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Cleaning up bullet memory use issues #539

Merged
merged 10 commits into from
Sep 20, 2023
Merged

Cleaning up bullet memory use issues #539

merged 10 commits into from
Sep 20, 2023

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mjcarroll
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Attempt at fixing various bullet shutdown issues and leaks.

@github-actions github-actions bot added the 🌱 garden Ignition Garden label Sep 5, 2023
@mjcarroll mjcarroll force-pushed the mjcarroll/bullet_memory_issues branch from af69f6b to 62ac2bd Compare September 11, 2023 16:53
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@scpeters I have tested this with clang/asan on Linux and verified that the errors that were there are gone. Can you give it a shot on macOS when you get a chance?

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codecov bot commented Sep 11, 2023 •
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Codecov Report

Merging #539 (d7953c9) into gz-physics6 (f466300) will increase coverage by 0.05%.
The diff coverage is 84.44%.

❗ Current head d7953c9 differs from pull request most recent head 6e2e36c. Consider uploading reports for the commit 6e2e36c to get more accurate results

@@               Coverage Diff               @@
##           gz-physics6     #539      +/-   ##
===============================================
+ Coverage        75.78%   75.83%   +0.05%     
===============================================
  Files              143      143              
  Lines             7293     7325      +32     
===============================================
+ Hits              5527     5555      +28     
- Misses            1766     1770       +4
Files Changed Coverage Δ
bullet-featherstone/src/FreeGroupFeatures.cc 0.00% <0.00%> (ø)
bullet-featherstone/src/JointFeatures.cc 51.46% <75.00%> (-0.61%) ⬇️
bullet-featherstone/src/Base.hh 100.00% <100.00%> (ø)
bullet-featherstone/src/SDFFeatures.cc 72.80% <100.00%> (+0.05%) ⬆️
bullet/src/Base.hh 77.10% <100.00%> (+4.25%) ⬆️

@mjcarroll
Fix Windows warning
e4a12af 
Signed-off-by: Michael Carroll <[email protected]>
@azeey azeey mentioned this pull request Sep 14, 2023
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azeey
azeey approved these changes Sep 19, 2023
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LGTM!

@mjcarroll mjcarroll force-pushed the mjcarroll/bullet_memory_issues branch from 3fca39b to e4a12af Compare September 19, 2023 19:35
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mjcarroll commented Sep 19, 2023 •
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macOS flaked on me. Build Status

@mjcarroll mjcarroll marked this pull request as ready for review September 19, 2023 20:04
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mjcarroll commented Sep 19, 2023 •
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At this point, I can't reproduce the last macOS test failure locally on my machine. All tests pass for me currently. @azeey or @scpeters maybe you can take a look and see if you can reproduce?

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azeey commented Sep 19, 2023

Testing on
Ventura: Build Status
Monterey: Build Status

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azeey commented Sep 19, 2023

Okay, I've finally reproduced this locally. I think installing all dependencies from homebrew might be a requirement.

Backtrace 
* thread #1, queue = 'com.apple.main-thread', stop reason = EXC_BAD_ACCESS (code=EXC_I386_GPFLT)
  * frame #0: 0x00000001019df219 libBulletCollision.3.25.dylib`btGImpactMeshShapePart::~btGImpactMeshShapePart() + 55
    frame #1: 0x00000001019df294 libBulletCollision.3.25.dylib`btGImpactMeshShapePart::~btGImpactMeshShapePart() + 14
    frame #2: 0x00000001019e0bdd libBulletCollision.3.25.dylib`btGImpactMeshShape::~btGImpactMeshShape() + 65
    frame #3: 0x00000001019e0428 libBulletCollision.3.25.dylib`btGImpactMeshShape::~btGImpactMeshShape() + 14
    frame #4: 0x000000010632b63c libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::default_delete<btGImpactMeshShape>::operator(this=0x00006000000183a0, __ptr=0x000000010570cf40)(btGImpactMeshShape*) const at unique_ptr.h:57:5
    frame #5: 0x000000010632b5bc libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> >::reset(this=0x00006000000183a0, __p=0x0000000000000000) at unique_ptr.h:318:7
    frame #6: 0x000000010632b559 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> >::~unique_ptr(this=0x00006000000183a0) at unique_ptr.h:272:19
    frame #7: 0x000000010632b535 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> >::~unique_ptr(this=0x00006000000183a0) at unique_ptr.h:272:17
    frame #8: 0x000000010632b519 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::allocator<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> > >::destroy(this=0x00000001017044d0, __p=0x00006000000183a0) at allocator.h:159:15
    frame #9: 0x000000010632b4bd libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`void std::__1::allocator_traits<std::__1::allocator<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> > > >::destroy<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> >, void>(__a=0x00000001017044d0, __p=0x00006000000183a0) at allocator_traits.h:309:13
    frame #10: 0x000000010632b478 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::__vector_base<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> >, std::__1::allocator<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> > > >::__destruct_at_end(this=0x00000001017044c0, __new_last=0x00006000000183a0) at vector:450:9
    frame #11: 0x000000010632b368 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::__vector_base<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> >, std::__1::allocator<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> > > >::clear(this=0x00000001017044c0) at vector:374:29
    frame #12: 0x000000010632ab76 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::vector<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> >, std::__1::allocator<std::__1::unique_ptr<btGImpactMeshShape, std::__1::default_delete<btGImpactMeshShape> > > >::clear(this=0x00000001017044c0 size=1) at vector:796:17
    frame #13: 0x000000010632a7c4 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`gz::physics::bullet_featherstone::Base::~Base(this=0x00000001017043d0, vtt=0x00000001064a8cb8) at Base.hh:362:25
    frame #14: 0x00000001063e22ca libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`gz::physics::bullet_featherstone::Plugin::~Plugin(this=0x0000000101704290) at plugin.cc:50:7
    frame #15: 0x00000001063e2879 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`gz::physics::bullet_featherstone::Plugin::~Plugin(this=0x0000000101704290) at plugin.cc:50:7
    frame #16: 0x00000001063f03ec libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >(this=0x00006000029000b8, ptr=0x0000000101704290)::'lambda'(void*)::operator()(void*) const at Common.hh:167:11
    frame #17: 0x00000001063f03a0 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`decltype(__f=0x00006000029000b8, __args=0x00007ff7bfefe9b8)::'lambda'(void*)&>(fp)(static_cast<void*>(fp0))) std::__1::__invoke<gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >()::'lambda'(void*)&, void*>(gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >()::'lambda'(void*)&, void*&&) at type_traits:3918:1
    frame #18: 0x00000001063f0352 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`void std::__1::__invoke_void_return_wrapper<void, true>::__call<gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >(__args=0x00006000029000b8, __args=0x00007ff7bfefe9b8)::'lambda'(void*)&, void*>(gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >()::'lambda'(void*)&, void*&&) at invoke.h:61:9
    frame #19: 0x00000001063f0302 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::__function::__alloc_func<gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >()::'lambda'(void*), std::__1::allocator<gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >()::'lambda'(void*)>, void (void*)>::operator(this=0x00006000029000b8, __arg=0x00007ff7bfefe9b8)(void*&&) at function.h:178:16
    frame #20: 0x00000001063ef031 libgz-physics6-bullet-featherstone-plugin.6.5.0.dylib`std::__1::__function::__func<gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >()::'lambda'(void*), std::__1::allocator<gz::plugin::v1::Info gz::plugin::detail::MakeInfo<gz::physics::bullet_featherstone::Plugin, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ConstructEmptyWorldFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEngineInfo::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetLinkFromModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeFromLink::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetWorldFromEngine::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RemoveModelFromWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::ForwardStep::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetContactsFromLastStepFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FindFreeGroupFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldPose::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetFreeGroupWorldVelocity::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Feature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AddLinkExternalForceTorque::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfModel::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfWorld::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::sdf::ConstructSdfCollision::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetShapeBoundingBox::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBoxShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::BoxShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachBoxShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCapsuleShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CapsuleShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCapsuleShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetCylinderShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::CylinderShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachCylinderShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetEllipsoidShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::EllipsoidShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachEllipsoidShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetSphereShapeProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SphereShapeCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachSphereShapeFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetBasicJointState::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetBasicJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointVelocityCommandFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::SetJointTransformFromParentFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::AttachFixedJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FixedJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::DetachJointFeature::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetRevoluteJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::RevoluteJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetPrismaticJointProperties::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::PrismaticJointCast::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::GetJointTransmittedWrench::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::FrameSemantics::Implementation<gz::physics::FeaturePolicy<double, 3ul> >, gz::physics::Gravity::Implementation<gz::physics::FeaturePolicy<double, 3ul> > >()::'lambda'(void*)>, void (void*)>::operator(this=0x00006000029000b0, __arg=0x00007ff7bfefe9b8)(void*&&) at function.h:352:12
    frame #21: 0x0000000100d56ad9 libgz-plugin2.2.dylib`gz::plugin::PluginWithDlHandle::~PluginWithDlHandle() + 45
    frame #22: 0x0000000100d56c11 libgz-plugin2.2.dylib`std::__1::shared_ptr<void>::~shared_ptr() + 49
    frame #23: 0x0000000100d56187 libgz-plugin2.2.dylib`gz::plugin::Plugin::~Plugin() + 51
    frame #24: 0x0000000100013895 COMMON_TEST_simulation_features`gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer::~Specializer(this=0x0000600000c18000) at FeatureList.hh:127:16
    frame #25: 0x00000001000138b9 COMMON_TEST_simulation_features`gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer::~Specializer(this=0x0000600000c18000) at FeatureList.hh:127:16
    frame #26: 0x0000000100013cec COMMON_TEST_simulation_features`std::__1::default_delete<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer>::operator(this=0x0000600000208018, __ptr=0x0000600000c18000)(gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer*) const at unique_ptr.h:57:5
    frame #27: 0x0000000100013c6c COMMON_TEST_simulation_features`std::__1::unique_ptr<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer, std::__1::default_delete<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer> >::reset(this=0x0000600000208018, __p=0x0000000000000000) at unique_ptr.h:318:7
    frame #28: 0x0000000100013c09 COMMON_TEST_simulation_features`std::__1::unique_ptr<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer, std::__1::default_delete<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer> >::~unique_ptr(this=0x0000600000208018) at unique_ptr.h:272:19
    frame #29: 0x0000000100013475 COMMON_TEST_simulation_features`std::__1::unique_ptr<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer, std::__1::default_delete<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer> >::~unique_ptr(this=0x0000600000208018) at unique_ptr.h:272:17
    frame #30: 0x0000000100013db5 COMMON_TEST_simulation_features`gz::plugin::TemplatePluginPtr<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer>::~TemplatePluginPtr(this=0x0000600000208018) at PluginPtr.hh:57:44
    frame #31: 0x0000000100013d95 COMMON_TEST_simulation_features`gz::plugin::TemplatePluginPtr<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer>::~TemplatePluginPtr(this=0x0000600000208018) at PluginPtr.hh:57:44
    frame #32: 0x000000010001311d COMMON_TEST_simulation_features`std::__1::__shared_ptr_emplace<gz::plugin::TemplatePluginPtr<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer>, std::__1::allocator<gz::plugin::TemplatePluginPtr<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer> > >::__on_zero_shared(this=0x0000600000208000) at shared_ptr.h:315:24
    frame #33: 0x0000000100014c91 COMMON_TEST_simulation_features`std::__1::__shared_count::__release_shared(this=0x0000600000208000) at shared_ptr.h:177:9
    frame #34: 0x0000000100014c39 COMMON_TEST_simulation_features`std::__1::__shared_weak_count::__release_shared(this=0x0000600000208000) at shared_ptr.h:219:27
    frame #35: 0x0000000100014c0c COMMON_TEST_simulation_features`std::__1::shared_ptr<void>::~shared_ptr(this=0x00007ff7bfefef30) at shared_ptr.h:959:19
    frame #36: 0x0000000100012535 COMMON_TEST_simulation_features`std::__1::shared_ptr<gz::plugin::TemplatePluginPtr<gz::physics::detail::DeterminePlugin<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::Specializer> >::~shared_ptr(this=0x00007ff7bfefef30) at shared_ptr.h:957:1
    frame #37: 0x00000001000142d8 COMMON_TEST_simulation_features`gz::physics::Entity<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::~Entity(this=0x00007ff7bfefef28) at Entity.hh:295:41
    frame #38: 0x0000000100016afd COMMON_TEST_simulation_features`gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::~World(this=0x00007ff7bfefef20) at FeatureList.hh:694:5
    frame #39: 0x0000000100017277 COMMON_TEST_simulation_features`std::__1::__optional_destruct_base<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >, false>::~__optional_destruct_base(this=0x00007ff7bfefef20) at optional:227:21
    frame #40: 0x0000000100017245 COMMON_TEST_simulation_features`std::__1::__optional_storage_base<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >, false>::~__optional_storage_base(this=0x00007ff7bfefef20) at optional:287:8
    frame #41: 0x0000000100017225 COMMON_TEST_simulation_features`std::__1::__optional_copy_base<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >, false>::~__optional_copy_base(this=0x00007ff7bfefef20) at optional:460:8
    frame #42: 0x0000000100017205 COMMON_TEST_simulation_features`std::__1::__optional_move_base<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >, false>::~__optional_move_base(this=0x00007ff7bfefef20) at optional:488:8
    frame #43: 0x00000001000171e5 COMMON_TEST_simulation_features`std::__1::__optional_copy_assign_base<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >, false>::~__optional_copy_assign_base(this=0x00007ff7bfefef20) at optional:521:8
    frame #44: 0x00000001000171c5 COMMON_TEST_simulation_features`std::__1::__optional_move_assign_base<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >, false>::~__optional_move_assign_base(this=0x00007ff7bfefef20) at optional:553:8
    frame #45: 0x00000001000171a5 COMMON_TEST_simulation_features`std::__1::optional<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> > >::~optional(this= Has Value=true ) at optional:590:7
    frame #46: 0x00000001000168f5 COMMON_TEST_simulation_features`std::__1::optional<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> > >::~optional(this= Has Value=true ) at optional:590:7
    frame #47: 0x00000001000265b5 COMMON_TEST_simulation_features`gz::physics::EntityPtr<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> > >::~EntityPtr(this=0x00007ff7bfefef20) at Entity.hh:47:36
    frame #48: 0x0000000100011f95 COMMON_TEST_simulation_features`gz::physics::EntityPtr<gz::physics::World<gz::physics::FeaturePolicy<double, 3ul>, gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> > >::~EntityPtr(this=0x00007ff7bfefef20) at Entity.hh:47:36
    frame #49: 0x000000010000c31b COMMON_TEST_simulation_features`SimulationFeaturesContactsTest_Contacts_Test<gz::physics::FeatureList<gz::physics::sdf::ConstructSdfWorld, gz::physics::GetContactsFromLastStepFeature, gz::physics::ForwardStep> >::TestBody(this=0x0000600000c149f0) at simulation_features.cc:216:3
    frame #50: 0x00000001000efcdb COMMON_TEST_simulation_features`void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(object=0x0000600000c149f0, method=21 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00, location="the test body")(), char const*) at gtest.cc:2599:10
    frame #51: 0x00000001000b662a COMMON_TEST_simulation_features`void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(object=0x0000600000c149f0, method=21 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00, location="the test body")(), char const*) at gtest.cc:2635:14
    frame #52: 0x00000001000b6573 COMMON_TEST_simulation_features`testing::Test::Run(this=0x0000600000c149f0) at gtest.cc:2674:5
    frame #53: 0x00000001000b7572 COMMON_TEST_simulation_features`testing::TestInfo::Run(this=0x0000000101804310) at gtest.cc:2853:11
    frame #54: 0x00000001000b864d COMMON_TEST_simulation_features`testing::TestSuite::Run(this=0x0000000101804a50) at gtest.cc:3012:30
    frame #55: 0x00000001000c785d COMMON_TEST_simulation_features`testing::internal::UnitTestImpl::RunAllTests(this=0x00000001018047f0) at gtest.cc:5870:44
    frame #56: 0x00000001000f493b COMMON_TEST_simulation_features`bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(object=0x00000001018047f0, method=70 74 0c 00 01 00 00 00 00 00 00 00 00 00 00 00, location="auxiliary test code (environments or event listeners)")(), char const*) at gtest.cc:2599:10
    frame #57: 0x00000001000c720a COMMON_TEST_simulation_features`bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(object=0x00000001018047f0, method=70 74 0c 00 01 00 00 00 00 00 00 00 00 00 00 00, location="auxiliary test code (environments or event listeners)")(), char const*) at gtest.cc:2635:14
    frame #58: 0x00000001000c70f5 COMMON_TEST_simulation_features`testing::UnitTest::Run(this=0x000000010015a2f8) at gtest.cc:5444:10
    frame #59: 0x0000000100008b91 COMMON_TEST_simulation_features`RUN_ALL_TESTS() at gtest.h:2293:73
    frame #60: 0x0000000100008ad8 COMMON_TEST_simulation_features`main(argc=2, argv=0x00007ff7bfeff610) at simulation_features.cc:1127:10
    frame #61: 0x0000000100b5552e dyld`start + 462

@azeey
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azeey commented Sep 19, 2023

New builds:
Ventura: Build Status
Monterey: Build Status

@mjcarroll
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Boom, look at that green.

@azeey
Fix windows warning
6e2e36c 
Signed-off-by: Addisu Z. Taddese <[email protected]>
@azeey azeey merged commit 6a21a96 into gz-physics6 Sep 20, 2023
@azeey azeey deleted the mjcarroll/bullet_memory_issues branch September 20, 2023 15:19
@azeey azeey added the beta Targeting beta release of upcoming collection label Sep 20, 2023
@scpeters
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nice work; this looks good, sorry I didn't get to it sooner

@azeey azeey mentioned this pull request Nov 7, 2023
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@azeey azeey azeey approved these changes

@mxgrey mxgrey Awaiting requested review from mxgrey

@scpeters scpeters Awaiting requested review from scpeters scpeters is a code owner

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@mjcarroll @azeey @scpeters