8 tests fail

[yurivict]

Bug Report

Test project /usr/ports/misc/dartsim/work/.build
      Start  1: INTEGRATION_Aspect
 1/72 Test  #1: INTEGRATION_Aspect ................   Passed    0.03 sec
      Start  2: INTEGRATION_Building
 2/72 Test  #2: INTEGRATION_Building ..............   Passed    0.03 sec
      Start  3: INTEGRATION_Common
 3/72 Test  #3: INTEGRATION_Common ................   Passed    2.17 sec
      Start  4: INTEGRATION_Concurrency
 4/72 Test  #4: INTEGRATION_Concurrency ...........   Passed    0.03 sec
      Start  5: INTEGRATION_Constraint
 5/72 Test  #5: INTEGRATION_Constraint ............   Passed    0.04 sec
      Start  6: INTEGRATION_Frames
 6/72 Test  #6: INTEGRATION_Frames ................   Passed    0.04 sec
      Start  7: INTEGRATION_Friction
 7/72 Test  #7: INTEGRATION_Friction ..............   Passed    0.13 sec
      Start  8: INTEGRATION_InverseKinematics
 8/72 Test  #8: INTEGRATION_InverseKinematics .....   Passed    0.03 sec
      Start  9: INTEGRATION_NameManagement
 9/72 Test  #9: INTEGRATION_NameManagement ........   Passed    0.03 sec
      Start 10: INTEGRATION_Signal
10/72 Test #10: INTEGRATION_Signal ................   Passed    0.03 sec
      Start 11: test_CollisionGroups
11/72 Test #11: test_CollisionGroups ..............***Failed    0.06 sec
      Start 12: test_ConstraintSolver
12/72 Test #12: test_ConstraintSolver .............   Passed    0.03 sec
      Start 13: test_ContactConstraint
13/72 Test #13: test_ContactConstraint ............   Passed    0.06 sec
      Start 14: test_GenericJoints
14/72 Test #14: test_GenericJoints ................   Passed    0.03 sec
      Start 15: test_Inertia
15/72 Test #15: test_Inertia ......................   Passed    0.03 sec
      Start 16: test_Lemke
16/72 Test #16: test_Lemke ........................   Passed    0.03 sec
      Start 17: test_LocalResourceRetriever
17/72 Test #17: test_LocalResourceRetriever .......   Passed    0.03 sec
      Start 18: test_Optimizer
18/72 Test #18: test_Optimizer ....................   Passed    0.08 sec
      Start 19: test_ScrewJoint
19/72 Test #19: test_ScrewJoint ...................   Passed    0.04 sec
      Start 20: test_Subscriptions
20/72 Test #20: test_Subscriptions ................   Passed    0.03 sec
      Start 21: test_CompositeResourceRetriever
21/72 Test #21: test_CompositeResourceRetriever ...   Passed    0.04 sec
      Start 22: test_DartResourceRetriever
22/72 Test #22: test_DartResourceRetriever ........   Passed    0.04 sec
      Start 23: test_FileInfoWorld
23/72 Test #23: test_FileInfoWorld ................   Passed    0.08 sec
      Start 24: test_PackageResourceRetriever
24/72 Test #24: test_PackageResourceRetriever .....   Passed    0.04 sec
      Start 25: test_MjcfParser
25/72 Test #25: test_MjcfParser ...................   Passed    0.33 sec
      Start 26: test_SdfParser
26/72 Test #26: test_SdfParser ....................   Passed    0.50 sec
      Start 27: test_SkelParser
27/72 Test #27: test_SkelParser ...................   Passed    0.23 sec
      Start 28: test_VskParser
28/72 Test #28: test_VskParser ....................   Passed    0.10 sec
      Start 29: test_DartLoader
29/72 Test #29: test_DartLoader ...................***Failed    0.05 sec
      Start 30: test_IkFast
30/72 Test #30: test_IkFast .......................***Failed    0.05 sec
      Start 31: test_NearestNeighbor
31/72 Test #31: test_NearestNeighbor ..............   Passed    0.04 sec
      Start 32: test_Distance
32/72 Test #32: test_Distance .....................   Passed    0.05 sec
      Start 33: test_Raycast
33/72 Test #33: test_Raycast ......................***Exception: SegFault  0.05 sec
      Start 34: test_ForceDependentSlip
34/72 Test #34: test_ForceDependentSlip ...........   Passed    0.61 sec
      Start 35: test_Collision
35/72 Test #35: test_Collision ....................***Failed    0.45 sec
      Start 36: test_Dynamics
36/72 Test #36: test_Dynamics .....................   Passed   15.22 sec
      Start 37: test_Joints
37/72 Test #37: test_Joints .......................   Passed    1.99 sec
      Start 38: test_JointForceTorque
38/72 Test #38: test_JointForceTorque .............   Passed    0.09 sec
      Start 39: test_Skeleton
39/72 Test #39: test_Skeleton .....................   Passed    0.19 sec
      Start 40: test_MetaSkeleton
40/72 Test #40: test_MetaSkeleton .................   Passed    0.40 sec
      Start 41: test_SoftDynamics
41/72 Test #41: test_SoftDynamics .................   Passed    0.04 sec
      Start 42: test_World
42/72 Test #42: test_World ........................   Passed    2.86 sec
      Start 43: test_ForwardKinematics
43/72 Test #43: test_ForwardKinematics ............***Exception: SegFault  0.05 sec
      Start 44: test_Issue000Template
44/72 Test #44: test_Issue000Template .............   Passed    0.03 sec
      Start 45: test_Issue1243
45/72 Test #45: test_Issue1243 ....................   Passed    0.03 sec
      Start 46: test_Issue1583
46/72 Test #46: test_Issue1583 ....................   Passed    0.04 sec
      Start 47: test_Issue1596
47/72 Test #47: test_Issue1596 ....................   Passed    0.66 sec
      Start 48: test_Issue838
48/72 Test #48: test_Issue838 .....................***Exception: SegFault  0.05 sec
      Start 49: test_Issue892
49/72 Test #49: test_Issue892 .....................   Passed    0.15 sec
      Start 50: test_Issue895
50/72 Test #50: test_Issue895 .....................   Passed    0.03 sec
      Start 51: test_Issue986
51/72 Test #51: test_Issue986 .....................   Passed    0.03 sec
      Start 52: test_Issue1231
52/72 Test #52: test_Issue1231 ....................   Passed    0.04 sec
      Start 53: test_Issue1445
53/72 Test #53: test_Issue1445 ....................   Passed    0.38 sec
      Start 54: test_Issue1184
54/72 Test #54: test_Issue1184 ....................***Failed   18.70 sec
      Start 55: test_Issue1234
55/72 Test #55: test_Issue1234 ....................   Passed    0.05 sec
      Start 56: test_Issue1624
56/72 Test #56: test_Issue1624 ....................   Passed    3.29 sec
      Start 57: test_Issue1193
57/72 Test #57: test_Issue1193 ....................   Passed    5.10 sec
      Start 58: UNIT_common_CAllocator
58/72 Test #58: UNIT_common_CAllocator ............   Passed    0.03 sec
      Start 59: UNIT_common_Factory
59/72 Test #59: UNIT_common_Factory ...............   Passed    0.03 sec
      Start 60: UNIT_common_FreeListAllocator
60/72 Test #60: UNIT_common_FreeListAllocator .....   Passed    0.03 sec
      Start 61: UNIT_common_Logging
61/72 Test #61: UNIT_common_Logging ...............   Passed    0.03 sec
      Start 62: UNIT_common_MemoryManager
62/72 Test #62: UNIT_common_MemoryManager .........   Passed    0.04 sec
      Start 63: UNIT_common_PoolAllocator
63/72 Test #63: UNIT_common_PoolAllocator .........   Passed    0.04 sec
      Start 64: UNIT_common_StlAllocator
64/72 Test #64: UNIT_common_StlAllocator ..........   Passed    0.03 sec
      Start 65: UNIT_common_Stopwatch
65/72 Test #65: UNIT_common_Stopwatch .............   Passed    0.03 sec
      Start 66: UNIT_common_String
66/72 Test #66: UNIT_common_String ................   Passed    0.03 sec
      Start 67: UNIT_common_Uri
67/72 Test #67: UNIT_common_Uri ...................   Passed    0.03 sec
      Start 68: UNIT_math_Geometry
68/72 Test #68: UNIT_math_Geometry ................   Passed    0.03 sec
      Start 69: UNIT_math_Icosphere
69/72 Test #69: UNIT_math_Icosphere ...............   Passed    0.14 sec
      Start 70: UNIT_math_Math
70/72 Test #70: UNIT_math_Math ....................   Passed    1.25 sec
      Start 71: UNIT_math_Random
71/72 Test #71: UNIT_math_Random ..................   Passed    0.03 sec
      Start 72: UNIT_math_TriMesh
72/72 Test #72: UNIT_math_TriMesh .................   Passed    0.03 sec

89% tests passed, 8 tests failed out of 72

Total Test time (real) =  56.94 sec

The following tests FAILED:
         11 - test_CollisionGroups (Failed)
         29 - test_DartLoader (Failed)
         30 - test_IkFast (Failed)
         33 - test_Raycast (SEGFAULT)
         35 - test_Collision (Failed)
         43 - test_ForwardKinematics (SEGFAULT)
         48 - test_Issue838 (SEGFAULT)
         54 - test_Issue1184 (Failed)
Errors while running CTest
Output from these tests are in: /usr/ports/misc/dartsim/work/.build/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.
FAILED: CMakeFiles/test.util 
cd /usr/ports/misc/dartsim/work/.build && /usr/local/bin/ctest --force-new-ctest-process
ninja: build stopped: subcommand failed.
*** Error code 1

Some individual tests failures:

$ ./work/.build/unittests/regression/test_Issue838
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from Issue838
[ RUN      ] Issue838.MaterialParsing
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/regression/test_Issue838.cpp:44: Failure
Value of: nullptr != skeleton
  Actual: false
Expected: true
Segmentation fault

$ ./work/.build/unittests/integration/test_CollisionGroups
Running main() from /usr/ports/misc/dartsim/work/dart-6.13.2/unittests/gtest/src/gtest_main.cc
[==========] Running 12 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 12 tests from CollisionEngine/CollisionGroupsTest
[ RUN      ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/0
Running CollisionGroups test for [dart]
[       OK ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/0 (2 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/1
Running CollisionGroups test for [fcl]
[       OK ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/1 (3 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/2
Running CollisionGroups test for [bullet]
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_CollisionGroups.cpp:98: Failure
Value of: world->checkCollision()
  Actual: false
Expected: true
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_CollisionGroups.cpp:111: Failure
Value of: world->checkCollision()
  Actual: false
Expected: true
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_CollisionGroups.cpp:120: Failure
Value of: world->checkCollision()
  Actual: true
Expected: false
[  FAILED  ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/2, where GetParam() = "bullet" (5 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/3
Running CollisionGroups test for [ode]
[       OK ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/3 (0 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/0
Running CollisionGroups test for [dart]
[       OK ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/0 (0 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/1
Running CollisionGroups test for [fcl]
[       OK ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/1 (3 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/2
Running CollisionGroups test for [bullet]
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_CollisionGroups.cpp:212: Failure
Value of: group->collide()
  Actual: true
Expected: false
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_CollisionGroups.cpp:224: Failure
Value of: group->collide()
  Actual: true
Expected: false
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_CollisionGroups.cpp:244: Failure
Value of: group->collide()
  Actual: true
Expected: false
[  FAILED  ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/2, where GetParam() = "bullet" (3 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/3
Running CollisionGroups test for [ode]
[       OK ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/3 (0 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.RemovedSkeletonSubscription/0
Running CollisionGroups test for [dart]
[       OK ] CollisionEngine/CollisionGroupsTest.RemovedSkeletonSubscription/0 (0 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.RemovedSkeletonSubscription/1
Running CollisionGroups test for [fcl]
[       OK ] CollisionEngine/CollisionGroupsTest.RemovedSkeletonSubscription/1 (0 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.RemovedSkeletonSubscription/2
Running CollisionGroups test for [bullet]
[       OK ] CollisionEngine/CollisionGroupsTest.RemovedSkeletonSubscription/2 (2 ms)
[ RUN      ] CollisionEngine/CollisionGroupsTest.RemovedSkeletonSubscription/3
Running CollisionGroups test for [ode]
[       OK ] CollisionEngine/CollisionGroupsTest.RemovedSkeletonSubscription/3 (0 ms)
[----------] 12 tests from CollisionEngine/CollisionGroupsTest (19 ms total)

[----------] Global test environment tear-down
[==========] 12 tests from 1 test case ran. (19 ms total)
[  PASSED  ] 10 tests.
[  FAILED  ] 2 tests, listed below:
[  FAILED  ] CollisionEngine/CollisionGroupsTest.SkeletonSubscription/2, where GetParam() = "bullet"
[  FAILED  ] CollisionEngine/CollisionGroupsTest.BodyNodeSubscription/2, where GetParam() = "bullet"

 2 FAILED TESTS

$ ./work/.build/unittests/integration/test_DartLoader
Running main() from /usr/ports/misc/dartsim/work/dart-6.13.2/unittests/gtest/src/gtest_main.cc
[==========] Running 17 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 17 tests from DartLoader
[ RUN      ] DartLoader.parseSkeleton_NonExistantPathReturnsNull
Warning [LocalResource.cpp:50] [LocalResource::constructor] Failed opening file '/usr/ports/misc/dartsim/work/dart-6.13.2/data/skel/test/does_not_exist.urdf' for reading: No such file or directory
Warning [LocalResource.cpp:50] [LocalResource::constructor] Failed opening file '/usr/local/share/doc/dart/data/skel/test/does_not_exist.urdf' for reading: No such file or directory
Warning [DartResourceRetriever.cpp:115] Failed to retrieve a resource from 'dart://sample/skel/test/does_not_exist.urdf'. Please make sure you set the environment variable for DART data path. For example:
  $ export DART_DATA_PATH=/usr/local/share/doc/dart/data/
Warning [CompositeResourceRetriever.cpp:99] [CompositeResourceRetriever::retrieve] All ResourceRetrievers registered for this schema failed to retrieve the URI 'dart://sample/skel/test/does_not_exist.urdf' (tried 1).
[       OK ] DartLoader.parseSkeleton_NonExistantPathReturnsNull (0 ms)
[ RUN      ] DartLoader.parseSkeleton_InvalidUrdfReturnsNull
Warning [LocalResource.cpp:50] [LocalResource::constructor] Failed opening file '/usr/ports/misc/dartsim/work/dart-6.13.2/data/urdf/test/invalid.urdf)' for reading: No such file or directory
Warning [LocalResource.cpp:50] [LocalResource::constructor] Failed opening file '/usr/local/share/doc/dart/data/urdf/test/invalid.urdf)' for reading: No such file or directory
Warning [DartResourceRetriever.cpp:115] Failed to retrieve a resource from 'dart://sample/urdf/test/invalid.urdf)'. Please make sure you set the environment variable for DART data path. For example:
  $ export DART_DATA_PATH=/usr/local/share/doc/dart/data/
Warning [CompositeResourceRetriever.cpp:99] [CompositeResourceRetriever::retrieve] All ResourceRetrievers registered for this schema failed to retrieve the URI 'dart://sample/urdf/test/invalid.urdf)' (tried 1).
[       OK ] DartLoader.parseSkeleton_InvalidUrdfReturnsNull (0 ms)
[ RUN      ] DartLoader.parseSkeleton_MissingMeshReturnsNull
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
[       OK ] DartLoader.parseSkeleton_MissingMeshReturnsNull (1 ms)
[ RUN      ] DartLoader.parseSkeleton_InvalidMeshReturnsNull
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
[       OK ] DartLoader.parseSkeleton_InvalidMeshReturnsNull (0 ms)
[ RUN      ] DartLoader.parseSkeleton_MissingPackageReturnsNull
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
[       OK ] DartLoader.parseSkeleton_MissingPackageReturnsNull (1 ms)
[ RUN      ] DartLoader.parseSkeleton_LoadsPrimitiveGeometry
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_DartLoader.cpp:99: Failure
Value of: nullptr != loader.parseSkeleton( "dart://sample/urdf/test/primitive_geometry.urdf")
  Actual: false
Expected: true
[  FAILED  ] DartLoader.parseSkeleton_LoadsPrimitiveGeometry (0 ms)
[ RUN      ] DartLoader.parseWorld
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
Warning [DartLoader.cpp:278] [DartLoader::parseWorldString] Robot KR5sixxR650WP_description was not correctly parsed!
[       OK ] DartLoader.parseWorld (1 ms)
[ RUN      ] DartLoader.parseJointProperties
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_DartLoader.cpp:179: Failure
Value of: nullptr != robot
  Actual: false
Expected: true
[  FAILED  ] DartLoader.parseJointProperties (0 ms)
[ RUN      ] DartLoader.parseUrdfWithoutWorldLink
[       OK ] DartLoader.parseUrdfWithoutWorldLink (1 ms)
[ RUN      ] DartLoader.mimicJoint
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_DartLoader.cpp:312: Failure
Value of: nullptr != robot
  Actual: false
Expected: true
[  FAILED  ] DartLoader.mimicJoint (0 ms)
[ RUN      ] DartLoader.badMimicJoint
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_DartLoader.cpp:402: Failure
Value of: nullptr != robot
  Actual: false
Expected: true
[  FAILED  ] DartLoader.badMimicJoint (0 ms)
[ RUN      ] DartLoader.WorldShouldBeTreatedAsKeyword
[       OK ] DartLoader.WorldShouldBeTreatedAsKeyword (0 ms)
[ RUN      ] DartLoader.SingleLinkWithoutJoint
[       OK ] DartLoader.SingleLinkWithoutJoint (0 ms)
[ RUN      ] DartLoader.MultiTreeRobot
Warning [DartLoader.cpp:319] [DartLoader::modelInterfaceToSkeleton] The world link has more than one child links. This leads to creating a multi-tree robot. Multi-tree robot is supported by DART, but not the URDF standard. Please consider changing the robot model as a single tree robot.
[       OK ] DartLoader.MultiTreeRobot (0 ms)
[ RUN      ] DartLoader.KR5MeshColor
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_DartLoader.cpp:516: Failure
Value of: nullptr != robot
  Actual: false
Expected: true
[  FAILED  ] DartLoader.KR5MeshColor (1 ms)
[ RUN      ] DartLoader.parseVisualCollisionName
Warning [DartLoader.cpp:833] [DartLoader::createShape] Unknown URDF Shape type (we only know of Sphere, Box, Cylinder, and Mesh). We are returning a nullptr.
/usr/ports/misc/dartsim/work/dart-6.13.2/unittests/integration/test_DartLoader.cpp:581: Failure
Value of: nullptr != robot
  Actual: false
Expected: true
[  FAILED  ] DartLoader.parseVisualCollisionName (0 ms)
[ RUN      ] DartLoader.Options
[       OK ] DartLoader.Options (1 ms)
[----------] 17 tests from DartLoader (6 ms total)

[----------] Global test environment tear-down
[==========] 17 tests from 1 test case ran. (6 ms total)
[  PASSED  ] 11 tests.
[  FAILED  ] 6 tests, listed below:
[  FAILED  ] DartLoader.parseSkeleton_LoadsPrimitiveGeometry
[  FAILED  ] DartLoader.parseJointProperties
[  FAILED  ] DartLoader.mimicJoint
[  FAILED  ] DartLoader.badMimicJoint
[  FAILED  ] DartLoader.KR5MeshColor
[  FAILED  ] DartLoader.parseVisualCollisionName

 6 FAILED TESTS

Environment

• DART version: 6.13.2
• OS name and version name(or number): FreeBSD 14.0
• Compiler name and version number: clang-17

[jslee02]

Thank you for reporting the test failures. While FreeBSD isn't directly supported, I'm interested in ensuring compatibility. Unfortunately, I don't have access to a FreeBSD environment. If you could provide a Dockerfile for FreeBSD to reproduce this issue, it would be conducive to reproducing and debugging it!

[yurivict]

Unfortunately, Docker doesn't support FreeBSD.

I have these instructions on how to quickly get a running FreeBSD environment:

Is there an easy way to test under FreeBSD?

1. Install the FreeBSD VM image into VirtualBox.
2. Boot FreeBSD
3. Install git: pkg install git
4. Check out the ports tree: git clone https://git.FreeBSD.org/ports.git /usr/ports
5. cd /usr/ports/misc/dartsim
6. Install dependencies: pkg install -A `make missing`
7. Build: make
8. Run tests: make test

[jslee02]

Thanks for the instructions. I haven't used VirtualBox or FreeBSD before, so setting this up may take some time, and I can't promise a specific timeline, but contributions from others are welcome in the meantime!

[yurivict]

6.14.0 has these tests failing:

The following tests FAILED:
         11 - test_CollisionGroups (Failed)
         29 - test_DartLoader (Failed)
         30 - test_IkFast (Failed)
         33 - test_Raycast (ILLEGAL)
         35 - test_Collision (Failed)
         43 - test_ForwardKinematics (SEGFAULT)
         48 - test_Issue838 (SEGFAULT)
         54 - test_Issue1184 (Failed)

log

[jslee02]

Thank you for reporting this issue. Unfortunately, I currently don't have the bandwidth to debug this on FreeBSD. Most of the failures seem to be related to dependencies, which might be due to how they are packaged on FreeBSD. As a possible workaround, some tests might succeed if you disable building with Bullet.