From 3a7d09ca8335289662a6eedf3267a99c0a18c1c0 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 12 May 2021 14:08:26 -0700
Subject: [PATCH 1/6] Add scene manager GUI plugin that works with ign-gui's
 Scene3D

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .../ignition/gazebo/rendering/RenderUtil.hh   |   4 +
 src/gui/gui.config                            |  16 ++-
 src/gui/plugins/CMakeLists.txt                |   1 +
 src/gui/plugins/scene_manager/CMakeLists.txt  |   7 +
 .../plugins/scene_manager/GzSceneManager.cc   | 135 ++++++++++++++++++
 .../plugins/scene_manager/GzSceneManager.hh   |  66 +++++++++
 .../plugins/scene_manager/GzSceneManager.qml  |  28 ++++
 .../plugins/scene_manager/GzSceneManager.qrc  |   5 +
 src/rendering/RenderUtil.cc                   |  12 ++
 9 files changed, 273 insertions(+), 1 deletion(-)
 create mode 100644 src/gui/plugins/scene_manager/CMakeLists.txt
 create mode 100644 src/gui/plugins/scene_manager/GzSceneManager.cc
 create mode 100644 src/gui/plugins/scene_manager/GzSceneManager.hh
 create mode 100644 src/gui/plugins/scene_manager/GzSceneManager.qml
 create mode 100644 src/gui/plugins/scene_manager/GzSceneManager.qrc

diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh
index 8f21ff3625..daecee7422 100644
--- a/include/ignition/gazebo/rendering/RenderUtil.hh
+++ b/include/ignition/gazebo/rendering/RenderUtil.hh
@@ -92,6 +92,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \return Name of the rendering scene.
     public: std::string SceneName() const;
 
+    /// \brief Set the scene to use.
+    /// \param[in] _scene Pointer to the scene.
+    public: void SetScene(const rendering::ScenePtr &_scene);
+
     /// \brief Set background color of render window
     /// \param[in] _color Color of render window background
     public: void SetBackgroundColor(const math::Color &_color);
diff --git a/src/gui/gui.config b/src/gui/gui.config
index 072f631f63..bb2b9f7e42 100644
--- a/src/gui/gui.config
+++ b/src/gui/gui.config
@@ -26,7 +26,7 @@
 <!-- GUI plugins -->
 
 <!-- 3D scene -->
-<plugin filename="GzScene3D" name="3D View">
+<plugin filename="Scene3D" name="3D View">
   <ignition-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
@@ -40,6 +40,20 @@
   <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
 </plugin>
 
+<plugin filename="GzSceneManager" name="Scene Manager">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <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>
+  </ignition-gui>
+</plugin>
+
 <!-- Play / pause / step -->
 <plugin filename="WorldControl" name="World control">
   <ignition-gui>
diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt
index 6d7d140fe7..7df38dfb35 100644
--- a/src/gui/plugins/CMakeLists.txt
+++ b/src/gui/plugins/CMakeLists.txt
@@ -119,6 +119,7 @@ add_subdirectory(playback_scrubber)
 add_subdirectory(plotting)
 add_subdirectory(resource_spawner)
 add_subdirectory(scene3d)
+add_subdirectory(scene_manager)
 add_subdirectory(shapes)
 add_subdirectory(tape_measure)
 add_subdirectory(transform_control)
diff --git a/src/gui/plugins/scene_manager/CMakeLists.txt b/src/gui/plugins/scene_manager/CMakeLists.txt
new file mode 100644
index 0000000000..6e5e884b94
--- /dev/null
+++ b/src/gui/plugins/scene_manager/CMakeLists.txt
@@ -0,0 +1,7 @@
+gz_add_gui_plugin(GzSceneManager
+  SOURCES GzSceneManager.cc
+  QT_HEADERS GzSceneManager.hh
+  PRIVATE_LINK_LIBS
+    ${PROJECT_LIBRARY_TARGET_NAME}-rendering
+    ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
+)
diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc
new file mode 100644
index 0000000000..ee3a204a29
--- /dev/null
+++ b/src/gui/plugins/scene_manager/GzSceneManager.cc
@@ -0,0 +1,135 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include "GzSceneManager.hh"
+
+#include <ignition/common/Profiler.hh>
+
+#include <ignition/plugin/Register.hh>
+
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Scene.hh>
+
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/MainWindow.hh>
+
+#include "ignition/gazebo/components/Name.hh"
+#include "ignition/gazebo/components/World.hh"
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/rendering/RenderUtil.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+  /// \brief Private data class for GzSceneManager
+  class GzSceneManagerPrivate
+  {
+    /// \brief Update the 3D scene based on the latest state of the ECM.
+    public: void OnRender();
+
+    //// \brief Pointer to the rendering scene
+    public: rendering::ScenePtr scene;
+
+    /// \brief Name of the world
+    public: std::string worldName;
+
+    /// \brief Rendering utility
+    public: RenderUtil renderUtil;
+  };
+}
+}
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+GzSceneManager::GzSceneManager()
+  : GuiSystem(), dataPtr(std::make_unique<GzSceneManagerPrivate>)
+{
+}
+
+/////////////////////////////////////////////////
+GzSceneManager::~GzSceneManager() = default;
+
+/////////////////////////////////////////////////
+void GzSceneManager::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+{
+  if (this->title.empty())
+    this->title = "Scene Manager";
+
+  ignition::gui::App()->findChild<
+      ignition::gui::MainWindow *>()->installEventFilter(this);
+}
+
+//////////////////////////////////////////////////
+void GzSceneManager::Update(const UpdateInfo &_info,
+    EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("GzSceneManager::Update");
+  if (this->dataPtr->worldName.empty())
+  {
+    // TODO(anyone) Only one scene is supported for now
+    Entity worldEntity;
+    _ecm.Each<components::World, components::Name>(
+        [&](const Entity &_entity,
+          const components::World * /* _world */ ,
+          const components::Name *_name)->bool
+        {
+          this->dataPtr->worldName = _name->Data();
+          worldEntity = _entity;
+          return false;
+        });
+  }
+
+  this->dataPtr->renderUtil.UpdateECM(_info, _ecm);
+  this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm);
+}
+
+/////////////////////////////////////////////////
+bool GzSceneManager::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == gui::events::Render::kType)
+  {
+    this->dataPtr->OnRender();
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+void GzSceneManagerPrivate::OnRender()
+{
+  if (nullptr == this->scene)
+  {
+    this->scene = rendering::someInitializedScene();
+    if (nullptr == this->scene)
+      return;
+
+    this->renderUtil.SetScene(this->scene);
+  }
+
+  this->renderUtil.Update();
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::GzSceneManager,
+                    ignition::gui::Plugin)
diff --git a/src/gui/plugins/scene_manager/GzSceneManager.hh b/src/gui/plugins/scene_manager/GzSceneManager.hh
new file mode 100644
index 0000000000..ab0d5f1be0
--- /dev/null
+++ b/src/gui/plugins/scene_manager/GzSceneManager.hh
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_GAZEBO_GUI_GZSCENEMANAGER_HH_
+#define IGNITION_GAZEBO_GUI_GZSCENEMANAGER_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/gui/GuiSystem.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+  class GzSceneManagerPrivate;
+
+  /// \brief Updates a 3D scene based on information coming from the ECM.
+  /// This plugin doesn't instantiate a new 3D scene. Instead, it relies on
+  /// another plugin being loaded alongside it that will create and paint the
+  /// scene to the window, such as `ignition::gui::plugins::Scene3D`.
+  class GzSceneManager : public GuiSystem
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: GzSceneManager();
+
+    /// \brief Destructor
+    public: ~GzSceneManager() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+        override;
+
+    // Documentation inherited
+    public: void Update(const UpdateInfo &_info,
+        EntityComponentManager &_ecm) override;
+
+    // Documentation inherited
+    private: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<GzSceneManagerPrivate> dataPtr;
+  };
+}
+}
+}
+
+#endif
diff --git a/src/gui/plugins/scene_manager/GzSceneManager.qml b/src/gui/plugins/scene_manager/GzSceneManager.qml
new file mode 100644
index 0000000000..873da30014
--- /dev/null
+++ b/src/gui/plugins/scene_manager/GzSceneManager.qml
@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+import QtQuick 2.0
+import QtQuick.Controls 2.0
+import QtQuick.Layouts 1.3
+
+// TODO: remove invisible rectangle, see
+// https://github.com/ignitionrobotics/ign-gui/issues/220
+Rectangle {
+  visible: false
+  Layout.minimumWidth: 100
+  Layout.minimumHeight: 100
+}
diff --git a/src/gui/plugins/scene_manager/GzSceneManager.qrc b/src/gui/plugins/scene_manager/GzSceneManager.qrc
new file mode 100644
index 0000000000..b28c13c3b4
--- /dev/null
+++ b/src/gui/plugins/scene_manager/GzSceneManager.qrc
@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="GzSceneManager/">
+  <file>GzSceneManager.qml</file>
+</qresource>
+</RCC>
diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
index 382a48ae86..65a076b52e 100644
--- a/src/rendering/RenderUtil.cc
+++ b/src/rendering/RenderUtil.cc
@@ -1827,6 +1827,10 @@ void RenderUtilPrivate::RemoveRenderingEntities(
 /////////////////////////////////////////////////
 void RenderUtil::Init()
 {
+  // Already initialized
+  if (nullptr != this->dataPtr->scene)
+    return;
+
   ignition::common::SystemPaths pluginPath;
   pluginPath.SetPluginPathEnv(kRenderPluginPathEnv);
   rendering::setPluginPaths(pluginPath.PluginPaths());
@@ -1927,6 +1931,14 @@ void RenderUtil::SetSceneName(const std::string &_name)
   this->dataPtr->sceneName = _name;
 }
 
+/////////////////////////////////////////////////
+void RenderUtil::SetScene(const rendering::ScenePtr &_scene)
+{
+  this->dataPtr->scene = _scene;
+  this->dataPtr->sceneManager.SetScene(_scene);
+  this->dataPtr->engine = _scene == nullptr ? nullptr : _scene->Engine();
+}
+
 /////////////////////////////////////////////////
 std::string RenderUtil::SceneName() const
 {

From 80161fb7fe13c8c1dabcbe4c7af8bafa38d59549 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 12 May 2021 14:29:17 -0700
Subject: [PATCH 2/6] cleanup

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .../plugins/scene_manager/GzSceneManager.cc   | 21 ++-----------------
 1 file changed, 2 insertions(+), 19 deletions(-)

diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc
index ee3a204a29..7491687688 100644
--- a/src/gui/plugins/scene_manager/GzSceneManager.cc
+++ b/src/gui/plugins/scene_manager/GzSceneManager.cc
@@ -47,9 +47,6 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     //// \brief Pointer to the rendering scene
     public: rendering::ScenePtr scene;
 
-    /// \brief Name of the world
-    public: std::string worldName;
-
     /// \brief Rendering utility
     public: RenderUtil renderUtil;
   };
@@ -62,7 +59,7 @@ using namespace gazebo;
 
 /////////////////////////////////////////////////
 GzSceneManager::GzSceneManager()
-  : GuiSystem(), dataPtr(std::make_unique<GzSceneManagerPrivate>)
+  : GuiSystem(), dataPtr(std::make_unique<GzSceneManagerPrivate>())
 {
 }
 
@@ -70,7 +67,7 @@ GzSceneManager::GzSceneManager()
 GzSceneManager::~GzSceneManager() = default;
 
 /////////////////////////////////////////////////
-void GzSceneManager::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+void GzSceneManager::LoadConfig(const tinyxml2::XMLElement *)
 {
   if (this->title.empty())
     this->title = "Scene Manager";
@@ -84,20 +81,6 @@ void GzSceneManager::Update(const UpdateInfo &_info,
     EntityComponentManager &_ecm)
 {
   IGN_PROFILE("GzSceneManager::Update");
-  if (this->dataPtr->worldName.empty())
-  {
-    // TODO(anyone) Only one scene is supported for now
-    Entity worldEntity;
-    _ecm.Each<components::World, components::Name>(
-        [&](const Entity &_entity,
-          const components::World * /* _world */ ,
-          const components::Name *_name)->bool
-        {
-          this->dataPtr->worldName = _name->Data();
-          worldEntity = _entity;
-          return false;
-        });
-  }
 
   this->dataPtr->renderUtil.UpdateECM(_info, _ecm);
   this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm);

From 5f94fe2e910d1355fb2f6675f7eeb6ab572b4543 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Mon, 21 Jun 2021 12:46:15 -0700
Subject: [PATCH 3/6] Update to latest

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 src/gui/gui.config                              | 2 +-
 src/gui/plugins/scene_manager/GzSceneManager.cc | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/gui/gui.config b/src/gui/gui.config
index bb2b9f7e42..67f4de172e 100644
--- a/src/gui/gui.config
+++ b/src/gui/gui.config
@@ -26,7 +26,7 @@
 <!-- GUI plugins -->
 
 <!-- 3D scene -->
-<plugin filename="Scene3D" name="3D View">
+<plugin filename="MinimalScene" name="3D View">
   <ignition-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc
index 7491687688..61c86a21d2 100644
--- a/src/gui/plugins/scene_manager/GzSceneManager.cc
+++ b/src/gui/plugins/scene_manager/GzSceneManager.cc
@@ -103,7 +103,7 @@ void GzSceneManagerPrivate::OnRender()
 {
   if (nullptr == this->scene)
   {
-    this->scene = rendering::someInitializedScene();
+    this->scene = rendering::sceneFromFirstRenderEngine();
     if (nullptr == this->scene)
       return;
 

From fbceade64d8e2530f8cb31054134e716ef1ccca6 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Mon, 9 Aug 2021 15:08:37 -0700
Subject: [PATCH 4/6] Don't make it official yet

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 examples/worlds/minimal_scene.sdf | 452 ++++++++++++++++++++++++++++++
 src/gui/gui.config                |  16 +-
 2 files changed, 453 insertions(+), 15 deletions(-)
 create mode 100644 examples/worlds/minimal_scene.sdf

diff --git a/examples/worlds/minimal_scene.sdf b/examples/worlds/minimal_scene.sdf
new file mode 100644
index 0000000000..6720d2aa85
--- /dev/null
+++ b/examples/worlds/minimal_scene.sdf
@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<!--
+
+Demo using Ignition GUI's MinimalScene plugin.
+
+Features:
+
+* Addition, removal and movement of entities (from server)
+* View control with mouse
+* Camera tracking (initiated from EntityTree)
+* Markers
+* Tape measure
+* Grid config
+
+Missing for parity with GzScene3D:
+
+* Spawn entities through GUI
+* Context menu
+* Transform controls
+* Select entities
+* Record video
+* View angles
+* View collisions, wireframe, transparent, CoM, etc
+* ...
+
+-->
+<sdf version="1.6">
+  <world name="minimal_scene">
+
+    <gui fullscreen="0">
+
+      <!-- 3D scene -->
+      <plugin filename="MinimalScene" 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>
+
+        <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="GzSceneManager" name="Scene Manager">
+       <ignition-gui>
+         <anchors target="3D View">
+           <line own="right" target="right"/>
+           <line own="top" target="top"/>
+         </anchors>
+         <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>
+       </ignition-gui>
+     </plugin>
+     <plugin filename="InteractiveViewControl" name="Interactive view control">
+       <ignition-gui>
+         <anchors target="3D View">
+           <line own="right" target="right"/>
+           <line own="top" target="top"/>
+         </anchors>
+         <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>
+       </ignition-gui>
+     </plugin>
+     <plugin filename="CameraTracking" name="Camera Tracking">
+       <ignition-gui>
+         <anchors target="3D View">
+           <line own="right" target="right"/>
+           <line own="top" target="top"/>
+         </anchors>
+         <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>
+       </ignition-gui>
+     </plugin>
+     <plugin filename="MarkerManager" name="Marker manager">
+       <ignition-gui>
+         <anchors target="3D View">
+           <line own="right" target="right"/>
+           <line own="top" target="top"/>
+         </anchors>
+         <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>
+       </ignition-gui>
+     </plugin>
+
+      <!-- World control -->
+      <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>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/buoyancy/control</service>
+        <stats_topic>/world/buoyancy/stats</stats_topic>
+
+      </plugin>
+
+      <!-- World statistics -->
+      <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>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/buoyancy/stats</topic>
+      </plugin>
+
+      <!-- Insert simple shapes -->
+      <plugin filename="Shapes" name="Shapes">
+        <ignition-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>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Insert lights -->
+      <plugin filename="Lights" name="Lights">
+        <ignition-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>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Translate / rotate -->
+      <plugin filename="TransformControl" name="Transform control">
+        <ignition-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>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Screenshot -->
+      <plugin filename="Screenshot" name="Screenshot">
+        <ignition-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>
+        </ignition-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>
+      </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>
+      </plugin>
+
+    </gui>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="box">
+      <pose>0 0 0.5 0 0 0</pose>
+      <link name="box_link">
+        <inertial>
+          <inertia>
+            <ixx>0.16666</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.16666</iyy>
+            <iyz>0</iyz>
+            <izz>0.16666</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="box_collision">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <visual name="box_visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="cylinder">
+      <pose>0 -1.5 0.5 0 0 0</pose>
+      <link name="cylinder_link">
+        <inertial>
+          <inertia>
+            <ixx>0.1458</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.1458</iyy>
+            <iyz>0</iyz>
+            <izz>0.125</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="cylinder_collision">
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1.0</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="cylinder_visual">
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1.0</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0 1 0 1</ambient>
+            <diffuse>0 1 0 1</diffuse>
+            <specular>0 1 0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="sphere">
+      <pose>0 1.5 0.5 0 0 0</pose>
+      <link name="sphere_link">
+        <inertial>
+          <inertia>
+            <ixx>0.1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.1</iyy>
+            <iyz>0</iyz>
+            <izz>0.1</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="sphere_collision">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </collision>
+
+        <visual name="sphere_visual">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <ambient>0 0 1 1</ambient>
+            <diffuse>0 0 1 1</diffuse>
+            <specular>0 0 1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="capsule">
+      <pose>0 -3.0 0.5 0 0 0</pose>
+      <link name="capsule_link">
+        <inertial>
+          <inertia>
+            <ixx>0.074154</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.074154</iyy>
+            <iyz>0</iyz>
+            <izz>0.018769</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="capsule_collision">
+          <geometry>
+            <capsule>
+              <radius>0.2</radius>
+              <length>0.6</length>
+            </capsule>
+          </geometry>
+        </collision>
+        <visual name="capsule_visual">
+          <geometry>
+            <capsule>
+              <radius>0.2</radius>
+              <length>0.6</length>
+            </capsule>
+          </geometry>
+          <material>
+            <ambient>1 1 0 1</ambient>
+            <diffuse>1 1 0 1</diffuse>
+            <specular>1 1 0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="ellipsoid">
+      <pose>0 3.0 0.5 0 0 0</pose>
+      <link name="ellipsoid_link">
+        <inertial>
+          <inertia>
+            <ixx>0.068</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.058</iyy>
+            <iyz>0</iyz>
+            <izz>0.026</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="ellipsoid_collision">
+          <geometry>
+            <ellipsoid>
+              <radii>0.2 0.3 0.5</radii>
+            </ellipsoid>
+          </geometry>
+        </collision>
+        <visual name="ellipsoid_visual">
+          <geometry>
+            <ellipsoid>
+              <radii>0.2 0.3 0.5</radii>
+            </ellipsoid>
+          </geometry>
+          <material>
+            <ambient>1 0 1 1</ambient>
+            <diffuse>1 0 1 1</diffuse>
+            <specular>1 0 1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>
diff --git a/src/gui/gui.config b/src/gui/gui.config
index 71c16f48f3..137c55e648 100644
--- a/src/gui/gui.config
+++ b/src/gui/gui.config
@@ -27,7 +27,7 @@
 <!-- GUI plugins -->
 
 <!-- 3D scene -->
-<plugin filename="MinimalScene" name="3D View">
+<plugin filename="GzScene3D" name="3D View">
   <ignition-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
@@ -41,20 +41,6 @@
   <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
 </plugin>
 
-<plugin filename="GzSceneManager" name="Scene Manager">
-  <ignition-gui>
-    <anchors target="3D View">
-      <line own="right" target="right"/>
-      <line own="top" target="top"/>
-    </anchors>
-    <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>
-  </ignition-gui>
-</plugin>
-
 <!-- Play / pause / step -->
 <plugin filename="WorldControl" name="World control">
   <ignition-gui>

From 21e1b7b9c923742e200e22ea0cfe651c824d80d1 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Mon, 9 Aug 2021 15:22:13 -0700
Subject: [PATCH 5/6] alphabetize

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 src/gui/plugins/scene_manager/GzSceneManager.cc | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc
index 61c86a21d2..891f9920b4 100644
--- a/src/gui/plugins/scene_manager/GzSceneManager.cc
+++ b/src/gui/plugins/scene_manager/GzSceneManager.cc
@@ -18,19 +18,16 @@
 #include "GzSceneManager.hh"
 
 #include <ignition/common/Profiler.hh>
-
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/GuiEvents.hh>
 #include <ignition/plugin/Register.hh>
-
 #include <ignition/rendering/RenderingIface.hh>
 #include <ignition/rendering/Scene.hh>
-
-#include <ignition/gui/GuiEvents.hh>
-#include <ignition/gui/Application.hh>
 #include <ignition/gui/MainWindow.hh>
 
+#include "ignition/gazebo/EntityComponentManager.hh"
 #include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/components/World.hh"
-#include "ignition/gazebo/EntityComponentManager.hh"
 #include "ignition/gazebo/rendering/RenderUtil.hh"
 
 namespace ignition

From 3bcbe3d357562430b7ba3c6ead696b6bfa3ba496 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Tue, 10 Aug 2021 09:28:59 -0700
Subject: [PATCH 6/6] PR feedback

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 examples/worlds/minimal_scene.sdf             | 106 +++++++++---------
 .../plugins/scene_manager/GzSceneManager.cc   |   2 +-
 2 files changed, 54 insertions(+), 54 deletions(-)

diff --git a/examples/worlds/minimal_scene.sdf b/examples/worlds/minimal_scene.sdf
index 6720d2aa85..8dc69f2bbf 100644
--- a/examples/worlds/minimal_scene.sdf
+++ b/examples/worlds/minimal_scene.sdf
@@ -44,59 +44,59 @@ Missing for parity with GzScene3D:
         <camera_pose>-6 0 6 0 0.5 0</camera_pose>
       </plugin>
 
-     <!-- Plugins that add functionality to the scene -->
-     <plugin filename="GzSceneManager" name="Scene Manager">
-       <ignition-gui>
-         <anchors target="3D View">
-           <line own="right" target="right"/>
-           <line own="top" target="top"/>
-         </anchors>
-         <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>
-       </ignition-gui>
-     </plugin>
-     <plugin filename="InteractiveViewControl" name="Interactive view control">
-       <ignition-gui>
-         <anchors target="3D View">
-           <line own="right" target="right"/>
-           <line own="top" target="top"/>
-         </anchors>
-         <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>
-       </ignition-gui>
-     </plugin>
-     <plugin filename="CameraTracking" name="Camera Tracking">
-       <ignition-gui>
-         <anchors target="3D View">
-           <line own="right" target="right"/>
-           <line own="top" target="top"/>
-         </anchors>
-         <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>
-       </ignition-gui>
-     </plugin>
-     <plugin filename="MarkerManager" name="Marker manager">
-       <ignition-gui>
-         <anchors target="3D View">
-           <line own="right" target="right"/>
-           <line own="top" target="top"/>
-         </anchors>
-         <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>
-       </ignition-gui>
-     </plugin>
+      <!-- Plugins that add functionality to the scene -->
+      <plugin filename="GzSceneManager" name="Scene Manager">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <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>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <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>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="CameraTracking" name="Camera Tracking">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <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>
+        </ignition-gui>
+      </plugin>
+      <plugin filename="MarkerManager" name="Marker manager">
+        <ignition-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <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>
+        </ignition-gui>
+      </plugin>
 
       <!-- World control -->
       <plugin filename="WorldControl" name="World control">
diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc
index 891f9920b4..f7ec59fbac 100644
--- a/src/gui/plugins/scene_manager/GzSceneManager.cc
+++ b/src/gui/plugins/scene_manager/GzSceneManager.cc
@@ -20,10 +20,10 @@
 #include <ignition/common/Profiler.hh>
 #include <ignition/gui/Application.hh>
 #include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/MainWindow.hh>
 #include <ignition/plugin/Register.hh>
 #include <ignition/rendering/RenderingIface.hh>
 #include <ignition/rendering/Scene.hh>
-#include <ignition/gui/MainWindow.hh>
 
 #include "ignition/gazebo/EntityComponentManager.hh"
 #include "ignition/gazebo/components/Name.hh"