Ian Chen

## Environment * OS Version: Ubuntu 22.04 * Source or binary build? citadel and above In many of gz-sim's systems `PostUpdate` function, there is this code to print warning msg:...

# 🎉 New feature Replaces #2331 Related gz-physics PR: https://github.com/gazebosim/gz-physics/pull/611 ## Summary Extends VisualizationCapabilities gui plugin to support visualizing mesh collisions with convex decomposition. if a mesh collision has the...

# 🎉 New feature ## Summary Added support for users to configure the bullet solver iterations. It parses the `//world/physics/bullet/solver/iters` SDF param and sets that value to the physics engine...

# ➡️ Backport Backport #2352 **Note to maintainers**: Remember to **Rebase and merge** with commit (not squash-merge or merge)

# 🎉 New feature Related issue: https://github.com/gazebosim/gz-sensors/issues/306 ## Summary There are many ways to specify the sensor frame id in gazebo, e.g. * `//sensor/gz_frame_id` - Parsed by gz-sensors. Not in...

Deprecate camera pose

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# 🦟 Bug fix ## Summary Deprecate `//sensor/camera/pose` as it's redundant with `//sensor/pose`, see https://github.com/gazebosim/gz-sim/pull/2433#issuecomment-2150894010. I deprecated the relevant functions in Camera DOM class. As for deprecating the actual `//sensor/camera/pose`...

INTEGRATION_load_unload_ogre_gl3plus test fails on gz_rendering-ci-pr_any-noble-amd64

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## Environment * OS Version: Ubuntu Noble 24.04 * Source or binary build? source build, `main` branch (gz-rendering9) - Rendering plugin: ogre. ## Description `INTEGRATION_load_unload_ogre_gl3plus` test is failing on `gz_rendering-ci-pr_any-noble-amd64`...

# 🦟 Bug fix ## Summary Updated JointTransmittedWrench function to account for forces and torques applied by constraints, e.g. when velocity commands are sent, bullet uses a motor constraint to...

bullet-featherstone: Fix joint frame data pose

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# 🦟 Bug fix Related issue https://github.com/gazebosim/gz-physics/issues/648 ## Summary Fix joint frame data pose calculation. Re-enabled a check in JointFrameSemantics test for bullet-featherstone and the test should now pass. ##...

bullet-featherstone: Use a single contact manifold for each convex decomposed mesh collision

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# 🦟 Bug fix Marked as **draft** for debugging windows build ## Summary Contact point optimization for convex decomposed mesh collisions in bullet-featherstone plugin. This PR reduces the number of...