The angular velocity was calculated using euler angles which led to singularities

---------

Signed-off-by: Tom Creutz <tcreutz97@gmail.com>
Signed-off-by: Shameek Ganguly <shameek@google.com>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Aditya Pande <aditya050995@gmail.com>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
Co-authored-by: Shameek Ganguly <shameek@google.com>

Added a check for non-empty laser scan ranges before accessing the elements.

Signed-off-by: Ian Chen <ichen@openrobotics.org>

* check !empty(), not compare to size()
* include what you use: add missing, remove unused
  headers, alphabetize.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

* Model.hh: add ModelByName and ModelCount APIs
  Backport nested model accessor APIs from #2494.
* Add WrenchMeasured component
* Physics.cc: fix typo in comment
* sensor_TEST.py: move PreUpdate callback to Update
  The test's PreUpdate callback assumes that it executes
  after the ForceTorque::PreUpdate, so just move it to
  Update to gurantee it. Also fix a spelling error in
  the callback variable names.
* fix spelling in on_post_update_cb
* backport minor fixes to force-torque test
* Include System.hh from some systems, add comment

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Signed-off-by: Azmyin M. Kamal <azmyin12@gmail.com>

Signed-off-by: Ian Chen <ichen@openrobotics.org>

Signed-off-by: Abhiroop Bhavsar <b22me002@iitj.ac.in>

Signed-off-by: Athena Z <athenaz@google.com>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Ian Chen <ichen@openrobotics.org>

* Copy the code to the new function - won't compile

* Fix the build

* Replace static default world with sdf default world

* Added string and utility headers

* test moving header file

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

* Move header file back

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

* Move meshinertiacalculator header

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

* Testing remove of literals

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

* Undo tests, and just move the MeshInertiaCalculator.hh to top of file

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

---------

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

This is part of #2500 that can be backported without
breaking anything. None of the default system
priorities are changed to preserve existing behavior.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

…#2653)

Signed-off-by: Ian Chen <ichen@openrobotics.org>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Ian Chen <ichen@openrobotics.org>
(cherry picked from commit 57599fb)

Preserve the existing PYTHONPATH by prepending
instead of replacing.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
(cherry picked from commit 0d346de)

Co-authored-by: Steve Peters <scpeters@openrobotics.org>

…ary. (#2596) (#2683)

* A hack to greatly improve load times

I was investigating
gazebosim/gazebo_test_cases#1576 , in my
investigation it came to my notice that `sdf::Element` takes forever to
destroy (We should open a ticket somewhere about this). If we are
skipping serialization we might as well not create and destroy an
SDF Element. This hack greatly speeds up the load time for gazebo.

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
(cherry picked from commit 1a88131)

This adds SensorByName, Sensors, and SensorCount accessors
to the Link class with associated python bindings.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
(cherry picked from commit 7f002d6)

Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com>
(cherry picked from commit 6f7d21f)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
(cherry picked from commit f0cde05)

Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
(cherry picked from commit dd3e241)