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DART Sphere behaves like a Cube

Dear Gazebo Community,

when I spawn a sphere into an empty world using the ODE engine the sphere just stays where it is (as expected). When I spawn exactly the same sphere into a world simulated with the DART 6 engine, then the sphere first "wobbles" a little and ends up in a slightly different position (and orientation!) than where I spawned it. When I push the sphere around in the DART world (by applying forces in Gazebo 11) then the sphere doesn't roll, but rather behaves like a cube and lands on "one side", while it should execute a smooth rolling motion. Anyone have a clue what this is? Here are two gifs:

ODE (expected sphere spawning behavior) alt text

DART (weird motion when spawning sphere) alt text

DART Sphere behaves like a Cube

Dear Gazebo Community,

when I spawn a sphere into an empty world using the ODE engine the sphere just stays where it is (as expected). When I spawn exactly the same sphere into a world simulated with the DART 6 engine, then the sphere first "wobbles" a little and ends up in a slightly different position (and orientation!) than where I spawned it. When I push the sphere around in the DART world (by applying forces in Gazebo 11) then the sphere doesn't roll, but rather behaves like a cube and lands on "one side", while it should execute a smooth rolling motion. Anyone have a clue what this is? Here are two gifs:

ODE (expected sphere spawning behavior) alt text

DART (weird motion when spawning sphere) alt textis?