Ian Chen

We did some more tests afterwards using [SaintPetersBasilica.dds](https://github.com/OGRECave/ogre-next/blob/v2-2/Samples/Media/materials/textures/Cubemaps/SaintPetersBasilica.dds) from ogre and we do see differences in the result. I now see a blurry / low res image in the reflection....

> If I remember correctly, this was done on purpose so that all the cave tiles on SubT use the same texture. This should be resolved by allowing models to...

a gz-common 4.7.0 release was made with that patch (fortress) on 05/17/23. Maybe try updating `libignition-common4-graphics-dev`

That error msg is misleading and may not the actual cause for the boat falling through waves. The msg was changed to a debug msg (from error) in harmonic (https://github.com/gazebosim/gz-physics/pull/531)...

> Is it possible to make even a rudimentary test to confirm the changes proposed here? For example, if we put two objects in collision for a single time step...

> I think we need more documentation on what it means for a `Link` to be `Kinematic`, including the documenation for the SDFormat `//link/kinematic` tag: I expanded the SDF description...

CI picked up a few cpplint warnings: ``` /github/workspace/bullet-featherstone/src/JointFeatures.cc:87: Line ends in whitespace. Consider deleting these extra spaces. [whitespace/end_of_line] [4] /github/workspace/bullet-featherstone/src/JointFeatures.cc:90: Lines should be

I'll go ahead and merge this first

I can't reproduce the crash on my mac too but saw the same Qt output about shader preparation failure. The test passed on my machine.

I'm on macOS Monterey as well.