .world file and map model.sdf for Gazebo',
     parents=[shared_parser]
 )
 
-ignition_parser = subparsers.add_parser(
-    'ignition',
-    help='Generate .world file and map model.sdf for Ignition',
-    parents=[shared_parser]
-)
-
 nav_parser = subparsers.add_parser(
     'nav',
     help='Generate nav map .yaml file',
diff --git a/rmf_building_map_tools/building_map_generator/building_map_generator.py b/rmf_building_map_tools/building_map_generator/building_map_generator.py
index 20c75f8a6..005108363 100755
--- a/rmf_building_map_tools/building_map_generator/building_map_generator.py
+++ b/rmf_building_map_tools/building_map_generator/building_map_generator.py
@@ -13,19 +13,10 @@ def main():
     g = Generator()
 
     if args.command == "gazebo":
-        g.generate_gazebo_sdf(
+        g.generate_sdf(
             args.INPUT,
             args.OUTPUT_WORLD,
-            args.OUTPUT_MODEL_DIR,
-            args.options
-        )
-
-    if args.command == "ignition":
-        g.generate_ignition_sdf(
-            args.INPUT,
-            args.OUTPUT_WORLD,
-            args.OUTPUT_MODEL_DIR,
-            args.options
+            args.OUTPUT_MODEL_DIR
         )
 
     if args.command == "nav":

From 43900b0a86a0601126d9363c9b5e6257cdf56acf Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Tue, 23 Jan 2024 15:42:07 +0800
Subject: [PATCH 4/9] Fix syntax

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 rmf_building_map_tools/building_map/generator.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmf_building_map_tools/building_map/generator.py b/rmf_building_map_tools/building_map/generator.py
index f47d5afa1..05ea92507 100644
--- a/rmf_building_map_tools/building_map/generator.py
+++ b/rmf_building_map_tools/building_map/generator.py
@@ -21,7 +21,7 @@ def generate_sdf(
         self,
         input_filename,
         output_filename,
-        output_models_dir)
+        output_models_dir
     ):
         print('generating {} from {}'.format(output_filename, input_filename))
 

From 3aacaadc2bd2de1c2b294f9ac1a18012bfa7b2bd Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Mon, 29 Jan 2024 15:56:44 +0800
Subject: [PATCH 5/9] Bump gz fuel dependency

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 rmf_building_map_tools/package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmf_building_map_tools/package.xml b/rmf_building_map_tools/package.xml
index 08da843f6..91f0576d1 100644
--- a/rmf_building_map_tools/package.xml
+++ b/rmf_building_map_tools/package.xml
@@ -11,7 +11,7 @@
   <build_depend>rmf_building_map_msgs</build_depend>
 
   <exec_depend>ament_index_python</exec_depend>
-  <exec_depend>ignition-fuel-tools7</exec_depend>
+  <exec_depend>gz-fuel-tools9</exec_depend>
   <exec_depend>python3-fiona</exec_depend>
   <exec_depend>python3-pyproj</exec_depend>
   <exec_depend>python3-requests</exec_depend>

From fa9058eea52831992a89843acdf4d1826acd89db Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Fri, 15 Mar 2024 15:12:49 +0800
Subject: [PATCH 6/9] Add toggle charging plugin

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 rmf_building_map_tools/building_map/templates/gz_world.sdf | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/rmf_building_map_tools/building_map/templates/gz_world.sdf b/rmf_building_map_tools/building_map/templates/gz_world.sdf
index e8e959acf..32562659d 100644
--- a/rmf_building_map_tools/building_map/templates/gz_world.sdf
+++ b/rmf_building_map_tools/building_map/templates/gz_world.sdf
@@ -276,6 +276,8 @@
               <property type="string" key="state">docked</property>
           </gz-gui>
       </plugin>
+
+      <plugin filename="toggle_charging" name="toggle_charging"/>
     </gui>
 
     <light type="directional" name="sun">

From 84c046ecb50cae1fe041e5726a2341fdb233c55a Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Wed, 8 May 2024 17:20:57 +0800
Subject: [PATCH 7/9] Move to vendored gz fuel package

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 rmf_building_map_tools/package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmf_building_map_tools/package.xml b/rmf_building_map_tools/package.xml
index 91f0576d1..5830d6a24 100644
--- a/rmf_building_map_tools/package.xml
+++ b/rmf_building_map_tools/package.xml
@@ -11,7 +11,7 @@
   <build_depend>rmf_building_map_msgs</build_depend>
 
   <exec_depend>ament_index_python</exec_depend>
-  <exec_depend>gz-fuel-tools9</exec_depend>
+  <exec_depend>gz_fuel_tools_vendor</exec_depend>
   <exec_depend>python3-fiona</exec_depend>
   <exec_depend>python3-pyproj</exec_depend>
   <exec_depend>python3-requests</exec_depend>

From 15585aa1f4a14ba5714204b7bd798959e9716aeb Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Wed, 29 May 2024 10:59:49 +0200
Subject: [PATCH 8/9] Empty commit to force CI update

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

From bcc23621f681aabb20e218d1555e70f3a9d250f6 Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Wed, 29 May 2024 18:21:16 +0800
Subject: [PATCH 9/9] Address style issues

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 .../gui/crowd_sim/agent_profile_table.cpp             |  3 ++-
 rmf_traffic_editor/gui/crowd_sim/condition_dialog.cpp | 11 ++++++-----
 rmf_traffic_editor/gui/crowd_sim/to_state_dialog.cpp  |  3 ++-
 rmf_traffic_editor/gui/editor.cpp                     |  3 ++-
 rmf_traffic_editor/gui/level_table.cpp                |  3 ++-
 5 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/rmf_traffic_editor/gui/crowd_sim/agent_profile_table.cpp b/rmf_traffic_editor/gui/crowd_sim/agent_profile_table.cpp
index f43fd5a15..72eaae670 100644
--- a/rmf_traffic_editor/gui/crowd_sim/agent_profile_table.cpp
+++ b/rmf_traffic_editor/gui/crowd_sim/agent_profile_table.cpp
@@ -50,7 +50,8 @@ void AgentProfileTab::list_item_in_cache()
   {
     auto current_profile = _cache[i];
     setItem(i, 0,
-      new QTableWidgetItem(QString::fromStdString(current_profile.profile_name)));
+      new QTableWidgetItem(QString::fromStdString(
+        current_profile.profile_name)));
     setItem(i, 1,
       new QTableWidgetItem(QString::number(
         static_cast<uint>(current_profile.profile_class))));
diff --git a/rmf_traffic_editor/gui/crowd_sim/condition_dialog.cpp b/rmf_traffic_editor/gui/crowd_sim/condition_dialog.cpp
index 84eedc810..88e7f5d38 100644
--- a/rmf_traffic_editor/gui/crowd_sim/condition_dialog.cpp
+++ b/rmf_traffic_editor/gui/crowd_sim/condition_dialog.cpp
@@ -65,14 +65,14 @@ ConditionDialog::ConditionDialog(
       auto root_condition = _current_transition.get_condition();
       if (crowd_sim::Condition::GOAL == root_condition->get_type())
       {
-        auto goal_condition = std::dynamic_pointer_cast<crowd_sim::ConditionGOAL>(
-          root_condition);
+        auto goal_condition =
+        std::dynamic_pointer_cast<crowd_sim::ConditionGOAL>(root_condition);
         goal_condition->set_value(temp);
       }
       if (crowd_sim::Condition::TIMER == root_condition->get_type())
       {
-        auto timer_condition = std::dynamic_pointer_cast<crowd_sim::ConditionTIMER>(
-          root_condition);
+        auto timer_condition =
+        std::dynamic_pointer_cast<crowd_sim::ConditionTIMER>(root_condition);
         timer_condition->set_value(temp);
       }
     }
@@ -268,7 +268,8 @@ void ConditionDialog::_construct_leaf_condition_widget(
     condition_value->setText(QString::number(_condition2ValueD));
   std::string condition_label = "condition" + std::to_string(condition_index) +
     ":";
-  condition_hbox->addWidget(new QLabel(QString::fromStdString(condition_label) ));
+  condition_hbox->addWidget(new QLabel(QString::fromStdString(
+      condition_label) ));
   condition_hbox->addWidget(condition_type);
   condition_hbox->addWidget(condition_value);
   connect(
diff --git a/rmf_traffic_editor/gui/crowd_sim/to_state_dialog.cpp b/rmf_traffic_editor/gui/crowd_sim/to_state_dialog.cpp
index 580b38a67..bf330c33e 100644
--- a/rmf_traffic_editor/gui/crowd_sim/to_state_dialog.cpp
+++ b/rmf_traffic_editor/gui/crowd_sim/to_state_dialog.cpp
@@ -28,7 +28,8 @@ ToStateDialog::ToStateDialog(
   _to_state_tab = ToStateTab::init_and_make(crowd_sim_impl, transition);
   if (!_to_state_tab)
   {
-    throw std::runtime_error("Failed to initialize ToStateTab in ToStateDialog");
+    throw std::runtime_error(
+            "Failed to initialize ToStateTab in ToStateDialog");
   }
   _to_state_tab->update();
   std::string title = "from_state: " + transition.get_from_state();
diff --git a/rmf_traffic_editor/gui/editor.cpp b/rmf_traffic_editor/gui/editor.cpp
index 5f6eee540..4b80f05ce 100644
--- a/rmf_traffic_editor/gui/editor.cpp
+++ b/rmf_traffic_editor/gui/editor.cpp
@@ -477,7 +477,8 @@ void Editor::load_model_names()
     try
     {
       share_dir =
-        ament_index_cpp::get_package_share_directory("rmf_traffic_editor_assets");
+        ament_index_cpp::get_package_share_directory(
+        "rmf_traffic_editor_assets");
 
       ament_index_cpp::get_resource("rmf_traffic_editor_assets",
         "assets",
diff --git a/rmf_traffic_editor/gui/level_table.cpp b/rmf_traffic_editor/gui/level_table.cpp
index d08415399..053f0f894 100644
--- a/rmf_traffic_editor/gui/level_table.cpp
+++ b/rmf_traffic_editor/gui/level_table.cpp
@@ -95,7 +95,8 @@ void LevelTable::update(Building& building)
           if (dialog.exec() == QDialog::Accepted)
           {
             building.levels[i].name = ui.name_line_edit->text().toStdString();
-            building.levels[i].elevation = ui.elevation_line_edit->text().toDouble();
+            building.levels[i].elevation =
+            ui.elevation_line_edit->text().toDouble();
             setWindowModified(true);  // not sure why, but this doesn't work
           }
         }