osrf-migration

**Original comment by Diego Ferigo (Bitbucket: [dgferigo](https://bitbucket.org/%7B994b27a5-7d6d-42b2-8aa7-2ea82fbe7bf6%7D/)).** ---------------------------------------- Waiting a reply from the maintainers of the simulator, I can tell you that as far as I know setting the state...

**Original comment by waytry (Bitbucket: [waytry](https://bitbucket.org/%7Bfa936e07-3ee7-4baf-af48-c270f92e27c1%7D/)).** ---------------------------------------- Hi [Diego Ferigo (dgferigo)](https://bitbucket.org/%7B994b27a5-7d6d-42b2-8aa7-2ea82fbe7bf6%7D/) , thanks for the reply. Appreciate it! I noticed that in one of an earlier [PR](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/556/update-physics-state-even-when-paused-not/diff) you mentioned that...

**Original comment by Michael Grey (Bitbucket: [mxgrey](https://bitbucket.org/%7Bc1cdfe52-2887-474c-ae99-72fdc53a59c9%7D/), GitHub: [mxgrey](https://github.com/mxgrey)).** ---------------------------------------- Diego’s reply is completely correct: link poses and link velocities cannot generally be set directly, because those properties are constrained...

**Original comment by Diego Ferigo (Bitbucket: [dgferigo](https://bitbucket.org/%7B994b27a5-7d6d-42b2-8aa7-2ea82fbe7bf6%7D/)).** ---------------------------------------- > so something like a `ResetJointVelocity` component would be better, if such a thing existed I’m not sure if I got your...

**Original comment by Michael Grey (Bitbucket: [mxgrey](https://bitbucket.org/%7Bc1cdfe52-2887-474c-ae99-72fdc53a59c9%7D/), GitHub: [mxgrey](https://github.com/mxgrey)).** ---------------------------------------- Oh wow, that’s literally exactly what I had in mind. I didn’t realize that already existed, because I was looking...

**Original comment by Michael Grey (Bitbucket: [mxgrey](https://bitbucket.org/%7Bc1cdfe52-2887-474c-ae99-72fdc53a59c9%7D/), GitHub: [mxgrey](https://github.com/mxgrey)).** ---------------------------------------- But now I realize you linked to those new features in your original comment. So your first comment was perfect,...

**Original comment by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09-18b8-4921-8d58-15ef01092802%7D/), GitHub: [scpeters](https://github.com/scpeters)).** ---------------------------------------- We should also make sure that these friction parameters are defined in both physics.sdf (default values) and surface.sdf (per-collision...

**Original comment by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09-18b8-4921-8d58-15ef01092802%7D/), GitHub: [scpeters](https://github.com/scpeters)).** ---------------------------------------- Starting work in branch issue_31 with 117b0dc95476baa99951861462f2e38a3e8adaac

**Original comment by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09-18b8-4921-8d58-15ef01092802%7D/), GitHub: [scpeters](https://github.com/scpeters)).** ---------------------------------------- * set version to "1.5"

**Original comment by John Hsu (Bitbucket: [hsu](https://bitbucket.org/%7B0a186eae-abf0-4514-a951-23db5eccc286%7D/), GitHub: [hsu](https://github.com/hsu)).** ---------------------------------------- Existing format: ~~~ 1.0 1.0 ~~~ Proposed: ~~~ 1.0 1.0 0.0 1.0 1.0 1.0 0.0 ~~~ Reference [simbody implementation of...