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**Original report ([archived issue](https://scpeters-test.github.io/gh-pages_sdformat_fast_export/#!/osrf/sdformat/issues/72)) by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccf…
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**Original report ([archived issue](https://scpeters-test.github.io/gh-pages_sdformat_fast_export/#!/osrf/sdformat/issues/123)) by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2cc…
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**Original report ([archived issue](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/issues/69)) by John Hsu (Bitbucket: [hsu](https://bitbucket.org/%7B0a186eae-abf0-4514-a951-23db5…
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**Original report ([archived issue](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/issues/1028)) by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09-18b8-492…
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**Original report ([archived issue](https://osrf-migration.github.io/osrf-others-gh-pages/#!/osrf/gazebo_design/issues/2)) by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09…
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## Environment
* OS Version: N/A
* Source or binary build? Current master (see source permalink)
## Description
Came across this during @jennuine's resolution of https://github.com/osrf/sdformat…
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The joints in a typical URDF (e.g., panda arm) will have stanzas something like this:
```xml
...
transmission_interface/SimpleTransmission
…
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Following conversation here: https://github.com/ros/urdfdom/pull/123#issuecomment-1865255612
Reopening as new PRs
- urdfdom: https://github.com/ros/urdfdom/pull/194
- urdfdom_headers: https://git…
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**Original report ([archived issue](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/issues/228)) by Jeremy Nimmer (Bitbucket: [Jeremy Nimmer](https://bitbucket.org/%7B127cef5b-add8…
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## Environment
* OS Version: Debian bullseye
* Source or binary build? Source: 17a4cf853a097b9adfa508876250044f367a4090
## Description
* Expected behavior: Either
1. Parses the SDF correctly …