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The main problem seems to be that the virtual joint I had defined didn't have an existing parent reference frame, deleting it allowed me to move forward with a simplified version of the model. I tried Dave's suggestions after I got the simpler model working, having the end effector subgroup as part of the parent group caused the same problem as the virtual joint. Either the joints or the links could be doubly defined with the chains without causing a problem. Having all three defined caused rviz to crash without an informative error after the gripper subgroup and virtual joint were removed.
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