Steve Peters

parser_urdf should not ignore origin of floating and planar joints

1

## Desired behavior While investigating a [question related to the reference frame used for floating URDF joints](https://robotics.stackexchange.com/questions/24458/urdf-to-sdf-frame-of-reference-calculation-for-base-joint-fixed-vs-floating), I noticed that `parser_urdf.cc` currently takes no action when encountering `floating` and `planar`...

ToElement methods do not export data from custom xml namespaces

5

## Environment * OS Version: any * Source or binary build? any ## Description * Expected behavior: if you have an SDFormat file with data in custom XML namespaces (like...

Add more detail about friction models and specifying body-fixed friction directions with fdir1.

Allow empty strings in plugin and custom attributes

2

# 🦟 Bug fix Fixes #725 ## Summary Currently errors are generated when adding an attribute containing an empty string to a `` block or as a custom attribute. This...

Add custom attribute to custom element in test

1

# 🦟 Bug fix Confirms that #54 has been fixed ## Summary Issue #54 was opened before we had documented support for custom elements and attributes and mentions that custom...

## Desired behavior The `//joint/thread_pitch` element was deprecated in 1.10 in favor of `//joint/screw_thread_pitch` (see https://github.com/gazebosim/sdformat/issues/1125 and https://github.com/gazebosim/sdformat/pull/1168). The C++ APIs `Joint::ThreadPitch` and `Joint::SetThreadPitch` are not yet deprecated. We should...

JointDetach test now failing on macOS with ODE 0.16.5

1

## Environment * OS Version: macOS: 12.6.6-x86_64 * Source or binary build? source build of `gz-physics7` as of https://github.com/gazebosim/gz-physics/commit/2bc19ad0d7ca34f2150c765e8cce5d712ba117bd ## Description * Expected behavior: expect all tests to pass *...

The `bullet-featherstone` plugin has implemented many `gz-physics` features, but not all. This issue will track which features are yet to be implemented * [x] https://github.com/gazebosim/gz-physics/pull/544 * [x] https://github.com/gazebosim/gz-physics/pull/562 * [x]...

Add Feature to allow runtime changes to joint friction, damping, spring properties

10

## Desired behavior There are several joint parameters specified in `//joint/axis*/dynamics` such as `friction`, `damping`, `spring_stiffness`, and `spring_reference`. Several of these parameters are supported by the `dartsim` plugin when [loading...

## Desired behavior The `contactSurfaceMotionVelocity` parameter was added to the `ContactSurfaceParams` data structure in [ContactProperties.hh](https://github.com/gazebosim/gz-physics/blob/gz-physics6/include/gz/physics/ContactProperties.hh#L81-L88) in https://github.com/gazebosim/gz-physics/pull/267. This parameter can be used to model tracked vehicle mobility and conveyor belts....