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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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Launch gazebo on WSL #133

Open xela-95 opened 3 months ago

xela-95 commented 3 months ago

This issue tracks all the necessary steps to make gazebo and gz-sim-yarp-plugins work on WSL, with particular reference to the case of ErgoCub robot (see #122 )

Tests done on Windows 11 22H2

xela-95 commented 3 months ago

Preliminary steps

WSL

Mamba and repositories

xela-95 commented 3 months ago

Import ErgoCub

xela-95 commented 3 months ago

fyi @traversaro

xela-95 commented 3 months ago

I'm facing the issue of gazebo not finding the gz-sim-yarp-plugins shared libraries, in fact when I execute:

gz sim example.world -v 4

I get the following logs, even if the env. var GZ_SIM_PLUGIN_PATH is equal to :/home/acroci/mambaforge/envs/walking/lib and in that location are present the shared libraries needed by Gazebo:

Details ``` [Msg] Gazebo Sim GUI v8.1.0 [Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world]. [Dbg] [gz.cc:168] Waiting for a world to be set from the GUI... [Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]... [Msg] Received world [example.world] from the GUI. [Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world]. [Msg] Gazebo Sim Server v8.1.0 [Msg] Loading SDF world file[/home/acroci/repos/ergocub_ws/example.world]. QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [Dbg] [Application.cc:102] Initializing application. [Dbg] [Application.cc:176] Qt using OpenGL graphics interface [GUI] [Dbg] [Application.cc:663] Create main window [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get] [GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient. [Msg] Serving entity system service on [/entity/system/add] [GUI] [Dbg] [PathManager.cc:57] Received resource paths. [GUI] [Dbg] [Gui.cc:401] Requesting GUI from [/world/default/gui/info]... [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/default/state]... [GUI] [Msg] Loading config [/home/acroci/.gz/sim/8/gui.config] [GUI] [Dbg] [Application.cc:534] Loading plugin [MinimalScene] [GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL [GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL [GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL [GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL [GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL [GUI] [Msg] Added plugin [3D View] to main window [GUI] [Msg] Loaded plugin [MinimalScene] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libMinimalScene.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [EntityContextMenuPlugin] [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Msg] Added plugin [Entity Context Menu] to main window [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [GzSceneManager] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/acroci/mambaforge/envs/walking/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Msg] Create service on [/world/tutorial_controlboard/create] [Msg] Remove service on [/world/tutorial_controlboard/remove] [Msg] Pose service on [/world/tutorial_controlboard/set_pose] [Msg] Pose service on [/world/tutorial_controlboard/set_pose_vector] [Msg] Light configuration service on [/world/tutorial_controlboard/light_config] [Msg] Physics service on [/world/tutorial_controlboard/set_physics] [Msg] SphericalCoordinates service on [/world/tutorial_controlboard/set_spherical_coordinates] [Msg] Enable collision service on [/world/tutorial_controlboard/enable_collision] [Msg] Disable collision service on [/world/tutorial_controlboard/disable_collision] [Msg] Material service on [/world/tutorial_controlboard/visual_config] [Msg] Material service on [/world/tutorial_controlboard/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [Sensors.cc:527] Configuring Sensors system [Dbg] [Sensors.cc:446] SensorsPrivate::Run [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Contact] for entity [1] [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-clock-system] : Could not find shared library. [Wrn] [SdfEntityCreator.cc:963] Sensor type LIDAR not supported yet. Try usinga GPU LIDAR instead. [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ForceTorque] for entity [9] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Imu] for entity [9] [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-laser-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-robotinterface-system] : Could not find shared library. [Msg] Loaded level [3] [Msg] Serving world controls on [/world/tutorial_controlboard/control], [/world/tutorial_controlboard/control/state] and [/world/tutorial_controlboard/playback/control] [Msg] Serving GUI information on [/world/tutorial_controlboard/gui/info] [Msg] World [tutorial_controlboard] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/tutorial_controlboard/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [GUI] [Msg] Added plugin [Scene Manager] to main window [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libGzSceneManager.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [InteractiveViewControl] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity] [GUI] [Msg] Added plugin [Interactive view control] to main window [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libInteractiveViewControl.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [CameraTracking] [GUI] [Msg] Added plugin [Camera tracking] to main window [GUI] [Msg] Loaded plugin [CameraTracking] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libCameraTracking.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [MarkerManager] [GUI] [Msg] Listening to stats on [/world/default/stats] [GUI] [Msg] Added plugin [Marker Manager] to main window [GUI] [Msg] Loaded plugin [MarkerManager] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libMarkerManager.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [SelectEntities] [GUI] [Msg] Added plugin [Select entities] to main window [GUI] [Msg] Loaded plugin [SelectEntities] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libSelectEntities.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [Spawn] [GUI] [Msg] Added plugin [Spawn] to main window [GUI] [Msg] Loaded plugin [Spawn] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libSpawn.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [VisualizationCapabilities] [GUI] [Msg] View as transparent service on [/gui/view/transparent] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes] [GUI] [Msg] View center of mass service on [/gui/view/com] [GUI] [Msg] View inertia service on [/gui/view/inertia] [GUI] [Msg] View collisions service on [/gui/view/collisions] [GUI] [Msg] View joints service on [/gui/view/joints] [GUI] [Msg] View frames service on [/gui/view/frames] [GUI] [Msg] Added plugin [Visualization capabilities] to main window [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libVisualizationCapabilities.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [WorldControl] [GUI] [Msg] Using world control service [/world/default/control] [GUI] [Msg] Listening to stats on [/world/default/stats] [GUI] [Dbg] [WorldControl.cc:250] Using an event to share WorldControl msgs with the server [GUI] [Msg] Added plugin [World control] to main window [GUI] [Msg] Loaded plugin [WorldControl] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libWorldControl.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [WorldStats] [GUI] [Msg] Listening to stats on [/world/default/stats] [GUI] [Msg] Added plugin [World stats] to main window [GUI] [Msg] Loaded plugin [WorldStats] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libWorldStats.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [Shapes] [GUI] [Msg] Added plugin [Shapes] to main window [GUI] [Msg] Loaded plugin [Shapes] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libShapes.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [Lights] [GUI] [Msg] Added plugin [Lights] to main window [GUI] [Msg] Loaded plugin [Lights] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libLights.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [TransformControl] [GUI] [Msg] Added plugin [Transform control] to main window [GUI] [Msg] Loaded plugin [TransformControl] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libTransformControl.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [Screenshot] [GUI] [Msg] Screenshot service on [/gui/screenshot] [GUI] [Msg] Added plugin [Screenshot] to main window [GUI] [Msg] Loaded plugin [Screenshot] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libScreenshot.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [CopyPaste] [GUI] [Msg] Added plugin [Copy/Paste] to main window [GUI] [Msg] Loaded plugin [CopyPaste] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libCopyPaste.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [ComponentInspector] [GUI] [Msg] Added plugin [Component inspector] to main window [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libComponentInspector.so] [GUI] [Dbg] [Application.cc:534] Loading plugin [EntityTree] [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Msg] Added plugin [Entity tree] to main window [GUI] [Msg] Loaded plugin [EntityTree] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libEntityTree.so] [GUI] [Dbg] [Application.cc:404] Loading window config [GUI] [Msg] Using server control service [/server_control] [GUI] [Dbg] [Application.cc:677] Applying config [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v145WorldE], which doesn't have `operator>>`. Component will not be deserialized. [GUI] [Wrn] [Application.cc:905] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x" [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Wrn] [Application.cc:905] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL [GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Dbg] [MinimalScene.cc:747] Create scene [scene] [GUI] [Dbg] [MinimalScene.cc:1030] Creating texture node render interface for OpenGL [Wrn] [SimulationRunner.cc:723] Found additional publishers on /stats, using namespaced stats topic only [Dbg] [SimulationRunner.cc:725] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:730] tcp://172.21.28.41:34821, gz.msgs.WorldStatistics [Wrn] [SimulationRunner.cc:757] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SimulationRunner.cc:759] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:764] tcp://172.21.28.41:34821, gz.msgs.Clock [Dbg] [SimulationRunner.cc:545] Creating PostUpdate worker threads: 6 [Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (2) [Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (3) [Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (4) [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [root_link_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hip_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hip_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hip_3_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_upper_leg_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_lower_leg_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_ankle_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_ankle_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hip_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hip_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hip_3_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_upper_leg_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_lower_leg_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_ankle_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_ankle_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [torso_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [torso_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [chest_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_shoulder_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_shoulder_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_shoulder_3_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_upper_arm_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_forearm_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_wrist_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_wrist_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_palm_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_index_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_index_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_index_3_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_middle_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_middle_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_pinkie_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_pinkie_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_ring_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_ring_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_thumb_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_thumb_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_thumb_3_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [neck_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [neck_3_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [head_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [realsense_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_shoulder_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_shoulder_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_shoulder_3_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_upper_arm_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_forearm_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_wrist_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_wrist_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_palm_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_index_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_index_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_index_3_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_middle_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_middle_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_pinkie_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_pinkie_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_ring_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_ring_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_thumb_1_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_thumb_2_collision] couldn't be created [Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_thumb_3_collision] couldn't be created [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)] [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Dbg] [Spawn.cc:308] Spawn plugin is using camera [scene::Camera(65527)] [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)] [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Dbg] [MarkerManager.cc:171] Advertise /marker/list service. [GUI] [Dbg] [MarkerManager.cc:181] Advertise /marker/list. [GUI] [Dbg] [MarkerManager.cc:191] Advertise /marker_array. [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Dbg] [CameraTracking.cc:174] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)] [Dbg] [Sensors.cc:700] Initialization needed [GUI] [Msg] Move to service on [/gui/move_to] [Dbg] [Sensors.cc:274] Initializing render context [GUI] [Msg] Follow service on [/gui/follow] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Msg] Move to pose service on [/gui/move_to/pose] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose] [GUI] [Msg] Follow offset service on [/gui/follow/offset] [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::l_foot_front::l_foot_front_ft_imu] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/l_foot_front/sensor/l_foot_front_ft_imu/imu] [GUI] [Dbg] [InteractiveViewControl.cc:178] InteractiveViewControl plugin is moving camera [scene::Camera(65527)] [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::l_foot_rear::l_foot_rear_ft_imu] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/l_foot_rear/sensor/l_foot_rear_ft_imu/imu] [Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::r_foot_front::r_foot_front_ft_imu] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/r_foot_front/sensor/r_foot_front_ft_imu/imu] [Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::r_foot_rear::r_foot_rear_ft_imu] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/r_foot_rear/sensor/r_foot_rear_ft_imu/imu] [Msg] Serving scene information on [/world/tutorial_controlboard/scene/info] [Msg] Serving graph information on [/world/tutorial_controlboard/scene/graph] [Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::torso_1::waist_imu_0] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/torso_1/sensor/waist_imu_0/imu] [Msg] Serving full state on [/world/tutorial_controlboard/state] [Msg] Serving full state (async) on [/world/tutorial_controlboard/state_async] [Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::head::head_imu_0] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/head/sensor/head_imu_0/imu] [Msg] Publishing scene information on [/world/tutorial_controlboard/scene/info] [Msg] Publishing entity deletions on [/world/tutorial_controlboard/scene/deletion] [Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::realsense::realsense_imu_0] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/realsense/sensor/realsense_imu_0/imu] [Msg] Publishing state changes on [/world/tutorial_controlboard/state] [Msg] Publishing pose messages on [/world/tutorial_controlboard/pose/info] [Msg] Publishing dynamic pose messages on [/world/tutorial_controlboard/dynamic_pose/info] [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 246 [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 239 [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 237 [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 231 [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 227 [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 225 [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 271 [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 219 [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)] [Dbg] [RenderUtil.cc:2710] Create scene [scene] [Dbg] [Sensors.cc:294] Rendering Thread initialized Initialization needed [Dbg] [CameraSensor.cc:458] Camera images for [ergocub_fixed::ergoCub::realsense::realsense_head_rgb] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/realsense/sensor/realsense_head_rgb/image] [Dbg] [CameraSensor.cc:786] Camera info for [ergocub_fixed::ergoCub::realsense::realsense_head_rgb] advertised on [/world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/realsense/sensor/realsense_head_rgb/camera_info] [Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend. [Wrn] [RenderPassSystem.cc:54] RenderPass of typeid 'N2gz9rendering2v814DistortionPassE' is not registered [Wrn] [ImageBrownDistortionModel.cc:112] ImageBrownDistortionModel is not supported in ogre2 ````
traversaro commented 3 months ago

mong other the conda environment will install Gazebo. In order to work properly it needs some low-level dependencies already installed on Ubuntu through apt:

* `libopengl0`

* `libEGL.so.1`

* `libegl1`

* `libgl1-mesa-glx`

Just a copy&paste friendly command:

sudo apt install libgl1-mesa-glx libegl1 libopengl0
xela-95 commented 3 months ago

Side note: I find really cool to be able to use vscode from windows attached natively to WSL! See https://code.visualstudio.com/docs/remote/wsl

xela-95 commented 3 months ago

Running Gazebo on a VM

Little off-topic (I didn't want to open explicitly an issue for this): up to now I'm stuck with the solution of using WSL to test ergoCub walking since when I launch the world containing it, it is not able to find the shared libraries of the plugins, even if the GZ_SIM_SYSTEM_PLUGIN_PATH is set up.

I've then tried to setup a VM (using VirtualBox) to avoid continuously restarting my PC to switch between Windows and Linux os. After having set up all the stuff needed (including installing the graphics packages with https://github.com/robotology/gz-sim-yarp-plugins/issues/133#issuecomment-2015144181 ), when I started Gazebo I saw a black area in place of the rendered world, with no errors regarding it: Screenshot from 2024-03-27 11-54-43

For the moment I was able to make it work by disabling the HW acceleration from the VirtualBox settings: image

Unfortunately, this caused the simulation to be quite slow.

I've seen there are gz-sim issues related to this that I've not read yet:

xela-95 commented 3 months ago

In the end when configuring WSL I made a mistake in setting the GZ_SIM_SYSTEM_PLUGIN_PATH environment variable, and fixing this I was able to make gazebo start and load ergoCub.

When I try to run the walking controller tutorial using v0.8.0) I get an error at step 7:

[INFO] Loading custom PIDs
[INFO] Parsing DEFAULT PID group.
[INFO] DEFAULT PID successfully loaded
[INFO] |yarp.os.Port|/walking-coordinator/logger/data:o| Port /walking-coordinator/logger/data:o active at tcp://172.21.28.41:10110/
[INFO] [WalkingModule::configure] Ready to play! Please prepare the robot.
Exception of type: DYNAMIC_LIBRARY_FAILURE in file "../../src/Common/IpLibraryLoader.cpp" at line 67:
 Exception message: libhsl.so: cannot open shared object file: No such file or directory
[ERROR] WalkingIK: Failed in finding a solution.
[ERROR] [WalkingModule::prepareRobot] Inverse Kinematics failed while computing the initial position.
xela-95 commented 3 months ago

In the end when configuring WSL I made a mistake in setting the GZ_SIM_SYSTEM_PLUGIN_PATH environment variable, and fixing this I was able to make gazebo start and load ergoCub.

When I try to run the walking controller tutorial using v0.8.0) I get an error at step 7:

[INFO] Loading custom PIDs
[INFO] Parsing DEFAULT PID group.
[INFO] DEFAULT PID successfully loaded
[INFO] |yarp.os.Port|/walking-coordinator/logger/data:o| Port /walking-coordinator/logger/data:o active at tcp://172.21.28.41:10110/
[INFO] [WalkingModule::configure] Ready to play! Please prepare the robot.
Exception of type: DYNAMIC_LIBRARY_FAILURE in file "../../src/Common/IpLibraryLoader.cpp" at line 67:
 Exception message: libhsl.so: cannot open shared object file: No such file or directory
[ERROR] WalkingIK: Failed in finding a solution.
[ERROR] [WalkingModule::prepareRobot] Inverse Kinematics failed while computing the initial position.

The issue was due to missing HSL solvers.