Harmonic Tutorials

garden/index.yaml

@@ -45,7 +45,7 @@ pages:
     title: Migration from Ignition
     file: migration_from_ignition.md
     description: Migration from the Ignition name
-    
+
   - name: comparison
     title: Feature Comparison
     file: comparison.md
@@ -87,5 +87,4 @@ pages:
         file: sensors.md
       - name: actors
         title: Actors
-        file: actors.md    
-
+        file: actors.md

garden/install.md

@@ -62,7 +62,7 @@ for the full status.
 
 ## Migration Guide
 
-Gazebo Garden is the first major release that [uses the Gazebo brand instead of Gazebo](https://community.gazebosim.org/t/a-new-era-for-gazebo/1356).
+Gazebo Garden is the first major release that [uses the Gazebo brand instead of Ignition](https://community.gazebosim.org/t/a-new-era-for-gazebo/1356).
 So if you are upgrading from a prior release (e.g. Fortress), you will need to do some steps to migrate your packages.
 
 - [Guide for Migrating From Ignition](migration_from_ignition)

harmonic/GUI_tutorial.md

@@ -0,0 +1,140 @@
+# Understanding the GUI
+
+This guide is an introduction to the Gazebo Graphical User Interface (GUI).
+
+## Prerequisites
+
+Before beginning, you should have [Harmonic installed](/docs/harmonic/install).
+If you installed [from source](/docs/harmonic/install)
+you will need to [source](/docs/harmonic/install_ubuntu_src#using-the-workspace) the workspace;
+otherwise, you're good to go!
+
+Start by getting Gazebo up and running with a sample world:
+
+```bash
+gz sim shapes.sdf
+```
+
+`gz sim` will run the latest version of Gazebo you have installed.
+You can check if you have more than one version of Gazebo installed by running `gz sim --versions`.
+For example, if you have Harmonic (8.x.x), Garden (7.x.x), and Fortress (6.x.x) installed, `--versions` might return:
+
+```bash
+8.0.0
+7.0.0
+6.0.0
+```
+
+To ensure you're working with Harmonic, include the `--force-version` directive when starting up:
+
+```bash
+gz sim --force-version 8.0.0 shapes.sdf
+```
+
+## GUI
+
+After running `shapes.sdf`, you should see the following screen:
+
+![shapes.sdf](tutorials/gui/shapes.png)
+
+The interface consists of several sections:
+
+### The Toolbars
+
+The toolbar along the top of the GUI contains two buttons, a file menu button (![menu button](tutorials/gui/menu_btn.png)) on the left, and a plugins button (![plugins button](tutorials/gui/plugins_btn.png)) on the right.
+The file menu button allows you to save the world to a file, save and load interface configurations and customize interface style settings.
+An interface configuration consists of the plugins you have loaded and the style settings in place.
+
+![toolbars](tutorials/gui/toolbars.png)
+
+The top left toolbar hanging below the file menu button contains shape buttons (sphere, box, cylinder, capsule and ellipsoid) as well as lighting controls (point, directional and spot). 
+The shape buttons allow you to directly insert a box, sphere, cylinder capsule, or ellipsoid model into the world.
+Simply click on the shape you would like to insert, and place it into the world.
+The shape will automatically snap onto the ground plane, and its properties will show up on the Entity Tree plugin window.
+
+The following image shows the scene and the Entity Tree after adding three shapes (`box_0`, `sphere_0` and `capsule_0`):
+
+![shape insertion](tutorials/gui/shape_insertion.png)
+
+The first five buttons on the second row are for `Transform Control`. 
+To learn more about this plugin, go to the `Transform Control` section of [Manipulating Models](manipulating_models) tutorial.
+
+The plugins button lists all the available plugins.
+You can scroll down this list to see all the plugins that are available for your version of Gazebo.
+When you select one, its interface will appear in the right panel.
+
+### The Right Panel
+
+The GUI contains two plugins that you see in the right panel upon starting.
+At the top is the Component Inspector, followed by the Entity Tree.
+
+Everything in a simulation is considered an "entity."
+In `shapes.sdf`, the entities listed are the ground plane, each of the shape models, and the sun.
+
+Entities in the Entity Tree can be expanded to reveal their links, as well as corresponding visuals and collisions, and joints, if they exist.
+
+You can select entities in the simulation by clicking on their names in the Entity Tree (or by clicking directly on the entity in the scene).
+You can also hold `Ctrl` and click to select multiple.
+
+![Selecting multiple entities from the entity tree](tutorials/gui/entity_select.png)
+
+You can right-click on any plugin to open basic `Settings` or to `Close`.
+You can (re)open plugins through the plugin menu. 
+
+### The Scene
+
+Within the scene is where you'll interact with your simulated world and objects.
+
+Currently, you can navigate the scene with a mouse in several ways:
+
+* **Left-click**: select entity
+* **Right-click**: opens menu with options:
+  * *Move to*: center the scene on an entity
+  * *Follow*: choose an entity for the view to  stay centered on, whether it moves or you pan around
+  * *Remove*: erase the entity from the simulation
+  * *Copy*: copy the entity to the virtual clipboard
+  * *Paste*: paste the entity from the virtual clipboard creating a duplicate
+  * *View*: open a submenu with different options to visualize the simulation aspects of the entity like the collisions, the centre of mass, etc.
+* **Left-click and drag**: pan around the scene
+* **Right-click and drag**: zoom in and out
+* **Scroll wheel forward/backward**: zoom in and out
+* **Scroll wheel click and drag**: rotate the scene
+  * Or use **Shift key + left-click and drag**
+
+More complex methods for interacting with the entities within a scene will be explained in-depth in the coming tutorials.
+
+#### Grid Config
+
+The grid visibility in the scene can be adjusted by a plugin.
+You can adjust features of the world's grid, including cell size, grid position, cell count, and even color.
+
+Open the Grid Config plugin by selecting it from the plugins button from the toolbar and selecting it from the dropdown list. 
+The plugin will now show up in the right panel (below the Entity Tree, scroll down if your screen did not display it).
+
+![Select Grid Config](tutorials/gui/grid_config.png)
+
+#### World Control
+
+Along the bottom edge of the scene, you'll notice several buttons:
+
+![Playback buttons](tutorials/gui/playback.png)
+
+From left to right, the options are `Play`, `Steps` and `RTF` (real time factor).
+
+Pressing `Play` will start the simulation.
+You can use the same button to pause the simulation as well.
+
+The `Steps` button allows you to step through the simulation at the rate of a step size, or simulation iteration.
+You can customize step size by hovering over the button.
+
+![hover steps](tutorials/gui/hover_steps.png)
+
+At the furthest right end of the scene, you can expand `RTF` to see not only the percentage value that compares real time with sim time, but also those individual values themselves, as well as iteration count.
+
+![RTF expanded](tutorials/gui/rtf_expanded.png)
+
+The function of the World Control options will become clearer once you begin manipulating entities.
+
+## Next Up
+
+Now that you're comfortable with Gazebo GUI navigation and terminology, let's start learning about more meaningful model interactions with the [Manipulating Models](manipulating_models) tutorial.

harmonic/Manipulating_models.md

@@ -0,0 +1,156 @@
+# Manipulating Models
+
+This tutorial will walk you through using various plugins to assist model and scene manipulation in the Gazebo GUI.
+
+The Transform Control plugin is a combination of keybindings and transform control options: selection, translation, rotation and snapping.
+This chart of [Gazebo's keyboard shortcuts](hotkeys) may be helpful for this tutorial.
+
+The View Angle plugin allows you to quickly and easily adjust the direction from which your scene faces an entity in the simulation.
+
+The Component Inspector plugin displays a variety of object attributes.
+
+The Align Tool aligns entities along or about a specific entity's bounding box.
+
+## Prerequisites
+
+Start by getting Gazebo up and running with a sample world:
+
+```bash
+gz sim shapes.sdf
+```
+
+The previous tutorial, [Understanding the GUI](gui), explains the basics of navigating the Gazebo GUI.
+
+## Transform Control
+
+The top left toolbar contains controls for transforming.
+Alternatively, the Transform Control plugin can be selected from the plugin drop-down menu.
+The plugin will then appear at the bottom of the right panel.
+
+![Choosing Transform Control from the plugin list](img/plugins.png)
+
+### Select Mode
+
+Selection is the default mode.
+You can click to select entities in the scene.
+A selected entity will be highlighted in the Entity Tree to indicate its selection.
+You can select multiple entities by holding `Ctrl` and clicking.
+
+![Selecting multiple entities](img/select_mult.png)
+
+Entities can't be manipulated in select mode.
+
+You can always return to selection mode from any other mode by pressing `Esc`.
+
+### Translate Mode
+
+Enter into translate mode by clicking the second icon from the left in the top left toolbar, the Transform Control plugin, or by hitting the keyboard shortcut: `T`.
+
+![Translate mode icon](img/translate_icon.png)
+
+Translate mode allows you to translate entities along the x, y and z axes.
+
+Click on any entity while in translate mode to see the arrows representing the axes you can move along.
+The red arrow represents the x-axis, green the y-axis, and blue the z-axis.
+Click and hold on any of the arrows while moving your mouse to move the entity in that direction.
+
+![Translate mode](img/translate.gif)
+
+Additionally, holding down any one of the `X`, `Y` or `Z` keys, or a combination of them, while clicking and dragging will constrain the model's movement along those axes, regardless of the direction you move your mouse or the axis arrow you select.
+
+### Rotate Mode
+
+Enter into rotate mode by clicking the third icon from the left in the top left toolbar, the Transform Control plugin, or by hitting the keyboard shortcut: `R`.
+
+![Rotate mode icon](img/rotate_icon.png)
+
+Rotate mode allows you to rotate entities around the roll, pitch and yaw axes of rotation.
+
+Click on any entity while in rotate mode to see the circles representing the axes you can rotate along.
+The red circle represents roll, green is pitch, and blue is yaw.
+Click and hold on any of the circles while moving your mouse to rotate the entity around that axis.
+
+![Rotate mode](img/rotate.gif)
+
+#### Align to World frame
+
+An entity's local axes can become unaligned from the world frame after rotation.
+If you would like to translate along the world frame axis, simply hold `Shift`.
+
+This isn't a permanent realignment; you can move the entity while holding `Shift`, but once you let go it will return to it's local translational frame.
+
+![World frame alignment - translation](img/translate_worldframe.gif)
+
+The same can be done for an entity's local rotational frame.
+
+![World frame alignment - rotation](img/rotate_worldframe.gif)
+
+### Enter Custom Snap Values
+
+When translating or rotating, you can "snap" an entity's movement to preset increments by holding `Ctrl` and then clicking and dragging.
+By default, the snap value is 1 meter for translation and 45° for rotation.
+
+Translational snaps will snap relative to the world frame, whereas rotational snaps will snap relative to the object's current orientation.
+
+![Snap rotation](img/snap.gif)
+
+You can customize snap values by clicking on the snap icon ![Snap icon](img/snap_icon.png) in the top left toolbar or the Transform Control plugin.
+
+![Custom snap values](img/custom_snap.png)
+
+Try holding `Shift` and `Ctrl` simultaneously to snap a model along the world frame is if isn't already aligned.
+
+## Component Inspector
+
+With this plugin, you can select an entity to display some of its attributes, including its pose, whether or not wind is acting on it, whether or not it's static, and more.
+The plugin also displays the gravitational and magnetic fields of your world.
+
+Expanding the `Pose` attribute will show the coordinate values for a selected object.
+The values will update as the object is moved around (translated or rotated) while the simulation is running.
+
+![Updating pose values](img/pose_value.gif)
+
+You can also pause the plugin so an object's pose values don't update in the inspector while the simulation is playing.
+
+Additionally, the Component Inspector can be locked on one object so you can open another Component Inspector to simultaneously observe another object.
+
+![Two Component Inspectors](img/pose2.gif)
+
+## View Angle
+
+Select the View Angle from the plugins drop-down menu.
+
+You can choose which angle you want to view the scene from, relative to a selected entity or the world frame if no entity is selected.
+The home button will return you to the original view pose from when the scene was loaded.
+
+You can also select multiple entities to face simultaneously from each view angle.
+
+![View angle for multiple entities](img/view.gif)
+
+## Align Tool
+
+Select the Align Tool from the plugins drop-down menu.
+
+The Align Tool aligns a model along or about the bounding box of another model, or any other entity that has a bounding box, like a link for example.
+It can't, however, align a child link or anything other than the top-level model.
+
+With `Relative to First` selected, select two models using `Ctrl` + click (be sure you are in select mode) and then hover over any of the Align Tool
+buttons to see a preview of the second model aligning to the first along its x, y or z axis.
+Hovering over the buttons for each axis will show a preview of where the model would end up if aligned along that axis while clicking will confirm that
+specific alignment.
+
+![Align](img/align.gif)
+
+The Reverse button will enable alignment about the outer boundary of a model's bounding box.  This feature is helpful for placing objects exactly next to each
+other.  Notice the difference in alignment when the Reverse button is pressed in the gif below.
+
+![Align Reverse](img/align_reverse.gif)
+
+You can align more than two models as well, simply select more models with `Ctrl` + click. You can select `First` or `Last` in the `Relative to:` drop down menu to
+choose which entity to align to.
+
+## Next Up
+
+So far you've interacted with basic shape models to learn about Gazebo's GUI.
+It's also possible to insert more detailed models from [Gazebo Fuel](https://app.gazebosim.org) into the GUI.
+Check out the [Model Insertion from Fuel](fuel_insert) tutorial to learn how.