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robotology-playground / WBI-Toolbox

Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers
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Sending 0 torques results in non-zero torques applied. #68

Open robertocalandra opened 9 years ago

robertocalandra commented 9 years ago

We are having serious difficulties in commanding in torque the iCubDarmstadt01 from the wbi. After switching on the wholeBodyDynamicsTree, if we try to send a zero torque using the set Torque block of the wbi, the icub apply a strong force forward.

I am not sure if it is because of errors in the wholeBodyDynamicsTree, because of the low-level firmware or what else. However, it is critical for us to fix this problem as soon as possible. Would it be possible to have ASAP a skype meeting with someone to diagnose and solve it?

For a video see https://www.dropbox.com/s/3g9cwr3bk44v5lt/VID_20150128_181413.mp4

PS: this bug happen when using the older version of the wbi (v0.1)

traversaro commented 9 years ago

Which kind of torques are you measuring (you can read that on the robotMotorGui) at the joint at which you command a desired torques of 0 Nm?

traversaro commented 9 years ago

However to debug the problem you can use the demoForceControl module, and set zero torques to a part through it, bypassing the WBI.

robertocalandra commented 9 years ago

The wbi "read Torques" block returns torques up to 1.4Nm

robertocalandra commented 9 years ago

True that I could use the demoForceControl to achieve zero torques. But the original purpose was to implement a PD controller for position tracking, and if the torques provided are not the ones applied, that is a major problem.

iron76 commented 9 years ago

@robertocalandra are you setting some sort of gravity compensation? The behaviour seems compatible with zero torques at the joint and no gravity compensation.

robertocalandra commented 9 years ago

I tried with both gravity compensation and without gravity compensation and the results are qualitatively equal.

I would however expect that even in presence of no gravity compensation the controller would still apply zero torques and therefore the torso "slowly" fall down naturally due to the gravity. This is not the case as the torso is actively pushing down.

iron76 commented 9 years ago

What happens with the demoForceControl module as suggested by @traversaro?

robertocalandra commented 9 years ago

The robot seems to behave normally for the two arms. I did not try the torso as it is marked as experimental. Should I?

iron76 commented 9 years ago

@robertocalandra The video you posted refers to a trial with or without gravity compensation?

robertocalandra commented 9 years ago

@iron76 If we go into zero torque mode (from demoForceControl), the behavior is the same (strong push forward of the torso). Same thing also if we manually switch from the robotMotorGui to torque control. (Both were tested without gravity conmpensation)

I do not remember if the gravity compensation was activated or not in the video.

randaz81 commented 9 years ago

could you please tell me the measured joint torques of the 3 joints of the torso, as shown in the robotMotorGui, when the torso is in controlled in position 0,0,0

2015-01-28 20:11 GMT+01:00 Roberto Calandra notifications@github.com:

@iron76 https://github.com/iron76 If we go into zero torque mode (from demoForceControl), the behavior is the same (strong push forward of the torso). Same thing also if we manually switch from the robotMotorGui to torque control. (Both were tested without gravity conmpensation)

I do not remember if the gravity compensation was activated or not in the video.

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/WBI-Toolbox/issues/68#issuecomment-71895606 .

iron76 commented 9 years ago

@robertocalandra, in any case the zero torque control is definitively quite a a risky control mode and I would recommend doing tests in impedance.

randaz81 commented 9 years ago

PS: ...not only the three torques when in 0,0,0 but also when the joints are in the following positions: 20, 0, 0 0, 20, 0 0, 0, 20 Long time ago, the yarp wrapper was swapping the torques of two of these joints. I just want to be sure that you are using a recent version of yarp.

2015-01-28 20:35 GMT+01:00 Francesco Nori notifications@github.com:

@robertocalandra https://github.com/robertocalandra, in any case the zero torque control is definitively quite a a risky control mode and I would recommend doing tests in impedance.

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/WBI-Toolbox/issues/68#issuecomment-71900081 .

DanielePucci commented 9 years ago

I do agree with @iron76 that the zero-torque control is quite risky, and should be avoided even for debugging. If the torso strongly pushes forward, however, there might be a problem at low level. A possible issue might be due to the coupling between the (desired) joint torques and the applied PWMs to the motors 0B3M0 and 0B3M1 (see http://wiki.icub.org/wiki/ICub_coupled_joints#Torso). Probably @randaz81 may clarify this and claim whether or not the problem may be due to this coupling handling.

randaz81 commented 9 years ago

@DanielePucci Coupling is correct. Otherwise in the video the robot should move diagonally. @robertocalandra Waiting for the torque measurements.

robertocalandra commented 9 years ago

@randaz81 Here there are the torque measurementes are in the robotMotorGui (using wholeBodyDynamicsTree), averaged over 5 seconds. Reading the torques from the wbi led to the same results, but in inverted sequence.

[0,0,0] ->[0.01, -0.2 -4.4] [20,0,0] -> [-0.19,1.34,-4.0] [0,20,0] -> [1.7 -4.2 -4.0] [0,0,20] => [0.1,-0.2,-8.3]

traversaro commented 9 years ago

Could be an issue with wholeBodyDynamicsTree ? Which options are you using? You obtain similar results with the old wholeBodyDynamics?

robertocalandra commented 9 years ago

@traversaro I cannot test it today, as the robot is being used for other experiments, I will let you know tomorrow

robertocalandra commented 9 years ago

@traversaro These are the results using the wholeBodyDynamics:

[0,0,0] -> [0.03, -0.18, -4.3] [20,0,0] -> [-0.13, 1.41, -4.00] [0,20,0] -> [1.78, -4.19, -4.11] [0,0,20] -> [0.17, -0.15, -8.33]

I would say that they are qualitatively similar.

Question: the torso skin is currently dismounted (because of a faulty connection), as shown also in the video, could that be the problem?

robertocalandra commented 9 years ago

PS: I am using the options --headV2 --autoconnect

randaz81 commented 9 years ago

I tried the following setup:

robot name: iCubGenova04, mechanics revision V1, ETH communication software: Yarp, icub-main HEAD revisions + latest available firmware module: WholeBodyDynamics (from icub-main), with and without gravity compensation. test: 1- estimated torque values match (with an acceptable tolerance) with the torques provided by Roberto. 2- demoForceControl is able to control the torso smoothly in both zero-torque and impedance mode, no issues found.

2015-01-30 11:52 GMT+01:00 Roberto Calandra notifications@github.com:

PS: I am using the options --headV2 --autoconnect

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/WBI-Toolbox/issues/68#issuecomment-72184379 .

randaz81 commented 9 years ago

Before proceeding any further, I recommended to sync your robot with our test case, with a general update of yarp, icub-main, icub-firmware-shared. This to eliminate the possibility that you are stuck to a bugged old revision of something. Please note that updating icub-main will enforce an update the control board firmware. If you need we can guide you remotely (>= Tuedsay 03/02/2015)

robertocalandra commented 9 years ago

If so, yes, let's proceed with updating yarp, icub-main, etc; and yes, I would definitely like to have remote support (especially for the control board firmware). Do you have any availability before 03/02/2015 ?

PS: since it is a very high priority for us, I am available today, tomorrow and even on sunday.

robertocalandra commented 9 years ago

@randaz81 Please let me know the earliest availability for remote support.

robertocalandra commented 9 years ago

I can confirm that after the update the issue is still present: Using zero torque control (with gravity compensation and wholebodydynamics modules running) causes a fast bending of the torso forward.

Additionally after updating yarp and icub-main 1) wholeBodyDynamicsTree is not running anymore and return the following error: symbol lookup error: /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1: undefined symbol: _ZTIN4yarp2os3idl12WirePortableE

2) the WBI toolbox is not running anymore and return the following error: Invalid MEX-file '/home/icub/software/src/codyco-superbuild/build/install/mex/robotState.mexa64': /home/icub/software/src/yarp/build/lib/libYARP_math.so.1: undefined symbol: _ZN4yarp2os4TypeC1Ev

traversaro commented 9 years ago

Have you updated (or at least recompiled) codyco-superbuild after updating yarp and icub-main ? Given that this is research software, we are not preserving ABI (http://en.wikipedia.org/wiki/Application_binary_interface) between different commits.

On Wed, Feb 4, 2015 at 11:41 AM, Roberto Calandra notifications@github.com wrote:

I can confirm that after the update the issue is still present: Using zero torque control (with gravity compensation and wholebodydynamics modules running) causes a fast bending of the torso forward.

Additionally after updating yarp and icub-main 1) whoelBodydynamics is not running anymore and return the following error: symbol lookup error: /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1: undefined symbol: _ZTIN4yarp2os3idl12WirePortableE

2) the WBI toolbox is not running anymore and return the following error: Invalid MEX-file '/home/icub/software/src/codyco-superbuild/build/install/mex/robotState.mexa64': /home/icub/software/src/yarp/build/lib/libYARP_math.so.1: undefined symbol: _ZN4yarp2os4TypeC1Ev

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/WBI-Toolbox/issues/68#issuecomment-72833923 .

robertocalandra commented 9 years ago

Yes, of course I did recompile the codyco-superbuild.

traversaro commented 9 years ago

Mhh then it is possible that there are two different versions of YARP floating in the system... perhaps the codyco-superbuild is building an incompatible version of YARP? Can you paste the content of codyco-superbuild CMakeCache.txt?

robertocalandra commented 9 years ago 
# This is the CMakeCache file.
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# If you do not want to change any of the values, simply exit the editor.
# If you do want to change a value, simply edit, save, and exit the editor.
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//Enable/Disable output of compile commands during generation.
CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF

//Install path prefix, prepended onto install directories.
CMAKE_INSTALL_PREFIX:PATH=/home/icub/software

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CMAKE_LINKER:FILEPATH=/usr/bin/ld

//Path to a program.
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CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE

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CODYCO_BUILD_ICUB_MODEL_GENERATOR:BOOL=OFF

//Enable compilation of ISIR controllers
CODYCO_BUILD_ISIR_MODULES:BOOL=OFF

//Generate doxygen XML output, for use by SWIG
CODYCO_DOXYGEN_XML:BOOL=OFF

//Set if iCub WBI implementation uses external torque control.
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CODYCO_ICUBWBI_USE_EXTERNAL_TORQUE_CONTROL:BOOL=OFF

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CODYCO_TRAVIS_CI:BOOL=OFF

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//dependency flag
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//dependency flag
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//dependency flag
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//dependency flag
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//dependency flag
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//The directory containing a CMake configuration file for WBIToolbox.
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// project
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//Enable development targets for the "urdfdom_headers" project
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//Address to use for IIT Robotology Gitlab git repositories
YCM_GIT_GITLAB_ROBOTOLOGY_BASE_ADDRESS:STRING=https://gitlab.robotology.eu/

//Email address to use for git commits for IIT Robotology Gitlab
// git repositories (if empty will use YCM_GIT_COMMIT_EMAIL)
YCM_GIT_GITLAB_ROBOTOLOGY_COMMIT_EMAIL:STRING=

//Name to use for git commits for IIT Robotology Gitlab git repositories
// (if empty will use YCM_GIT_COMMIT_NAME)
YCM_GIT_GITLAB_ROBOTOLOGY_COMMIT_NAME:STRING=

//Username to use for IIT Robotology Gitlab git repositories
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//Address to use for kde git repositories
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YCM_GIT_KDE_COMMIT_EMAIL:STRING=

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//include dir for target actionPrimitives
actionPrimitives_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/actionPrimitives/include;/home/icub/software/src/icub-main/src/libraries/perceptiveModels/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include;/home/icub/software/src/icub-main/src/libraries/learningMachine/include;/usr/include

//include dir for target boostMIL
boostMIL_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/boostMIL/include

//The directory containing a CMake configuration file for codyco-modules.
codyco-modules_DIR:PATH=codyco-modules_DIR-NOTFOUND

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comStepper_DIR:PATH=comStepper_DIR-NOTFOUND

//The directory containing a CMake configuration file for console_bridge.
console_bridge_DIR:PATH=console_bridge_DIR-NOTFOUND

//include dir for target ctrlLib
ctrlLib_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//include dir for target d4c
d4c_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/d4c/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

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//include dir for target iCubIDLClients
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//include dir for target iCubVis
iCubVis_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/iCubVis/blobDescriptor/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/camCalib/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/colorSegmentation/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/cvBlobsLib/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/faceEyeDetector/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/faceTracker/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/fastFilt/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/salience/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/spMap/include;/usr/include/opencv;/usr/include

//The directory containing a CMake configuration file for iDynTree.
iDynTree_DIR:PATH=iDynTree_DIR-NOTFOUND

//include dir for target iDyn
iDyn_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/iDyn/include;/home/icub/software/src/icub-main/src/libraries/iKin/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include;/home/icub/software/src/icub-main/src/libraries/skinDynLib/include

//include dir for target iKin
iKin_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/iKin/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//The directory containing a CMake configuration file for kdl_codyco.
kdl_codyco_DIR:PATH=kdl_codyco_DIR-NOTFOUND

//The directory containing a CMake configuration file for kdl_format_io.
kdl_format_io_DIR:PATH=kdl_format_io_DIR-NOTFOUND

//include dir for target learningMachine
learningMachine_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/learningMachine/include;/usr/include

//include dir for target lib0
lib0_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/examples/lib0/include

//include dir for target lib1
lib1_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/examples/lib1/include

//include dir for target logpolar
logpolar_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/logpolar/include

//The directory containing a CMake configuration file for mexWholeBodyModel.
mexWholeBodyModel_DIR:PATH=mexWholeBodyModel_DIR-NOTFOUND

//The directory containing a CMake configuration file for motorFrictionIdentificationLib.
motorFrictionIdentificationLib_DIR:PATH=motorFrictionIdentificationLib_DIR-NOTFOUND

//include dir for target optimization
optimization_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/optimization/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//The directory containing a CMake configuration file for orocos_kdl.
orocos_kdl_DIR:PATH=orocos_kdl_DIR-NOTFOUND

//The directory containing a CMake configuration file for paramHelp.
paramHelp_DIR:PATH=paramHelp_DIR-NOTFOUND

//include dir for target perceptiveModels
perceptiveModels_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/perceptiveModels/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include;/home/icub/software/src/icub-main/src/libraries/learningMachine/include;/usr/include

//The directory containing a CMake configuration file for sensorsInterfaces.
sensorsInterfaces_DIR:PATH=sensorsInterfaces_DIR-NOTFOUND

//include dir for target sharksWithLasers
sharksWithLasers_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/examples/sharksWithLasers/include

//include dir for target skinDynLib
skinDynLib_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/skinDynLib/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//The directory containing a CMake configuration file for urdfdom.
urdfdom_DIR:PATH=urdfdom_DIR-NOTFOUND

//The directory containing a CMake configuration file for urdfdom_headers.
urdfdom_headers_DIR:PATH=urdfdom_headers_DIR-NOTFOUND

//The directory containing a CMake configuration file for wholeBodyInterface.
wholeBodyInterface_DIR:PATH=wholeBodyInterface_DIR-NOTFOUND

//The directory containing a CMake configuration file for yarpWholeBodyInterface.
yarpWholeBodyInterface_DIR:PATH=yarpWholeBodyInterface_DIR-NOTFOUND

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//List of iCub libraries
ICUB_LIBRARIES:INTERNAL=iCubIDLClients;iCubDev;iCubVis;logpolar;boostMIL;ctrlLib;skinDynLib;iKin;iDyn;learningMachine;perceptiveModels;actionPrimitives;cartesiancontrollerserver;cartesiancontrollerclient;gazecontrollerclient;debugInterfaceClient;icubmod;d4c;optimization;lib0;lib1;sharksWithLasers
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YCM_GIT_GITLAB_ROBOTOLOGY_USERNAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_GNOME_BASE_ADDRESS
YCM_GIT_GNOME_BASE_ADDRESS-ADVANCED:INTERNAL=1
//STRINGS property for variable: YCM_GIT_GNOME_BASE_ADDRESS
YCM_GIT_GNOME_BASE_ADDRESS-STRINGS:INTERNAL=git://git.gnome.org/;ssh://git@git.gnome.org/;git@git.gnome.org:;gnome:
//ADVANCED property for variable: YCM_GIT_GNOME_COMMIT_EMAIL
YCM_GIT_GNOME_COMMIT_EMAIL-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_GNOME_COMMIT_NAME
YCM_GIT_GNOME_COMMIT_NAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_GNOME_USERNAME
YCM_GIT_GNOME_USERNAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_KDE_BASE_ADDRESS
YCM_GIT_KDE_BASE_ADDRESS-ADVANCED:INTERNAL=1
//STRINGS property for variable: YCM_GIT_KDE_BASE_ADDRESS
YCM_GIT_KDE_BASE_ADDRESS-STRINGS:INTERNAL=git://anongit.kde.org/;ssh://git@git.kde.org/;git@git.kde.org:;kde:
//ADVANCED property for variable: YCM_GIT_KDE_COMMIT_EMAIL
YCM_GIT_KDE_COMMIT_EMAIL-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_KDE_COMMIT_NAME
YCM_GIT_KDE_COMMIT_NAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_KDE_USERNAME
YCM_GIT_KDE_USERNAME-ADVANCED:INTERNAL=1
//Address to use for local git repositories
YCM_GIT_LOCAL_BASE_ADDRESS:INTERNAL=
//Address to use for other git repositories
YCM_GIT_NONE_BASE_ADDRESS:INTERNAL=
//ADVANCED property for variable: YCM_GIT_SOURCEFORGE_BASE_ADDRESS
YCM_GIT_SOURCEFORGE_BASE_ADDRESS-ADVANCED:INTERNAL=1
//STRINGS property for variable: YCM_GIT_SOURCEFORGE_BASE_ADDRESS
YCM_GIT_SOURCEFORGE_BASE_ADDRESS-STRINGS:INTERNAL=git://git.code.sf.net/p/;ssh://@git.code.sf.net/p/;@git.code.sf.net:p/;sf:
//ADVANCED property for variable: YCM_GIT_SOURCEFORGE_COMMIT_EMAIL
YCM_GIT_SOURCEFORGE_COMMIT_EMAIL-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_SOURCEFORGE_COMMIT_NAME
YCM_GIT_SOURCEFORGE_COMMIT_NAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_SOURCEFORGE_USERNAME
YCM_GIT_SOURCEFORGE_USERNAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_3RDPARTY
YCM_USE_3RDPARTY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_CMAKE_3_0
YCM_USE_CMAKE_3_0-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_CMAKE_NEXT
YCM_USE_CMAKE_NEXT-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_CMAKE_PROPOSED
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//ADVANCED property for variable: YCM_USE_DEPRECATED
YCM_USE_DEPRECATED-ADVANCED:INTERNAL=1
//Components requested for this build tree.
_Boost_COMPONENTS_SEARCHED:INTERNAL=system;thread
//Last used Boost_INCLUDE_DIR value.
_Boost_INCLUDE_DIR_LAST:INTERNAL=/usr/include
//Last used Boost_LIBRARY_DIR value.
_Boost_LIBRARY_DIR_LAST:INTERNAL=/usr/lib/x86_64-linux-gnu
//Last used Boost_USE_MULTITHREADED value.
_Boost_USE_MULTITHREADED_LAST:INTERNAL=TRUE
_PC_TINYXML_CFLAGS:INTERNAL=
_PC_TINYXML_CFLAGS_I:INTERNAL=
_PC_TINYXML_CFLAGS_OTHER:INTERNAL=
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_PC_TINYXML_INCLUDEDIR:INTERNAL=/usr/include
_PC_TINYXML_INCLUDE_DIRS:INTERNAL=
_PC_TINYXML_LDFLAGS:INTERNAL=-ltinyxml
_PC_TINYXML_LDFLAGS_OTHER:INTERNAL=
_PC_TINYXML_LIBDIR:INTERNAL=/usr/lib/x86_64-linux-gnu
_PC_TINYXML_LIBRARIES:INTERNAL=tinyxml
_PC_TINYXML_LIBRARY_DIRS:INTERNAL=
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_PC_TINYXML_LIBS_PATHS:INTERNAL=
_PC_TINYXML_PREFIX:INTERNAL=/usr
_PC_TINYXML_STATIC_CFLAGS:INTERNAL=
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_PC_TINYXML_STATIC_CFLAGS_OTHER:INTERNAL=
_PC_TINYXML_STATIC_INCLUDE_DIRS:INTERNAL=
_PC_TINYXML_STATIC_LDFLAGS:INTERNAL=-ltinyxml
_PC_TINYXML_STATIC_LDFLAGS_OTHER:INTERNAL=
_PC_TINYXML_STATIC_LIBDIR:INTERNAL=
_PC_TINYXML_STATIC_LIBRARIES:INTERNAL=tinyxml
_PC_TINYXML_STATIC_LIBRARY_DIRS:INTERNAL=
_PC_TINYXML_STATIC_LIBS:INTERNAL=
_PC_TINYXML_STATIC_LIBS_L:INTERNAL=
_PC_TINYXML_STATIC_LIBS_OTHER:INTERNAL=
_PC_TINYXML_STATIC_LIBS_PATHS:INTERNAL=
_PC_TINYXML_VERSION:INTERNAL=2.6.2
_PC_TINYXML_tinyxml_INCLUDEDIR:INTERNAL=
_PC_TINYXML_tinyxml_LIBDIR:INTERNAL=
_PC_TINYXML_tinyxml_PREFIX:INTERNAL=
_PC_TINYXML_tinyxml_VERSION:INTERNAL=
__YCM_BOOTSTRAPPED_CALLED:INTERNAL=TRUE
__YCM_GIT_SETUP_CALLED:INTERNAL=1
__pkg_config_checked__PC_TINYXML:INTERNAL=1
traversaro commented 9 years ago

Ok, my hypothesis is wrong. Just to clarify:

In any case, it can be useful to debug to paste the output of ldd /path/to/wholeBodyDynamics and ldd /path/to/yarpserver , just to understand what's different between a working binary and a not workign one.

robertocalandra commented 9 years ago

Sorry Silvio, there was a typo in my previous post: wholeBodyDynamics is working wholeBodyDynamicsTree is not working

traversaro commented 9 years ago

Ok, then ldd /path/to/wholeBodyDynamics versus ldd /path/to/wholeBodyDynamicsTree would be definitely helpful.

robertocalandra commented 9 years ago

It seems that there are two wholeBodyDynamicsTree. is it normal?

icub@tomlinson:~$ ldd /home/icub/software/src/icub-main/build/bin/wholeBodyDynamics
    linux-vdso.so.1 =>  (0x00007fff853e9000)
    libiDyn.so.0 => /home/icub/software/src/icub-main/build/lib/libiDyn.so.0 (0x00007f3387e44000)
    libYARP_OS.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_OS.so.1 (0x00007f3387a62000)
    libYARP_sig.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_sig.so.1 (0x00007f338782b000)
    libYARP_math.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_math.so.1 (0x00007f3387616000)
    libYARP_dev.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1 (0x00007f33872ee000)
    libYARP_init.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_init.so.1 (0x00007f33870eb000)
    libskinDynLib.so.0 => /home/icub/software/src/icub-main/build/lib/libskinDynLib.so.0 (0x00007f3386ebb000)
    libiKin.so.0 => /home/icub/software/src/icub-main/build/lib/libiKin.so.0 (0x00007f3386c48000)
    libctrlLib.so.0 => /home/icub/software/src/icub-main/build/lib/libctrlLib.so.0 (0x00007f33869c8000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f338669d000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f3386486000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f33860c0000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f3385dba000)
    libACE-6.0.3.so => /usr/lib/libACE-6.0.3.so (0x00007f3385a46000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f338583e000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f3385620000)
    libreadline.so.6 => /lib/x86_64-linux-gnu/libreadline.so.6 (0x00007f33853d9000)
    libgsl.so.0 => /usr/lib/libgsl.so.0 (0x00007f3384f79000)
    libgslcblas.so.0 => /usr/lib/libgslcblas.so.0 (0x00007f3384d2d000)
    libipopt.so.1 => /home/icub/software/src/Ipopt/build/lib/libipopt.so.1 (0x00007f33848fd000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f33846f9000)
    libcoinmumps.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmumps.so.1 (0x00007f3384371000)
    libcoinlapack.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinlapack.so.1 (0x00007f33840c6000)
    libcoinmetis.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmetis.so.1 (0x00007f3383e7a000)
    libcoinblas.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinblas.so.1 (0x00007f3383c52000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f33880cf000)
    libtinfo.so.5 => /lib/x86_64-linux-gnu/libtinfo.so.5 (0x00007f3383a29000)
    libgfortran.so.3 => /usr/lib/x86_64-linux-gnu/libgfortran.so.3 (0x00007f338370f000)
    libquadmath.so.0 => /usr/lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007f33834d3000)
icub@tomlinson:~$ ldd /home/icub/software/src/codyco-superbuild/build/install/bin/wholeBodyDynamicsTree
    linux-vdso.so.1 =>  (0x00007fffaa1fe000)
    libYARP_OS.so.1 => /home/icub/software/lib/libYARP_OS.so.1 (0x00007fe760bf7000)
    libYARP_sig.so.1 => /home/icub/software/lib/libYARP_sig.so.1 (0x00007fe7609c2000)
    libYARP_math.so.1 => /home/icub/software/lib/libYARP_math.so.1 (0x00007fe7607ae000)
    libYARP_init.so.1 => /home/icub/software/lib/libYARP_init.so.1 (0x00007fe7605ab000)
    libidyntree.so.0.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libidyntree.so.0.0.1 (0x00007fe760129000)
    libwhole-body-interface.so.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libwhole-body-interface.so.0.1 (0x00007fe75ff1d000)
    libyarpwholebodyinterface.so.0.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libyarpwholebodyinterface.so.0.0.1 (0x00007fe75fbfb000)
    libskinDynLib.so.0 => /home/icub/software/lib/libskinDynLib.so.0 (0x00007fe75f9cb000)
    libkdl-codyco.so.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libkdl-codyco.so.0.1 (0x00007fe75f72f000)
    liborocos-kdl.so.1.2 => /home/icub/software/src/codyco-superbuild/build/install/lib/liborocos-kdl.so.1.2 (0x00007fe75f4ac000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fe75f180000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fe75ef6a000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fe75eba4000)
    libACE-6.0.3.so => /usr/lib/libACE-6.0.3.so (0x00007fe75e830000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fe75e628000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fe75e40a000)
    libreadline.so.6 => /lib/x86_64-linux-gnu/libreadline.so.6 (0x00007fe75e1c3000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fe75debd000)
    libgsl.so.0 => /usr/lib/libgsl.so.0 (0x00007fe75da5d000)
    libgslcblas.so.0 => /usr/lib/libgslcblas.so.0 (0x00007fe75d810000)
    libyarpcar.so.1 => /home/icub/software/lib/libyarpcar.so.1 (0x00007fe75d60e000)
    libyarpmod.so.1 => /home/icub/software/lib/libyarpmod.so.1 (0x00007fe75d40c000)
    libiDyn.so.0 => /home/icub/software/src/icub-main/build/lib/libiDyn.so.0 (0x00007fe75d182000)
    libkdl-format-io.so.0.0 => /home/icub/software/src/codyco-superbuild/build/install/lib/../lib/libkdl-format-io.so.0.0 (0x00007fe75cf4d000)
    liburdfdom_world.so.0.3 => /home/icub/software/src/codyco-superbuild/build/install/lib/../lib/liburdfdom_world.so.0.3 (0x00007fe75cd20000)
    libiKin.so.0 => /home/icub/software/src/icub-main/build/lib/libiKin.so.0 (0x00007fe75caae000)
    libYARP_dev.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1 (0x00007fe75c786000)
    libctrlLib.so.0 => /home/icub/software/src/icub-main/build/lib/libctrlLib.so.0 (0x00007fe75c506000)
    /lib64/ld-linux-x86-64.so.2 (0x00007fe760fc9000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fe75c301000)
    libtinfo.so.5 => /lib/x86_64-linux-gnu/libtinfo.so.5 (0x00007fe75c0d8000)
    libyarp_bayer.so.1 => /home/icub/software/lib/libyarp_bayer.so.1 (0x00007fe75becb000)
    libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007fe75bcb6000)
    liburdfdom_model.so.0.3 => /home/icub/software/src/codyco-superbuild/build/install/lib/liburdfdom_model.so.0.3 (0x00007fe75ba7d000)
    libipopt.so.1 => /home/icub/software/src/Ipopt/build/lib/libipopt.so.1 (0x00007fe75b64e000)
    libcoinmumps.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmumps.so.1 (0x00007fe75b2c6000)
    libcoinlapack.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinlapack.so.1 (0x00007fe75b01b000)
    libcoinmetis.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmetis.so.1 (0x00007fe75adcf000)
    libcoinblas.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinblas.so.1 (0x00007fe75aba7000)
    libdc1394.so.22 => /usr/lib/x86_64-linux-gnu/libdc1394.so.22 (0x00007fe75a933000)
    libgfortran.so.3 => /usr/lib/x86_64-linux-gnu/libgfortran.so.3 (0x00007fe75a619000)
    libraw1394.so.11 => /usr/lib/x86_64-linux-gnu/libraw1394.so.11 (0x00007fe75a40b000)
    libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007fe75a1f4000)
    libquadmath.so.0 => /usr/lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007fe759fb7000)
    libudev.so.1 => /lib/x86_64-linux-gnu/libudev.so.1 (0x00007fe759da6000)
    libcgmanager.so.0 => /lib/x86_64-linux-gnu/libcgmanager.so.0 (0x00007fe759b8a000)
    libnih.so.1 => /lib/x86_64-linux-gnu/libnih.so.1 (0x00007fe759972000)
    libnih-dbus.so.1 => /lib/x86_64-linux-gnu/libnih-dbus.so.1 (0x00007fe759768000)
    libdbus-1.so.3 => /lib/x86_64-linux-gnu/libdbus-1.so.3 (0x00007fe759522000)
icub@tomlinson:~$ ldd /home/icub/software/src/codyco-superbuild/build/main/codyco-modules/bin/wholeBodyDynamicsTree
    linux-vdso.so.1 =>  (0x00007fff1bdfe000)
    libYARP_OS.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_OS.so.1 (0x00007fdd2cb60000)
    libYARP_sig.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_sig.so.1 (0x00007fdd2c928000)
    libYARP_math.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_math.so.1 (0x00007fdd2c713000)
    libYARP_init.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_init.so.1 (0x00007fdd2c510000)
    libidyntree.so.0.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libidyntree.so.0.0.1 (0x00007fdd2c08e000)
    libwhole-body-interface.so.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libwhole-body-interface.so.0.1 (0x00007fdd2be82000)
    libyarpwholebodyinterface.so.0.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libyarpwholebodyinterface.so.0.0.1 (0x00007fdd2bb60000)
    libskinDynLib.so.0 => /home/icub/software/src/icub-main/build/lib/libskinDynLib.so.0 (0x00007fdd2b92f000)
    libkdl-codyco.so.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libkdl-codyco.so.0.1 (0x00007fdd2b693000)
    liborocos-kdl.so.1.2 => /home/icub/software/src/codyco-superbuild/build/install/lib/liborocos-kdl.so.1.2 (0x00007fdd2b410000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fdd2b0e4000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fdd2aece000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fdd2ab08000)
    libACE-6.0.3.so => /usr/lib/libACE-6.0.3.so (0x00007fdd2a794000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fdd2a58c000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fdd2a36e000)
    libreadline.so.6 => /lib/x86_64-linux-gnu/libreadline.so.6 (0x00007fdd2a127000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fdd29e21000)
    libgsl.so.0 => /usr/lib/libgsl.so.0 (0x00007fdd299c1000)
    libgslcblas.so.0 => /usr/lib/libgslcblas.so.0 (0x00007fdd29774000)
    libiDyn.so.0 => /home/icub/software/src/icub-main/build/lib/libiDyn.so.0 (0x00007fdd294eb000)
    libkdl-format-io.so.0.0 => /home/icub/software/src/codyco-superbuild/build/install/lib/../lib/libkdl-format-io.so.0.0 (0x00007fdd292b5000)
    liburdfdom_world.so.0.3 => /home/icub/software/src/codyco-superbuild/build/install/lib/../lib/liburdfdom_world.so.0.3 (0x00007fdd29089000)
    libiKin.so.0 => /home/icub/software/src/icub-main/build/lib/libiKin.so.0 (0x00007fdd28e17000)
    libYARP_dev.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1 (0x00007fdd28aef000)
    libctrlLib.so.0 => /home/icub/software/src/icub-main/build/lib/libctrlLib.so.0 (0x00007fdd2886f000)
    /lib64/ld-linux-x86-64.so.2 (0x00007fdd2cf43000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fdd2866a000)
    libtinfo.so.5 => /lib/x86_64-linux-gnu/libtinfo.so.5 (0x00007fdd28441000)
    libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007fdd2822b000)
    liburdfdom_model.so.0.3 => /home/icub/software/src/codyco-superbuild/build/install/lib/liburdfdom_model.so.0.3 (0x00007fdd27ff3000)
    libipopt.so.1 => /home/icub/software/src/Ipopt/build/lib/libipopt.so.1 (0x00007fdd27bc3000)
    libcoinmumps.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmumps.so.1 (0x00007fdd2783c000)
    libcoinlapack.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinlapack.so.1 (0x00007fdd27591000)
    libcoinmetis.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmetis.so.1 (0x00007fdd27344000)
    libcoinblas.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinblas.so.1 (0x00007fdd2711d000)
    libgfortran.so.3 => /usr/lib/x86_64-linux-gnu/libgfortran.so.3 (0x00007fdd26e03000)
    libquadmath.so.0 => /usr/lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007fdd26bc7000)
traversaro commented 9 years ago

Yes, it make sense that there are two wholeBodyDynamicsTree: the superbuild automatically installs all its subproject in the build/install directory, so you will find the same binary in the build directory and in the install directory.

However this output highlighted the problem: the binaries of the codyco-superbuild are using the YARP libraries from /home/icub/software/lib, that I guess are outdated with respect to the one in /home/icub/software/src/yarp/build/lib/. Perhaps they are remaings of an old YARP install never uninstalled, and that path is still in LD_LIBRARY_PATH? I guess that now the easiest solution is to manually remove the yarp libraries in /home/icub/software/lib.

robertocalandra commented 9 years ago

The issue is still open after completely reinstalling the codyco-superbuild from scratch. After activating wholeBodyDynamics, gravity compensation and switching to zero torque mode, there is still a drift of the torso. This time the torso is not moving forward but rotating to the side (with a torque sufficently high that a single person cannot stop it). A video is available at: https://www.dropbox.com/s/us3ibc19liamz9b/VID_20150209_170522.mp4

PS: the issue is clearly not wbi-related.

iron76 commented 9 years ago

Once more, pure torque control is a nonsense without perfect modelling (which is i.m.h.o. a chimera). It's even worse considering that you are debugging. @robertocalandra can you please do impedance control instead? Just to be more clear. Control mode should be Torque Control but choose torques as proportional to the difference between current and desired position.