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Fix graded buoyancy problems#1297

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chapulina merged 15 commits intoign-gazebo6gazebosim/gz-sim:ign-gazebo6from arjo/fix/graded_buoyancygazebosim/gz-sim:arjo/fix/graded_buoyancyCopy head branch name to clipboardJan 20, 2022

+391-31

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Commits on Jan 18, 2022

• add test worlds

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• faster than realtime, add moments.

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• add unit test

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• apply fixes

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• add stricter test constraints

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• clean up mess

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• update buoyancy

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• Suggestions to #1297

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Commits on Jan 19, 2022

• offset

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• Fix torque for multiple collisions

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• Merge pull request #1301 from ignitionrobotics/chapulina/arjo/fix/graded_buoyancy

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Commits on Jan 20, 2022

• style fixes

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• address feedback on sdf files

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• Merge branch 'ign-gazebo6' into arjo/fix/graded_buoyancy

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• Skip buoyancy engine test on Windows (leftover from #1298)

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