Kinematic tag does not affect model in sim

[fnndyl]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build? Gazebo Harmonic 8.8.0

Description

• Expected behavior: The kinematic tag should make an object able to interact (collide) with other physics objects, but be otherwise unaffected by forces/torques/etc.
• Actual behavior: The kinematic tag seems to do nothing. An object given the kinematic tag still falls with gravity, for example.

Steps to reproduce

Model SDF:

<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
  <model name='barge'>
    <!--<static>true</static>-->
    <!-- Move platform slightly away and down, separate starting plane for drone-->
    <pose>1 0 -1 0 0 1.5708</pose>
    <link name='base'>
    
      <kinematic>true</kinematic>

      <visual name='base_visual'>
        <geometry>
          <box>
            <size>0.5 0.5 0.05</size>
          </box>
        </geometry>
        <material>
          <diffuse>1 1 1 1</diffuse>
          <specular>0.4 0.4 0.4 1</specular>
          <pbr>
            <metal>
              <albedo_map>model://arucotag/arucotag.png</albedo_map>
            </metal>
          </pbr>
        </material>
      </visual>

      <collision name='base_collision'>
        <geometry>
          <box>
            <size>0.5 0.5 0.05</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1.0</mu>
              <mu2>1.0</mu2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.1</restitution_coefficient>
            <threshold>1.0</threshold>
          </bounce>
        </surface>
      </collision>
    </link>
  </model>
</sdf>

I can also provide the world's sdf file if that would be helpful.