I used Gazebo 11 to spawn an urdf file and attach a sdf model into it using Gazebo model editor. I have saved that file as sdf. Now when I try to spawn the file, I get the following error

[Err] [Model.cc:123] Error Code 23 Msg: FrameAttachedToGraph error, Non-LINK vertex with name [baselinkJOINT0] is disconnected; it should have 1 outgoing edge in MODEL attachedto graph. [Err] [Model.cc:123] Error Code 23 Msg: Graph has model scope but sink vertex named [baselinkJOINT0] does not have FrameType LINK OR MODEL when starting from vertex with name [baselinkJOINT0]. [Err] [Model.cc:123] Error Code 26 Msg: PoseRelativeToGraph error, Vertex with name [baselinkJOINT0] is disconnected; it should have 1 incoming edge in MODEL relativeto graph. [Err] [Model.cc:123] Error Code 26 Msg: PoseRelativeToGraph frame with name [baselinkJOINT0] is disconnected; its source vertex has name [baselinkJOINT0], but its source name should be model.

When I ran ign -k model.sdf, I get the following error:

Error: Child link with name[artpark::link1] specified by joint with name[baselinkJOINT0] not found in model with name[skid4wd_mani]

The model artpart is nested inside the model skid4wd and it has the link link_1. Other answers are suggesting to add inertial component inside the link. However, inertial component is present inside the link. I am not sure if it is because of ROS Noetic. Can someone please help?

Here's the file: https://github.com/viswanarayanans/mpcgazebo/blob/main/mpcgazebo/src/skid4wddescription/models/skid4wdmani/model.sdf