gz service --timeout 500 -s /world/default/create --reptype gz.msgs.Boolean --reqtype gz.msgs.EntityFactory --req 'sdf: "<sdf version=\"1.12\">\n <model name=\"model\">\n <static>false</static>\n <self_collide>true</self_collide>\n <allow_auto_disable>true</allow_auto_disable>\n <enable_wind>true</enable_wind>\n <pose>-4.5284367978079061 1.2272649373371429 6.0376167323104033 0 0 0</pose>\n <link name=\"link_0\">\n <pose>6.32622343574781 -0.92170416608774985 4.8770434422139441 0 0 0</pose>\n <inertial>\n <pose>0 0 0 0 0 0</pose>\n <mass>1</mass>\n <inertia>\n <ixx>1</ixx>\n <ixy>0</ixy>\n <ixz>0</ixz>\n <iyy>1</iyy>\n <iyz>0</iyz>\n <izz>1</izz>\n </inertia>\n </inertial>\n <enable_wind>false</enable_wind>\n <kinematic>false</kinematic>\n <collision name=\"collision_1788\">\n <pose>0 0 0 0 0 0</pose>\n <geometry>\n <sphere>\n <radius>2.5678293479732961</radius>\n </sphere>\n </geometry>\n <surface>\n <contact>\n <collide_bitmask>255</collide_bitmask>\n </contact>\n <friction>\n <ode>\n <mu>1</mu>\n <mu2>1</mu2>\n <slip1>0</slip1>\n <slip2>0</slip2>\n <fdir1>0 0 0</fdir1>\n </ode>\n </friction>\n </surface>\n </collision>\n <visual name=\"visual_1788\">\n <pose>0 0 0 0 0 0</pose>\n <geometry>\n <sphere>\n <radius>2.5678293479732961</radius>\n </sphere>\n </geometry>\n <cast_shadows>true</cast_shadows>\n <laser_retro>0</laser_retro>\n <transparency>0</transparency>\n <visibility_flags>4294967295</visibility_flags>\n <material>\n <ambient>0.270804822 0.255401403 0.726366997 1</ambient>\n <diffuse>0.270804822 0.255401403 0.726366997 1</diffuse>\n <specular>0 0 0 1</specular>\n <emissive>0 0 0 1</emissive>\n <render_order>0</render_order>\n <lighting>true</lighting>\n <double_sided>false</double_sided>\n <shader type=\"pixel\"/>\n </material>\n </visual>\n </link>\n <link name=\"link_1\">\n <pose>1.5532953976013193 5.8670316568209824 4.8311039706803705 0 0 0</pose>\n <inertial>\n <pose>0 0 0 0 0 0</pose>\n <mass>1</mass>\n <inertia>\n <ixx>1</ixx>\n <ixy>0</ixy>\n <ixz>0</ixz>\n <iyy>1</iyy>\n <iyz>0</iyz>\n <izz>1</izz>\n </inertia>\n </inertial>\n <enable_wind>false</enable_wind>\n <kinematic>false</kinematic>\n <collision name=\"collision_1789\">\n <pose>0 0 0 0 0 0</pose>\n <geometry>\n <box>\n <size>1.2800754078721055 1.4635878504947142 1.586193587353169</size>\n </box>\n </geometry>\n <surface>\n <contact>\n <collide_bitmask>255</collide_bitmask>\n </contact>\n <friction>\n <ode>\n <mu>1</mu>\n <mu2>1</mu2>\n <slip1>0</slip1>\n <slip2>0</slip2>\n <fdir1>0 0 0</fdir1>\n </ode>\n </friction>\n </surface>\n </collision>\n <visual name=\"visual_1789\">\n <pose>0 0 0 0 0 0</pose>\n <geometry>\n <box>\n <size>1.2800754078721055 1.4635878504947142 1.586193587353169</size>\n </box>\n </geometry>\n <cast_shadows>true</cast_shadows>\n <laser_retro>0</laser_retro>\n <transparency>0</transparency>\n <visibility_flags>4294967295</visibility_flags>\n <material>\n <ambient>0.67097795 0.780041337 0.595283628 1</ambient>\n <diffuse>0.67097795 0.780041337 0.595283628 1</diffuse>\n <specular>0 0 0 1</specular>\n <emissive>0 0 0 1</emissive>\n <render_order>0</render_order>\n <lighting>true</lighting>\n <double_sided>false</double_sided>\n <shader type=\"pixel\"/>\n </material>\n </visual>\n </link>\n <link name=\"link_2\">\n <pose>-6.3285174009574323 0.014671518618596835 9.3205354842106338 0 0 0</pose>\n <inertial>\n <pose>0 0 0 0 0 0</pose>\n <mass>1</mass>\n <inertia>\n <ixx>1</ixx>\n <ixy>0</ixy>\n <ixz>0</ixz>\n <iyy>1</iyy>\n <iyz>0</iyz>\n <izz>1</izz>\n </inertia>\n </inertial>\n <enable_wind>false</enable_wind>\n <kinematic>false</kinematic>\n <collision name=\"collision_1790\">\n <pose>0 0 0 0 0 0</pose>\n <geometry>\n <cylinder>\n <radius>2.0740996525074173</radius>\n <length>1.5444108674346804</length>\n </cylinder>\n </geometry>\n <surface>\n <contact>\n <collide_bitmask>255</collide_bitmask>\n </contact>\n <friction>\n <ode>\n <mu>1</mu>\n <mu2>1</mu2>\n <slip1>0</slip1>\n <slip2>0</slip2>\n <fdir1>0 0 0</fdir1>\n </ode>\n </friction>\n </surface>\n </collision>\n <visual name=\"visual_1790\">\n <pose>0 0 0 0 0 0</pose>\n <geometry>\n <cylinder>\n <radius>2.0740996525074173</radius>\n <length>1.5444108674346804</length>\n </cylinder>\n </geometry>\n <cast_shadows>true</cast_shadows>\n <laser_retro>0</laser_retro>\n <transparency>0</transparency>\n <visibility_flags>4294967295</visibility_flags>\n <material>\n <ambient>0.626946747 0.00245066662 0.408773422 1</ambient>\n <diffuse>0.626946747 0.00245066662 0.408773422 1</diffuse>\n <specular>0 0 0 1</specular>\n <emissive>0 0 0 1</emissive>\n <render_order>0</render_order>\n <lighting>true</lighting>\n <double_sided>false</double_sided>\n <shader type=\"pixel\"/>\n </material>\n </visual>\n </link>\n <joint name=\"joint_0\" type=\"revolute\">\n <pose>0 0 0 0 0 0</pose>\n <parent>link_1</parent>\n <child>link_2</child>\n <axis>\n <xyz>0.3624632547262136 0.60164136593013973 0.71179214365922561</xyz>\n <limit>\n <lower>-inf</lower>\n <upper>inf</upper>\n <effort>inf</effort>\n <velocity>1.6536791841434617</velocity>\n <stiffness>100000000</stiffness>\n <dissipation>1</dissipation>\n </limit>\n <dynamics>\n <spring_reference>0</spring_reference>\n <spring_stiffness>0</spring_stiffness>\n <damping>0</damping>\n <friction>0</friction>\n </dynamics>\n </axis>\n <axis2>\n <xyz>0.50461308235324165 0.77114846747182253 0.38819541243273337</xyz>\n <limit>\n <lower>-inf</lower>\n <upper>inf</upper>\n <effort>inf</effort>\n <velocity>4.7555826456435177</velocity>\n <stiffness>100000000</stiffness>\n <dissipation>1</dissipation>\n </limit>\n <dynamics>\n <spring_reference>0</spring_reference>\n <spring_stiffness>0</spring_stiffness>\n <damping>0</damping>\n <friction>0</friction>\n </dynamics>\n </axis2>\n </joint>\n <joint name=\"joint_1\" type=\"fixed\">\n <pose>0 0 0 0 0 0</pose>\n <parent>link_0</parent>\n <child>link_2</child>\n <axis>\n <xyz>0.75204876835463841 0.57942281208711643 0.31415259803052675</xyz>\n <limit>\n <lower>-inf</lower>\n <upper>inf</upper>\n <effort>inf</effort>\n <velocity>7.1591029785458096</velocity>\n <stiffness>100000000</stiffness>\n <dissipation>1</dissipation>\n </limit>\n <dynamics>\n <spring_reference>0</spring_reference>\n <spring_stiffness>0</spring_stiffness>\n <damping>0</damping>\n <friction>0</friction>\n </dynamics>\n </axis>\n <axis2>\n <xyz>0.9206254455468561 0.29573458109850242 0.25493106235636737</xyz>\n <limit>\n <lower>-inf</lower>\n <upper>inf</upper>\n <effort>inf</effort>\n <velocity>3.2312986158913004</velocity>\n <stiffness>100000000</stiffness>\n <dissipation>1</dissipation>\n </limit>\n <dynamics>\n <spring_reference>0</spring_reference>\n <spring_stiffness>0</spring_stiffness>\n <damping>0</damping>\n <friction>0</friction>\n </dynamics>\n </axis2>\n </joint>\n </model>\n</sdf>\n"
pose {
position {
x: 4.1495665664821875
y: -6.503081610098116
z: 8.351135613506441
}
}
name: "model"
allow_renaming: true
'
(2025-04-15 17:35:15.176) [error] [SDFFeatures.cc:290] The Link [link_2] in Model [model_2] has multiple parent joints. That is not supported by the gz-physics-bullet-featherstone plugin.
(2025-04-15 17:35:15.176) [error] [SDFFeatures.cc:486] Multiple sub-trees / floating links detected in a model. This is not supported in bullet-featherstone implementation yet.
terminate called after throwing an instance of 'std::out_of_range'
what(): unordered_map::at
Stack trace (most recent call last):
#31 Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x723ea0a4bb15, in
#30 Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9-gz.so.9.0.0", at 0x723e9b0aed03, in runServer
#29 Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x723e99b28a64, in gz::sim::v9::Server::Run(bool, unsigned long, bool)
#28 Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x723e99b921da, in
#27 Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x723e99bc2987, in gz::sim::v9::SimulationRunner::Run(unsigned long)
#26 Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x723e99bc3908, in gz::sim::v9::SimulationRunner::Step(gz::sim::v9::UpdateInfo const&)
#25 Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x723e99bbff44, in gz::sim::v9::SimulationRunner::UpdateSystems()
#24 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60ef372d, in
#23 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60ef3e5c, in
#22 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60ef7d64, in
#21 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60faca66, in void gz::sim::v9::EntityComponentManager::EachNew<gz::sim::v9::components::Component<std::add_lvalue_reference<void>, gz::sim::v9::components::ModelTag, gz::sim::v9::serializers::DefaultSerializer<std::add_lvalue_reference<void> > >, gz::sim::v9::components::Component<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, gz::sim::v9::components::NameTag, gz::sim::v9::serializers::StringSerializer>, gz::sim::v9::components::Component<gz::math::v8::Pose3<double>, gz::sim::v9::components::PoseTag, gz::sim::v9::serializers::DefaultSerializer<gz::math::v8::Pose3<double> > >, gz::sim::v9::components::Component<unsigned long, gz::sim::v9::components::ParentEntityTag, gz::sim::v9::serializers::DefaultSerializer<unsigned long> > >(gz::sim::v9::EntityComponentManager::identity<std::function<bool (unsigned long const&, gz::sim::v9::components::Component<std::add_lvalue_reference<void>, gz::sim::v9::components::ModelTag, gz::sim::v9::serializers::DefaultSerializer<std::add_lvalue_reference<void> > > const*, gz::sim::v9::components::Component<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, gz::sim::v9::components::NameTag, gz::sim::v9::serializers::StringSerializer> const*, gz::sim::v9::components::Component<gz::math::v8::Pose3<double>, gz::sim::v9::components::PoseTag, gz::sim::v9::serializers::DefaultSerializer<gz::math::v8::Pose3<double> > > const*, gz::sim::v9::components::Component<unsigned long, gz::sim::v9::components::ParentEntityTag, gz::sim::v9::serializers::DefaultSerializer<unsigned long> > const*)> >::type) const
#20 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60fe998d, in
#19 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e6105d78e, in
#18 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e610c0adf, in
#17 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60f2620c, in
#16 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60f3152d, in
#15 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60f3efd7, in
#14 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60ef68e8, in
#13 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x723e60fabd43, in
#12 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-physics-8/engine-plugins/libgz-physics-bullet-featherstone-plugin.so", at 0x723e5b139701, in
#11 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-physics-8/engine-plugins/libgz-physics-bullet-featherstone-plugin.so", at 0x723e5b12e6d5, in
#10 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-physics-8/engine-plugins/libgz-physics-bullet-featherstone-plugin.so", at 0x723e5b127777, in
#9 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-physics-8/engine-plugins/libgz-physics-bullet-featherstone-plugin.so", at 0x723e5b14afa4, in std::unordered_map<sdf::v15::Link const*, gz::physics::Identity, std::hash<sdf::v15::Link const*>, std::equal_to<sdf::v15::Link const*>, std::allocator<std::pair<sdf::v15::Link const* const, gz::physics::Identity> > >::at(sdf::v15::Link const* const&)
#8 Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-physics-8/engine-plugins/libgz-physics-bullet-featherstone-plugin.so", at 0x723e5b1560e1, in std::__detail::_Map_base<sdf::v15::Link const*, std::pair<sdf::v15::Link const* const, gz::physics::Identity>, std::allocator<std::pair<sdf::v15::Link const* const, gz::physics::Identity> >, std::__detail::_Select1st, std::equal_to<sdf::v15::Link const*>, std::hash<sdf::v15::Link const*>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, false, true>, true>::at(sdf::v15::Link const* const&)
#7 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x723e9bca932c, in std::__throw_out_of_range(char const*)
#6 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x723e9bcbb390, in __cxa_throw
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x723e9bca5a54, in std::terminate()
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x723e9bcbb0d9, in
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x723e9bca5ff4, in
#2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x723ea0c288fe, in abort
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x723ea0c4527d, in gsignal
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x723ea0c9eb2c, in pthread_kill
Aborted (Signal sent by tkill() 3652897 1000)
