Kinematic Tag for Dartsim (Harmonic)

[jcmayoral]

🦟 Bug fix

Fixes #

Summary

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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🎉 New feature

Closes #

Summary

Test it

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers
• Was GenAI used to generate this PR? If so, make sure to add "Generated-by" to your commits. (See this policy for more info.)

Generated-by: Remove this if GenAI was not used.

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by and Generated-by messages.

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➡️ Forward port

Port <FROM_BRANCH> to <TO_BRANCH>

Branch comparison: https://github.com/gazebosim//compare/<TO_BRANCH>...<FROM_BRANCH>

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🎈 Release

Preparation for <X.Y.Z> release.

Comparison to <x.y.z>: https://github.com/gazebosim//compare/<LATEST_TAG_BRANCH>...<RELEASE_BRANCH>

Needed by <PR(s)>

Checklist

• Asked team if this is a good time for a release
• There are no changes to be ported from the previous major version
• No PRs targeted at this major version are close to getting in
• Bumped minor for new features, patch for bug fixes
• Updated changelog
• Updated migration guide (as needed)
• Link to PR updating dependency versions in appropriate repository in gazebo-release (as needed):

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[jcmayoral]

This depends on this MR https://github.com/dartsim/dart/pull/1953/commits

[jcmayoral]

kinematic-tag-demo-2025-07-09_19.08.49.mp4

A comparison between kinematic and non-kinematic collision with static box

[azeey]

@jcmayoral Thanks for the contribution!! This is a greatly needed feature. However, I suggest targeting the PR to main as recommended in our contribution guide. After it's merged in main, the maintainers will backport to older branches.

Could you also please fill out the description following the template provided? That will help provide context for the PR.

Finally, since this depends on an upstream change that's not merged yet, I'll remove it from the Jetty milestone. But please don't let this stop you from pushing on this PR. Once the Jetty is released, we'll be able to merge this.

[jcmayoral]

Hi @azeey. I will update this to point to main. But I have removed the dependency on the external MR. Now this one is the one needed. I removed the other MR because of two main reasons:

• If I contribute to the dart repository, gz-physics might need to bump the dartsim version.
• It seems the external MR will not go through, so I migrate the changes to this MR.

Please, reconsider to integrate this feature for jetty release.

[jcmayoral]

@azeey Now #758 is pointing to main, and I also add some tests there. So it might sense to close this one and focus on the #758

What do you think?

[azeey]

Oh interesting. I didn't realize the upstream change wasn't needed. In that case, I'll close this PR and we'll review #758 toward getting it into Jetty. We can backport to Ionic/Harmonic once that lands.