Steve Peters

just addressing the debian packages, `libdart6-dev` doesn't have all the components, I also install `libdart6-collision-ode-dev` and `libdart6-utils-urdf-dev` when I build ign-physics

It does sound like the problem is coming from FCL, but it also seems that the Dantzig solver is less robust to bad inputs. Is there a way to detect...

Is this related to the rigid body rotation errors?

Yeah, gazebo is not very selective about its dart headers; it's just `dart/dart.hpp`: * https://bitbucket.org/osrf/gazebo/src/f4e51e8f64001beda70615ab8982a7d5a4e65b18/gazebo/physics/dart/dart_inc.h?at=default&fileviewer=file-view-default#dart_inc.h-24 Maybe it would be worth our while to be more explicit about which headers we...

I know this is still just a proposal, but I wanted to note that I think dart's ABI was broken by https://github.com/dartsim/dart/commit/68aef6b6d66d3f032971752b3f30c77aa13b3c7c#diff-b521b0929fd5887e9bd58eebad913cef (conversion of createShapeNode functions from library to template).

I believe you, but I'm not able to reproduce it. I just tried using the `BricardMechanism` binary included in the simbody 3.61 homebrew bottle for mojave from the `osrf/simulation` tap,...

It's definitely using Xcode 10, as `brew doctor` would complain otherwise, and I assume it's using the 10.14 SDK. Here's the formula: * https://github.com/osrf/homebrew-simulation/blob/master/Formula/simbody.rb#L26-L37

What kind of machine are you using? Is there any chance it's a laptop with a retina display? The mac mini I tested doesn't have a retina display.

Ok, I was wrong before; I was actually testing on a laptop with retina display (I was connected remotely, so I forgot which machine it was). The laptop is from...

Try installing `simbody-doc` * http://packages.ubuntu.com/search?keywords=simbody&searchon=names&suite=yakkety&section=all