Ian Chen

the homebrew warning looks unrelated to this PR. It just started recently, and I see it in the [gz-physics8](https://build.osrfoundation.org/job/gz_physics-ci-gz-physics8-homebrew-amd64/67/) branch as well.

> Looks like there are several test failures in windows and I don't see any in the stable branch (https://build.osrfoundation.org/view/gz-harmonic/job/gz_physics-7-win/) Fixed and this PR is ready for review again. The...

I addressed most of the comments but not all. I still need to figure out how to resolve the issue with ambiguous collision index and then add a test.

> Ok. The last mystery, what happened in Jenkins. Looks like something goes wrong with couple of python tests. I can't try restart build there, don't have a permissions. the...

yeah, once this is merged, you can cherry pick the changes for backports or use mergify, e.g. add the comment `@mergifyio backport gz-sim`

actually I also implemented this in #3003. I plan to get that in for Jetty release. If you can wait, we can backport that to harmonic after the release.

there is an existing pull request, https://github.com/gazebosim/gz-sim/pull/2514, that may be related to what you're looking for. It's still in review though.

can you try `gz sim -v 4 --headless-rendering shapes.sdf` and see if it makes any difference?

we currently don't support setting a camera to orthographic projection from the sdf. The `//lens/type` sdf tag is currently only used by wide angle cameras but not regular cameras. To...

you should be able to go with 1 in a colcon workspace Clone and build gz-sensors: ```bash mkdir -p ~/colcon_ws/src cd ~/colcon_ws/src git clone [email protected]:gazebosim/gz-sensors.git # make your local changes...