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This is a bug in versioning for drcsim nightly releases.
Debian versioning policy (and Ubuntu) considers 5.1.10 greater than 5.1.10~hgxxx so the system is complaining about now having a valid sandia-hand >=5.1.10 version.
A fix is already in the repo and should make tomorrow nightly build to not suffer from this error.
Workaround:
Download manually drcsim-nightly package from gazebosim.org and install it ignoring sandia-hand dependency:
sudo apt-get install sandia-hand-nightly # to be sure of have it installed
sudo dpkg -i --ignore-depends=sandia-hand-nightly drcsim-nightly_*.deb
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