Crash after calling set_pose service, with Assertion `math::verifyTransform(mT)' failed

[zhileiren]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build?
  source build
  gz-sim9 version: c1f379e
  built with
  gcc version 13.2.0 (Ubuntu 13.2.0-23ubuntu4)
  build options: -DCMAKE_BUILD_TYPE=Coverage
  also reproduced on gz-sim8 version: e237d59

Description

• Expected behavior: Gazebo doesn't crash
• Actual behavior: Gazebo crashes

Steps to reproduce

1. gz sim a.txt -r &
2. call /world/default/set_pose service, with

gz service --timeout 10000 -s /world/default/set_pose --reptype gz.msgs.Boolean --reqtype gz.msgs.Pose --req 'name: "ground_plane"
position {
  x: -1.135452379765546
  y: 1.5092107430792936
  z: 8.13648902952947
}'

Output

The output is similar as #2538, with different assertion failure location (FreeJoint.cpp:670)

gz sim server: ./dart/dynamics/RevoluteJoint.cpp:186: virtual void dart::dynamics::RevoluteJoint::updateRelativeTransform() const: Assertion `math::verifyTransform(mT)' failed.
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x78755f0545db, in 
#30   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x78755f0500fe, in 
#29   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x78755f04d8ef, in 
#28   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x78755ec27b13, in 
#27   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x78755f0163bb, in rb_nogvl
#26   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x78755ec2743b, in 
#25   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x78755ecfa0bd, in ffi_call
#24   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x78755ecf73ee, in 
#23   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x78755ecfab15, in 
#22   Object "/data/play/robot/workspace/install/lib/libgz-sim9-gz.so.9.0.0~pre1", at 0x7875586bdc83, in runServer
#21   Object "/data/play/robot/workspace/install/lib/libgz-sim9.so.9", at 0x787556fe1707, in gz::sim::v9::Server::Run(bool, unsigned long, bool)
#20   Object "/data/play/robot/workspace/install/lib/libgz-sim9.so.9", at 0x787557051bda, in 
#19   Object "/data/play/robot/workspace/install/lib/libgz-sim9.so.9", at 0x7875570835f3, in gz::sim::v9::SimulationRunner::Run(unsigned long)
#18   Object "/data/play/robot/workspace/install/lib/libgz-sim9.so.9", at 0x7875570845f8, in gz::sim::v9::SimulationRunner::Step(gz::sim::v9::UpdateInfo const&)
#17   Object "/data/play/robot/workspace/install/lib/libgz-sim9.so.9", at 0x787557080ab4, in gz::sim::v9::SimulationRunner::UpdateSystems()
#16   Object "/data/play/robot/workspace/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x78752ab27f33, in 
#15   Object "/data/play/robot/workspace/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x78752ab4720b, in 
#14   Object "/data/play/robot/workspace/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x78752ac07414, in 
#13   Object "/data/play/robot/workspace/install/lib/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875255de7c8, in 
#12   Object "/data/play/robot/workspace/install/lib/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875255e69e5, in 
#11   Object "/data/play/robot/workspace/install/lib/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875255ea19e, in 
#10   Object "/data/play/robot/workspace/install/lib/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875255eeead, in 
#9    Object "/data/play/robot/workspace/install/lib/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875255f3030, in 
#8    Object "/data/play/robot/workspace/install/lib/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875255dec1d, in 
#7    Object "/lib/x86_64-linux-gnu/libdart.so.6.13", at 0x78752483cbd2, in dart::dynamics::Frame::getWorldTransform() const
#6    Object "/lib/x86_64-linux-gnu/libdart.so.6.13", at 0x787524888821, in dart::dynamics::Joint::getRelativeTransform() const
#5    Object "/lib/x86_64-linux-gnu/libdart.so.6.13", at 0x7875248e0725, in dart::dynamics::RevoluteJoint::updateRelativeTransform() const
#4    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x78755ea3b506, in __assert_fail
#3    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x78755ea2881a, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x78755ea288fe, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x78755ea4526d, in gsignal
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x78755ea9eb1c, in pthread_kill
Aborted (Signal sent by tkill() 599683 1000)

[azeey]

This is probably failing because it's trying to move a plane. I think it would be suffient to detect that the object is a plane and refuse to move it with an error message.