Crash when running example code on OS X

[xuhao1]

I am following http://underactuated.csail.mit.edu/underactuated.html?chapter=1
Example 1.1 Robot Manipulators
When I trying to run

cd(fullfile(getDrakePath,'examples','SimpleDoublePendulum'));

% construct the robot from a URDF high-level description file
plant = RigidBodyManipulator('SimpleDoublePendulum.urdf');
visualizer = plant.constructVisualizer();

% all of the other commands will work, e.g.:
trajectory = simulate(plant, [0 5], randn(4,1));
visualizer.playback(trajectory);
[H,C_times_v,G,B] = plant.manipulatorEquations()

It will crash on line

visualizer = plant.constructVisualizer();

I am using OS X 10.11 with drake-v0.9.11-mac.

crash dump

------------------------------------------------------------------------
       Segmentation violation detected at Fri Dec  4 21:16:51 2015
------------------------------------------------------------------------

Configuration:
  Crash Decoding      : Disabled
  Crash Mode          : continue (default)
  Current Graphics Driver: NVIDIA Corporation NVIDIA GeForce GT 750M OpenGL Engine Version 2.1 NVIDIA-10.6.42 310.42.05f01
  Current Visual      : Quartz
  Default Encoding    : GB2312
  Host Name           : Haos-MacBook-Pro.local
  MATLAB Architecture : maci64
  MATLAB Root         : /Applications/MATLAB_R2015b.app
  MATLAB Version      : 8.6.0.267246 (R2015b)
  OpenGL              : hardware
  Operating System    : Darwin 15.0.0 Darwin Kernel Version 15.0.0: Wed Aug 26 16:57:32 PDT 2015; root:xnu-3247.1.106~1/RELEASE_X86_64 x86_64
  Processor ID        : x86 Family 6 Model 70 Stepping 1, GenuineIntel
  Virtual Machine     : Java 1.7.0_75-b13 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode
  Window System       : Quartz

Fault Count: 1


Abnormal termination:
Segmentation violation

Register State (from fault):
  RAX = 00007fc0b897b580  RBX = 0000000000000004
  RCX = 00000000000007b4  RDX = 0000000105d91000
  RSP = 00000052015cfa28  RBP = 0000700000000072
  RSI = 00007fff8d41dddc  RDI = 00007000015cfa50

   R8 = 00000000000007b5   R9 = 6570736e04000000
  R10 = 00007fc0b8900000  R11 = 00007fc0b897b580
  R12 = 00007fc0b89fc080  R13 = 00007fc0b897b5a0
  R14 = 0000000000000020  R15 = 00007fc0b897b580

  RIP = 00007fc09fc52530  RFL = c00007fc09dc327a

   CS = 00007000015cfa50   FS = 0000000147431494   GS = 000000013e9de780

Stack Trace (from fault):
[  0] 0x000000010820ca34 /Applications/MATLAB_R2015b.app/bin/maci64/libmwfl.dylib+00027188 _ZN2fl4diag15stacktrace_base7captureERKNS0_14thread_contextEm+00000052
[  1] 0x000000010821035a /Applications/MATLAB_R2015b.app/bin/maci64/libmwfl.dylib+00041818 _ZN2fl4test17terminate_handledEv+00000746
[  2] 0x000000010820fe08 /Applications/MATLAB_R2015b.app/bin/maci64/libmwfl.dylib+00040456 _ZN2fl4diag13terminate_logEPKcPK17__darwin_ucontext+00000152
[  3] 0x000000010a815316 /Applications/MATLAB_R2015b.app/bin/maci64/libmwmcr.dylib+00336662 _Z32mnRunPathDependentInitializationv+00002806
[  4] 0x000000010a8155a9 /Applications/MATLAB_R2015b.app/bin/maci64/libmwmcr.dylib+00337321 _Z32mnRunPathDependentInitializationv+00003465
[  5] 0x000000010a8138ca /Applications/MATLAB_R2015b.app/bin/maci64/libmwmcr.dylib+00329930 mnFatalSignalHandler+00000282
[  6] 0x00007fff901e152a           /usr/lib/system/libsystem_platform.dylib+00009514 _sigtramp+00000026
[  7] 0x00007fc0a28746c0                                   <unknown-module>+00000000
[  8] 0x0000000147431494 /Applications/MATLAB_R2015b.app/bin/maci64/libQt5Core.5.dylib+00169108 _ZN14QReadWriteLock12lockForWriteEv+00000036
[  9] 0x000000013e94501e /Applications/MATLAB_R2015b.app/bin/maci64/libmwglee_util.dylib+00241694 _ZN4GLIM8Listener10disconnectEv+00000030
[ 10] 0x00000001346e429f /Applications/MATLAB_R2015b.app/bin/maci64/libmwglee2_web.dylib+00008863 _ZN4GLEE3web9WebBridgeD2Ev+00000191
[ 11] 0x00000001346e41be /Applications/MATLAB_R2015b.app/bin/maci64/libmwglee2_web.dylib+00008638 _ZN4GLEE3web9WebBridgeD0Ev+00000014
[ 12] 0x00007fff9ce990ff                  /usr/lib/system/libsystem_c.dylib+00389375 __cxa_finalize_ranges+00000345
[ 13] 0x00007fff9ce99403                  /usr/lib/system/libsystem_c.dylib+00390147 exit+00000055
[ 14] 0x0000000112fc76fe /Applications/MATLAB_R2015b.app/sys/java/jre/maci64/jre/lib/./server/libjvm.dylib+02991870 _Z7vm_exiti+00000000
[ 15] 0x0000000113220d83 /Applications/MATLAB_R2015b.app/sys/java/jre/maci64/jre/lib/./server/libjvm.dylib+05455235 _ZN12VM_Operation8evaluateEv+00000079
[ 16] 0x000000011321f3e7 /Applications/MATLAB_R2015b.app/sys/java/jre/maci64/jre/lib/./server/libjvm.dylib+05448679 _ZN8VMThread18evaluate_operationEP12VM_Operation+00000223
[ 17] 0x000000011321f834 /Applications/MATLAB_R2015b.app/sys/java/jre/maci64/jre/lib/./server/libjvm.dylib+05449780 _ZN8VMThread4loopEv+00000808
[ 18] 0x000000011321f153 /Applications/MATLAB_R2015b.app/sys/java/jre/maci64/jre/lib/./server/libjvm.dylib+05448019 _ZN8VMThread3runEv+00000121
[ 19] 0x000000011310e762 /Applications/MATLAB_R2015b.app/sys/java/jre/maci64/jre/lib/./server/libjvm.dylib+04331362 _ZL10java_startP6Thread+00000294
[ 20] 0x00007fff9cfd39b1            /usr/lib/system/libsystem_pthread.dylib+00014769 _pthread_body+00000131
[ 21] 0x00007fff9cfd392e            /usr/lib/system/libsystem_pthread.dylib+00014638 _pthread_body+00000000
[ 22] 0x00007fff9cfd1385            /usr/lib/system/libsystem_pthread.dylib+00004997 thread_start+00000013


If this problem is reproducible, please submit a Service Request via:
    http://www.mathworks.com/support/contact_us/

A technical support engineer might contact you with further information.

Thank you for your help.

[RussTedrake]

This is almost certainly the known issue with mac java that we describe in the FAQ (which refers to #558 ). Please let us know if it works.