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**Is your feature request related to a problem? Please describe.**
Relates #6527
Per f2f w/ Ale, we most likely don't support joint-level dry friction, aside from damping (viscous friction). Seems…
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**Original report ([archived issue](https://scpeters-test.github.io/gh-pages_sdformat_fast_export/#!/osrf/sdformat/issues/70)) by John Hsu (Bitbucket: [hsu](https://bitbucket.org/%7B0a186eae-abf0-4514…
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Is there a simple way to create a chain with BVH motion files?In fact it will be perfect to add a BVH parser.
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**Which model is the issue affecting?**
google_barkour_vb/scene_hfield_mjx.xml
**What is the issue?**
Issue 1)
The robot sinks into and falls below the floor when I simulate the scene usin…
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(I am not sure if this is the right place where to file this issue, feel free to move it somewhere else if it make sense to do so).
For users that use drake as any other library in their own plain…
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## Environment
* OS Version: Ubuntu 20.04
* Source build sdf12 branch
When parsing a URDF string, parser.cc function readDoc places "" into file pathing via SetFilePath. This literal t…
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**Original report ([archived issue](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/issues/105)) by Silvio Traversaro (Bitbucket: [traversaro](https://bitbucket.org/%7B34f404cb-564…
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**Original report ([archived issue](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/issues/70)) by John Hsu (Bitbucket: [hsu](https://bitbucket.org/%7B0a186eae-abf0-4514-a951-23db5…
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## Environment
* OS Version: Debian 11 Bullseye
* Source build using colcon as documented in https://gazebosim.org/docs/fortress/install_ubuntu_src
## Description
I'm trying to build Ignition …
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**Original report ([archived issue](https://scpeters-test.github.io/gh-pages_sdformat_fast_export/#!/osrf/sdformat/issues/224)) by Claire Wang (Bitbucket: [Claire Wang](https://bitbucket.org/%7B4b4ab2…