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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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crash when loading ergoCubGazeboV1_1 in gz sim #173

Closed LoreMoretti closed 3 months ago

LoreMoretti commented 3 months ago

I am trying to load ergoCubGazeboV1_1 in gz_sim, but I am experiencing a crash.

I have installed gz-sim-yarpl-plugins as part of the robotology-superbuild (installed from source with conda dependencies).

robotology git status ``` (robsub_gzsim) lomoretti@IITICUBLAP226:~/robotology/robotology-superbuild (master)$ ./scripts/robotologyGitStatus.sh -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild: master 3 days ago|The KMP_DUPLICATE_LIB_OK problem is present also on Windows so document and apply the workaround also on Windows (#1658)|84f1b1d9207de0856b7f79d5c7795fdba224f2de|HEAD -> master, origin/master, origin/HEAD ## master...origin/master M .vscode/settings.json ?? .cache/ diff --git a/.vscode/settings.json b/.vscode/settings.json index 8c9319f..a95c43a 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,7 +1,8 @@ { - "C_Cpp.default.compileCommands": "${config:cmake.buildDirectory}/compile_commands.json", - "cmake.mergedCompileCommands": "${command:cmake.buildDirectory}/compile_commands.json", + "C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json", + "cmake.mergedCompileCommands": "${workspaceFolder}/build/compile_commands.json", "clangd.arguments": [ - "--compile-commands-dir=${config:cmake.buildDirectory}/" + "--compile-commands-dir=${workspaceFolder}/build/" ], -} + "cmake.copyCompileCommands": "", +} \ No newline at end of file -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/BayesFilters/: master 9 months ago|Merge pull request #103 from GiulioRomualdi/patch-1|b180d03df2614eeb7749e130c70391f59d91408c|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/bipedal-locomotion-framework/: master 9 days ago|Add method to get joint limits from control board (#868)|4ea37800355531fe4c78f12a4ed0aa426a748ed3|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/BlockFactory/: master 6 months ago|Bump version to 0.8.5 (#76)|22f62816df31a39b972ac135d186d4150458c3b1|HEAD -> master, tag: v0.8.5, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/casadi/: 3.6.5.backport3724 4 weeks ago|Issue #3723 Fixed function signatures for MX::difference|71d40ac6419b603965a0e0882857a0615b428a1c|HEAD -> 3.6.5.backport3724, origin/3.6.5.backport3724 ## 3.6.5.backport3724...origin/3.6.5.backport3724 -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/casadi-matlab-bindings/: HEAD 5 months ago|Merge pull request #16 from ami-iit/bump365|9d66e0bb56ae4536a7e49c827901f55442b255ab|HEAD, tag: v3.6.5.0 ## HEAD (no branch) -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/CppAD/: HEAD 7 months ago|stable/20240000: check_all.sh: run check_version.sh interactively when a stable version.|38f532ec5a5c098c7439d3fa51a2cb91e1b0a11e|HEAD, tag: 20240000.2 ## HEAD (no branch) -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/ergocub-software/: master 3 weeks ago|ergoCub1_0: fix mass and inertia of the head (#249)|e4b567e67e746340051e296b0d9ed74c164f454b|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/GazeboYARPPlugins/: master 9 weeks ago|Merge pull request #683 from robotology/traversaro-patch-1|d296652b7619dbef39e9bd65ae49f6ca3bdd9377|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/: main 84 minutes ago|Add handling of `VOCAB_CM_FORCE_IDLE` control mode (#172)|e681eca66446e3652b0f1f002b84845f27b3c22c|HEAD -> main, origin/main, origin/HEAD ## main...origin/main -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/ICUB/: master 7 days ago|embObjLib: in ethReceiver set receiving thread as non-blocking also on Windows (#975)|9019b41135f46e45eec67940dd4d9b5446dca7da|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/ICUBcontrib/: master 7 months ago|bumped cmake and yarp version|e12668ce111ee0e0cecccc429b8ff922fe750af6|HEAD -> master, tag: v1.20.0, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/icub-models/: master 5 weeks ago|Merge pull request #179 from robotology/reloc|5633130b47eef3c54ad0fa34ac912cc562d807dd|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/iDynTree/: master 3 days ago|Re-enable valgrind tests for IntegrationTestiCubTorqueEstimation (#1196)|f6f993ca3022f4f100ee6736129be4a2ea9a36b8|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/idyntree-yarp-tools/: main 8 months ago|Bumped version for release|4414a0ba87ab17b22941b1f911e07a4aa892d411|HEAD -> main, tag: v0.0.9, origin/main, origin/HEAD ## main...origin/main -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/LieGroupControllers/: master 11 months ago|License the repo under the BSD-3-Clause license (#14)|50078d5b682ad863adbfc31de2acfb83aa536c72|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/manif/: HEAD 1 year, 1 month ago|Merge pull request #2 from robotology-dependencies/traversaro-patch-1|ae09e9f7e48139f11d807595f5d7215c5bf716ce|HEAD, tag: 0.0.4.103, origin/robsub2022, origin/HEAD, robsub2022 ## HEAD (no branch) -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/matioCpp/: master 4 weeks ago|Merge pull request #83 from ami-iit/usage_improvements|f30bce77cd214f0fa8a2c8fc75799957d85eaa9f|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/matlab-whole-body-simulator/: master 9 weeks ago|Merge pull request #90 from ami-iit/traversaro-patch-2|89ad53de8a82f16180ef12dc2c8b4b3d68990ecb|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/meshcat-python/: master 12 months ago|Merge pull request #143 from meshcat-dev/rdeits-patch-1|785bc9d5ba6f8a8bb79ee8b25f523805946c1fbd|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/osqp/: HEAD 1 year, 2 months ago|Release 0.6.3 (#529)|0dd00a578cf1c2691c5c379965d504c75bf6cfad|HEAD, tag: v0.6.3 ## HEAD (no branch) -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/OsqpEigen/: master 4 weeks ago|Fix typos (#166)|b9ce7391350e0f1c71e49f7574a8785fb617b5e6|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/osqp-matlab/: main 6 months ago|Merge pull request #13 from ami-iit/traversaro-patch-5|286dfae63bc80783b339fe0cad44970324ea480c|HEAD -> main, tag: v0.6.2.4, origin/main, origin/HEAD ## main...origin/main -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/proxsuite/: HEAD 5 months ago|release: Update CHANGELOG.md for 0.6.4|b45436328429914bf49fb418839ea5f13c804687|HEAD, tag: v0.6.4, tag: master ## HEAD (no branch) -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/pyngrok/: main 2 weeks ago|Prep 7.2.0 for release.|6eeff531cfb63ce6ff53cc5b1c3ef2f507e7a1ab|HEAD -> main, tag: 7.2.0, origin/main, origin/develop, origin/HEAD ## main...origin/main -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/pyqtconsole/: master 5 weeks ago|Merge pull request #81 from RobertoRoos/feature/python-version|ed0f43575ae620ef84f0df70d515cf33b46668d8|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/qpOASES/: master 4 years, 7 months ago|Merge pull request #13 from robotology-dependencies/fix-matlab-2019b|90390fff9d9f111cb693deea42714237894fe1dc|HEAD -> master, tag: v3.2.0.1, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/resolve-robotics-uri-py/: main 3 months ago|Support passing the name of custom env vars as additional search paths (#13)|699799250970be33a0b6b5342c1e3cdce43e95b5|HEAD -> main, tag: v0.3.0, origin/main, origin/HEAD ## main...origin/main -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/robometry/: master 2 months ago|Update CHANGELOG.md|bb2ea36c90141b9a6ac2be903619786734f95a52|HEAD -> master, tag: v1.2.4, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/robot-log-visualizer/: main 4 months ago|Refactor annotation creation and removal logic in MatplotlibViewerCanvas|89847b9c4ec857d7418b00d5b31e24db85b721bc|HEAD -> main, origin/main, origin/HEAD ## main...origin/main -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/robots-configuration/: master 2 weeks ago|Rename alljoints-inertials port to avoid using portprefix (#669)|e5a262e8750102cd36fe64e48e709aeef8e88e29|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/UnicyclePlanner/: master 7 weeks ago|Merge pull request #57 from robotology/relicense|fa2a2a888ee3e5a45dddcc5a9387485b66d0aa0f|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/walking-controllers/: fix/test_compilation 22 hours ago|fetch Catch2 and update include statements|dcf6860a8a0ef8b59225ecdc0cc031c7ceb7e15a|HEAD -> fix/test_compilation, LorenzoFork/fix/test_compilation ## fix/test_compilation -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/WBToolbox/: master 6 months ago|Merge pull request #243 from LoreMoretti/bug_fix|19b7408d7f2ba69ba82ced58d3a103015edd0309|HEAD -> master, tag: v5.6.1, origin/master, origin/devel, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/whole-body-controllers/: master 1 year, 10 months ago|Merge pull request #150 from isorrentino/homeClosedEyes|90ff965a523f0a120e6a8981b71326c1485e7742|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/whole-body-estimators/: master 3 weeks ago|Merge pull request #194 from robotology/cleanupftsensorsconfig|80d45bf79c5e4be3c7f83e0bec8f2cdfef48caab|HEAD -> master, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/YARP/: yarp-3.9 9 weeks ago|Merge pull request #3082 from robotology/traversaro-patch-1|169ae46563c2f7fc47fac86b11530f369c10ab4a|HEAD -> yarp-3.9, origin/yarp-3.9 ## yarp-3.9...origin/yarp-3.9 -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/yarp-device-keyboard-joypad/: main 2 months ago|Merge pull request #6 from ami-iit/padding|ad266c1fa45694814b07e2e01fc9a88cd368d70a|HEAD -> main, tag: v0.0.2, origin/main, origin/HEAD ## main...origin/main -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/yarp-devices-ros/: master 5 months ago|Merge pull request #2 from robotology/bumpver|e98fcc3d4b8d21547f29e433491a75103d2a670f|HEAD -> master, tag: v3.9.0, origin/master, origin/HEAD ## master...origin/master -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/yarp-matlab-bindings/: yarp-3.9 6 months ago|Bump version to 3.9.1|881b6088f6c8e6d809f3ff3462b4fe2b7fcb52c3|HEAD -> yarp-3.9, tag: v3.9.1, origin/yarp-3.9 ## yarp-3.9...origin/yarp-3.9 -------------------------------------------- /home/lomoretti/robotology/robotology-superbuild/src/YCM/: master 3 weeks ago|Bump version to 0.16.5|d5c16deed3bf65538d48bebf127c4dcb50a48d8f|HEAD -> master, tag: v0.16.5, origin/master, origin/HEAD ## master...origin/master ```
conda list ``` (robsub_gzsim) lomoretti@IITICUBLAP226:~$ conda list # packages in environment at /home/lomoretti/mambaforge/envs/robsub_gzsim: # # Name Version Build Channel _libgcc_mutex 0.1 conda_forge conda-forge _openmp_mutex 4.5 2_gnu conda-forge _sysroot_linux-64_curr_repodata_hack 3 h69a702a_16 conda-forge ace 8.0.0 hac33072_1 conda-forge aiohttp 3.9.5 py310h2372a71_0 conda-forge aiosignal 1.3.1 pyhd8ed1ab_0 conda-forge alsa-lib 1.2.12 h4ab18f5_0 conda-forge ampl-mp 3.1.0 h2cc385e_1006 conda-forge aom 3.9.1 hac33072_0 conda-forge asio 1.29.0 h59595ed_0 conda-forge assimp 5.3.1 h8343317_3 conda-forge asttokens 2.4.1 pyhd8ed1ab_0 conda-forge async-timeout 4.0.3 pyhd8ed1ab_0 conda-forge atk-1.0 2.38.0 h04ea711_2 conda-forge attr 2.5.1 h166bdaf_1 conda-forge attrs 23.2.0 pyh71513ae_0 conda-forge aws-c-auth 0.7.20 h5f1c8d9_0 conda-forge aws-c-cal 0.6.12 h2ba76a8_0 conda-forge aws-c-common 0.9.17 h4ab18f5_0 conda-forge aws-c-compression 0.2.18 h36a0aea_4 conda-forge aws-c-event-stream 0.4.2 h161de36_10 conda-forge aws-c-http 0.8.1 h63f54a0_13 conda-forge aws-c-io 0.14.8 h96d4d28_0 conda-forge aws-c-mqtt 0.10.4 hcc7299c_2 conda-forge aws-c-s3 0.5.9 h10bd90f_0 conda-forge aws-c-sdkutils 0.1.16 h36a0aea_0 conda-forge aws-checksums 0.1.18 h36a0aea_4 conda-forge aws-crt-cpp 0.26.8 h4f3a3cc_11 conda-forge aws-sdk-cpp 1.11.267 h51dfee4_8 conda-forge azure-core-cpp 1.11.1 h91d86a7_1 conda-forge azure-storage-blobs-cpp 12.10.0 h00ab1b0_1 conda-forge azure-storage-common-cpp 12.5.0 h94269e2_4 conda-forge bash-completion 2.11 ha770c72_1 conda-forge binutils 2.40 h4852527_7 conda-forge binutils_impl_linux-64 2.40 ha1999f0_7 conda-forge binutils_linux-64 2.40 hb3c18ed_0 conda-forge blosc 1.21.6 hef167b5_0 conda-forge boost 1.84.0 hb7f781d_3 conda-forge brotli 1.1.0 hd590300_1 conda-forge brotli-bin 1.1.0 hd590300_1 conda-forge bullet-cpp 3.25 hcc13569_2 conda-forge bzip2 1.0.8 h4bc722e_7 conda-forge c-ares 1.32.3 h4bc722e_0 conda-forge c-compiler 1.7.0 hd590300_1 conda-forge ca-certificates 2024.7.4 hbcca054_0 conda-forge cached-property 1.5.2 hd8ed1ab_1 conda-forge cached_property 1.5.2 pyha770c72_1 conda-forge cairo 1.18.0 h3faef2a_0 conda-forge certifi 2024.7.4 pyhd8ed1ab_0 conda-forge cfitsio 4.4.0 hbdc6101_1 conda-forge cli11 2.4.1 h59595ed_0 conda-forge cmake 3.30.1 hf8c4bd3_0 conda-forge compilers 1.7.0 ha770c72_1 conda-forge console_bridge 1.0.2 h924138e_1 conda-forge contourpy 1.2.1 py310hd41b1e2_0 conda-forge cppzmq 4.10.0 h2e2a08d_1 conda-forge cxx-compiler 1.7.0 h00ab1b0_1 conda-forge cycler 0.12.1 pyhd8ed1ab_0 conda-forge dartsim 6.13.2 h89be5ba_2 conda-forge dav1d 1.2.1 hd590300_0 conda-forge dbus 1.13.6 h5008d03_3 conda-forge decorator 5.1.1 pyhd8ed1ab_0 conda-forge double-conversion 3.3.0 h59595ed_0 conda-forge eigen 3.4.0 h00ab1b0_0 conda-forge elfutils 0.191 h924a536_0 conda-forge exceptiongroup 1.2.2 pyhd8ed1ab_0 conda-forge executing 2.0.1 pyhd8ed1ab_0 conda-forge expat 2.6.2 h59595ed_0 conda-forge fcl 0.7.0 hadc09e8_4 conda-forge ffmpeg 6.1.1 gpl_h853fe30_113 conda-forge flann 1.9.2 h2b5ea80_0 conda-forge fmt 10.2.1 h00ab1b0_0 conda-forge font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge font-ttf-inconsolata 3.000 h77eed37_0 conda-forge font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge font-ttf-ubuntu 0.83 h77eed37_2 conda-forge fontconfig 2.14.2 h14ed4e7_0 conda-forge fonts-conda-ecosystem 1 0 conda-forge fonts-conda-forge 1 0 conda-forge fonttools 4.53.1 py310h5b4e0ec_0 conda-forge fortran-compiler 1.7.0 heb67821_1 conda-forge freeglut 3.2.2 hac7e632_2 conda-forge freeimage 3.18.0 h4b96d29_20 conda-forge freetype 2.12.1 h267a509_2 conda-forge freexl 2.0.0 h743c826_0 conda-forge fribidi 1.0.10 h36c2ea0_0 conda-forge frozenlist 1.4.1 py310h2372a71_0 conda-forge gcc 12.4.0 h236703b_0 conda-forge gcc_impl_linux-64 12.4.0 hb2e57f8_0 conda-forge gcc_linux-64 12.4.0 h6b7512a_0 conda-forge gdbm 1.18 h0a1914f_2 conda-forge gdk-pixbuf 2.42.12 hb9ae30d_0 conda-forge geos 3.12.1 h59595ed_0 conda-forge geotiff 1.7.1 h6b2125f_15 conda-forge gettext 0.22.5 h59595ed_2 conda-forge gettext-tools 0.22.5 h59595ed_2 conda-forge gfortran 12.4.0 h236703b_0 conda-forge gfortran_impl_linux-64 12.4.0 hc568b83_0 conda-forge gfortran_linux-64 12.4.0 hd748a6a_0 conda-forge giflib 5.2.2 hd590300_0 conda-forge gl2ps 1.4.2 hae5d5c5_1 conda-forge glew 2.1.0 h9c3ff4c_2 conda-forge glfw 3.4 hd590300_0 conda-forge glib 2.80.2 hf974151_0 conda-forge glib-networking 2.80.0 h2ef3c98_0 conda-forge glib-tools 2.80.2 hb6ce0ca_0 conda-forge glm 0.9.9.8 h00ab1b0_0 conda-forge gmp 6.3.0 hac33072_2 conda-forge gnutls 3.7.9 hb077bed_0 conda-forge graphite2 1.3.13 h59595ed_1003 conda-forge graphviz 11.0.0 hc68bbd7_0 conda-forge gsl 2.7 he838d99_0 conda-forge gst-plugins-bad 1.24.4 h8a6294b_0 conda-forge gst-plugins-base 1.24.4 h9ad1361_0 conda-forge gst-plugins-good 1.24.4 h1ec2d69_0 conda-forge gstreamer 1.24.4 haf2f30d_0 conda-forge gtk2 2.24.33 h280cfa0_4 conda-forge gts 0.7.6 h977cf35_4 conda-forge gxx 12.4.0 h236703b_0 conda-forge gxx_impl_linux-64 12.4.0 h557a472_0 conda-forge gxx_linux-64 12.4.0 h8489865_0 conda-forge gz-sim8 8.3.0 ha770c72_0 conda-forge gz-sim8-python 8.3.0 py310h64a2142_0 conda-forge h5py 3.11.0 nompi_py310hf054cd7_102 conda-forge harfbuzz 8.5.0 hfac3d4d_0 conda-forge hdf4 4.2.15 h2a13503_7 conda-forge hdf5 1.14.3 nompi_hdf9ad27_105 conda-forge icu 73.2 h59595ed_0 conda-forge idna 3.7 pyhd8ed1ab_0 conda-forge imath 3.1.11 hfc55251_0 conda-forge ipopt 3.14.16 h3696c94_4 conda-forge ipython 8.26.0 pyh707e725_0 conda-forge irrlicht 1.8.5 h2a6caf8_4 conda-forge jack 1.9.22 h7c63dc7_2 conda-forge jasper 4.2.4 h536e39c_0 conda-forge jedi 0.19.1 pyhd8ed1ab_0 conda-forge json-c 0.17 h1220068_1 conda-forge jsoncpp 1.9.5 h4bd325d_1 conda-forge jxrlib 1.1 hd590300_3 conda-forge kealib 1.5.3 hee9dde6_1 conda-forge kernel-headers_linux-64 3.10.0 h4a8ded7_16 conda-forge keyutils 1.6.1 h166bdaf_0 conda-forge kiwisolver 1.4.5 py310hd41b1e2_1 conda-forge krb5 1.21.3 h659f571_0 conda-forge lame 3.100 h166bdaf_1003 conda-forge lcms2 2.16 hb7c19ff_0 conda-forge ld_impl_linux-64 2.40 hf3520f5_7 conda-forge lerc 4.0.0 h27087fc_0 conda-forge libabseil 20240116.2 cxx17_he02047a_1 conda-forge libaec 1.1.3 h59595ed_0 conda-forge libarchive 3.7.4 hfca40fe_0 conda-forge libasprintf 0.22.5 h661eb56_2 conda-forge libasprintf-devel 0.22.5 h661eb56_2 conda-forge libass 0.17.1 h8fe9dca_1 conda-forge libblas 3.9.0 23_linux64_openblas conda-forge libboost 1.84.0 hba137d9_3 conda-forge libboost-devel 1.84.0 h00ab1b0_3 conda-forge libboost-headers 1.84.0 ha770c72_3 conda-forge libboost-python 1.84.0 py310he6ccd79_3 conda-forge libboost-python-devel 1.84.0 py310hb7f781d_3 conda-forge libbrotlicommon 1.1.0 hd590300_1 conda-forge libbrotlidec 1.1.0 hd590300_1 conda-forge libbrotlienc 1.1.0 hd590300_1 conda-forge libcap 2.69 h0f662aa_0 conda-forge libcblas 3.9.0 23_linux64_openblas conda-forge libccd-double 2.1 h59595ed_3 conda-forge libclang-cpp15 15.0.7 default_h127d8a8_5 conda-forge libclang-cpp18.1 18.1.8 default_hf981a13_1 conda-forge libclang13 18.1.8 default_h9def88c_1 conda-forge libcrc32c 1.1.2 h9c3ff4c_0 conda-forge libcups 2.3.3 h4637d8d_4 conda-forge libcurl 8.9.0 hdb1bdb2_0 conda-forge libdb 6.2.32 h9c3ff4c_0 conda-forge libdc1394 2.2.7 h59595ed_1 conda-forge libdeflate 1.20 hd590300_0 conda-forge libdrm 2.4.122 h4ab18f5_0 conda-forge libdrm-cos7-x86_64 2.4.97 h9b0a68f_1105 conda-forge libedit 3.1.20191231 he28a2e2_2 conda-forge libev 4.33 hd590300_2 conda-forge libevent 2.1.12 hf998b51_1 conda-forge libexpat 2.6.2 h59595ed_0 conda-forge libffi 3.4.2 h7f98852_5 conda-forge libflac 1.4.3 h59595ed_0 conda-forge libgcc-devel_linux-64 12.4.0 ha4f9413_100 conda-forge libgcc-ng 14.1.0 h77fa898_0 conda-forge libgcrypt 1.11.0 h4ab18f5_1 conda-forge libgd 2.3.3 h119a65a_9 conda-forge libgdal 3.8.4 h7c88fdf_5 conda-forge libgettextpo 0.22.5 h59595ed_2 conda-forge libgettextpo-devel 0.22.5 h59595ed_2 conda-forge libgfortran-ng 14.1.0 h69a702a_0 conda-forge libgfortran5 14.1.0 hc5f4f2c_0 conda-forge libglib 2.80.2 hf974151_0 conda-forge libglu 9.0.0 hac7e632_1003 conda-forge libglvnd-cos7-x86_64 1.0.1 h9b0a68f_1105 conda-forge libglvnd-glx-cos7-x86_64 1.0.1 h9b0a68f_1105 conda-forge libgomp 14.1.0 h77fa898_0 conda-forge libgoogle-cloud 2.23.0 h9be4e54_1 conda-forge libgoogle-cloud-storage 2.23.0 hc7a4891_1 conda-forge libgpg-error 1.50 h4f305b6_0 conda-forge libgrpc 1.62.2 h15f2491_0 conda-forge libgz-cmake3 3.5.3 hac33072_0 conda-forge libgz-common5 5.5.1 h23e380d_0 conda-forge libgz-fuel-tools9 9.0.3 h9614a5f_0 conda-forge libgz-gui8 8.0.0 hee5a715_6 conda-forge libgz-math7 7.5.0 hac33072_0 conda-forge libgz-msgs10 10.2.0 hbde0791_0 conda-forge libgz-physics7 7.2.0 h45a2cb6_1 conda-forge libgz-plugin2 2.0.3 h59595ed_0 conda-forge libgz-rendering8 8.1.1 hd3aeb46_1 conda-forge libgz-sensors8 8.0.0 hf437a2f_5 conda-forge libgz-sim8 8.3.0 h5fd5377_0 conda-forge libgz-tools2 2.0.0 h1caa08d_4 conda-forge libgz-transport13 13.4.0 h09f39ac_0 conda-forge libgz-utils2 2.1.0 h59595ed_0 conda-forge libhwloc 2.11.0 default_h5622ce7_1000 conda-forge libi2c 4.3 hcb278e6_2 conda-forge libiconv 1.17 hd590300_2 conda-forge libidn2 2.3.7 hd590300_0 conda-forge libjpeg-turbo 3.0.0 hd590300_1 conda-forge libkml 1.3.0 hbbc8833_1020 conda-forge liblapack 3.9.0 23_linux64_openblas conda-forge liblapacke 3.9.0 23_linux64_openblas conda-forge libllvm15 15.0.7 hb3ce162_4 conda-forge libllvm18 18.1.8 h8b73ec9_1 conda-forge libmatio 1.5.27 hd8a4993_0 conda-forge libmicrohttpd 1.0.1 h97afed2_0 conda-forge libnetcdf 4.9.2 nompi_h135f659_114 conda-forge libnghttp2 1.58.0 h47da74e_1 conda-forge libnsl 2.0.1 hd590300_0 conda-forge libode 0.16.2 hc6cd4ac_14 conda-forge libogg 1.3.5 h4ab18f5_0 conda-forge libopenblas 0.3.27 pthreads_hac2b453_1 conda-forge libopencv 4.10.0 headless_py310h3d4b477_1 conda-forge libopenvino 2024.2.0 h2da1b83_1 conda-forge libopenvino-auto-batch-plugin 2024.2.0 hb045406_1 conda-forge libopenvino-auto-plugin 2024.2.0 hb045406_1 conda-forge libopenvino-hetero-plugin 2024.2.0 h5c03a75_1 conda-forge libopenvino-intel-cpu-plugin 2024.2.0 h2da1b83_1 conda-forge libopenvino-intel-gpu-plugin 2024.2.0 h2da1b83_1 conda-forge libopenvino-intel-npu-plugin 2024.2.0 he02047a_1 conda-forge libopenvino-ir-frontend 2024.2.0 h5c03a75_1 conda-forge libopenvino-onnx-frontend 2024.2.0 h07e8aee_1 conda-forge libopenvino-paddle-frontend 2024.2.0 h07e8aee_1 conda-forge libopenvino-pytorch-frontend 2024.2.0 he02047a_1 conda-forge libopenvino-tensorflow-frontend 2024.2.0 h39126c6_1 conda-forge libopenvino-tensorflow-lite-frontend 2024.2.0 he02047a_1 conda-forge libopus 1.3.1 h7f98852_1 conda-forge libpciaccess 0.18 hd590300_0 conda-forge libpng 1.6.43 h2797004_0 conda-forge libpq 16.3 ha72fbe1_0 conda-forge libprotobuf 4.25.3 h08a7969_0 conda-forge libpsl 0.21.2 h3253dac_2 conda-forge libraw 0.21.1 h2a13503_2 conda-forge libre2-11 2023.09.01 h5a48ba9_2 conda-forge librsvg 2.58.1 hadf69e7_0 conda-forge librttopo 1.1.0 h8917695_15 conda-forge libsanitizer 12.4.0 h46f95d5_0 conda-forge libscotch 7.0.4 h2fe6a88_5 conda-forge libsdformat14 14.4.0 h0de9998_0 conda-forge libselinux-cos7-x86_64 2.5 h9b0a68f_1105 conda-forge libsepol-cos7-x86_64 2.5 h9b0a68f_1105 conda-forge libsndfile 1.2.2 hc60ed4a_1 conda-forge libsodium 1.0.18 h36c2ea0_1 conda-forge libsoup 3.4.4 h5006749_2 conda-forge libspatialite 5.1.0 h7bd4643_4 conda-forge libspral 2024.05.08 hdf4021c_2 conda-forge libsqlite 3.46.0 hde9e2c9_0 conda-forge libssh2 1.11.0 h0841786_0 conda-forge libstdcxx-devel_linux-64 12.4.0 ha4f9413_100 conda-forge libstdcxx-ng 14.1.0 hc0a3c3a_0 conda-forge libsystemd0 255 h3516f8a_1 conda-forge libtasn1 4.19.0 h166bdaf_0 conda-forge libtheora 1.1.1 h4ab18f5_1006 conda-forge libtiff 4.6.0 h1dd3fc0_3 conda-forge libudev1 255 h3f72095_1 conda-forge libunistring 0.9.10 h7f98852_0 conda-forge libusb 1.0.27 h520f47e_100 conda-forge libuuid 2.38.1 h0b41bf4_0 conda-forge libuv 1.48.0 hd590300_0 conda-forge libva 2.21.0 h4ab18f5_2 conda-forge libvorbis 1.3.7 h9c3ff4c_0 conda-forge libvpx 1.14.1 hac33072_0 conda-forge libwebp 1.4.0 h2c329e2_0 conda-forge libwebp-base 1.4.0 hd590300_0 conda-forge libxcb 1.15 h0b41bf4_0 conda-forge libxcrypt 4.4.36 hd590300_1 conda-forge libxkbcommon 1.7.0 h662e7e4_0 conda-forge libxml2 2.12.7 h4c95cb1_3 conda-forge libxshmfence-cos7-x86_64 1.2 h9b0a68f_1105 conda-forge libxshmfence-devel-cos7-x86_64 1.2 h9b0a68f_1105 conda-forge libzip 1.10.1 h2629f0a_3 conda-forge libzlib 1.3.1 h4ab18f5_1 conda-forge loguru 0.7.2 py310hff52083_1 conda-forge lua 5.4.6 h2973eb6_1 conda-forge lz4-c 1.9.4 hcb278e6_0 conda-forge lzo 2.10 hd590300_1001 conda-forge make 4.3 hd18ef5c_1 conda-forge matplotlib 3.9.1 py310hff52083_0 conda-forge matplotlib-base 3.9.1 py310h0b1de36_0 conda-forge matplotlib-inline 0.1.7 pyhd8ed1ab_0 conda-forge mesa-khr-devel-cos7-x86_64 18.3.4 h9b0a68f_1105 conda-forge mesa-libgl-cos7-x86_64 18.3.4 h9b0a68f_1105 conda-forge mesa-libgl-devel-cos7-x86_64 18.3.4 h9b0a68f_1105 conda-forge mesa-libglapi-cos7-x86_64 18.3.4 h9b0a68f_1105 conda-forge metis 5.1.0 h59595ed_1007 conda-forge minizip 4.0.7 h401b404_0 conda-forge mpg123 1.32.6 h59595ed_0 conda-forge msgpack-python 1.0.8 py310h25c7140_0 conda-forge multidict 6.0.5 py310h2372a71_0 conda-forge mumps-include 5.7.2 ha770c72_0 conda-forge mumps-seq 5.7.2 h6e8dedb_0 conda-forge munkres 1.1.4 pyh9f0ad1d_0 conda-forge mysql-common 8.3.0 h70512c7_5 conda-forge mysql-libs 8.3.0 ha479ceb_5 conda-forge ncurses 6.5 h59595ed_0 conda-forge nettle 3.9.1 h7ab15ed_0 conda-forge ninja 1.12.1 h297d8ca_0 conda-forge nlohmann_json 3.11.3 h59595ed_0 conda-forge nspr 4.35 h27087fc_0 conda-forge nss 3.102 h593d115_0 conda-forge numpy 1.26.4 py310hb13e2d6_0 conda-forge ocl-icd 2.3.2 hd590300_1 conda-forge octomap 1.9.8 h924138e_0 conda-forge ogre 1.10.12.1 hb5e08f3_1 conda-forge ogre-next 2.3.3 h1b25c05_0 conda-forge onnxruntime-cpp 1.18.1 h0c98366_0_cpu conda-forge opencv 4.10.0 headless_py310h18fe71b_1 conda-forge openexr 3.2.2 haf962dd_1 conda-forge openh264 2.4.1 h59595ed_0 conda-forge openjpeg 2.5.2 h488ebb8_0 conda-forge openssl 3.3.1 h4bc722e_2 conda-forge p11-kit 0.24.1 hc5aa10d_0 conda-forge packaging 24.1 pyhd8ed1ab_0 conda-forge pango 1.54.0 h84a9a3c_0 conda-forge parso 0.8.4 pyhd8ed1ab_0 conda-forge pcl 1.14.1 hbf7b2d8_3 conda-forge pcre2 10.43 hcad00b1_0 conda-forge pexpect 4.9.0 pyhd8ed1ab_0 conda-forge pickleshare 0.7.5 py_1003 conda-forge pillow 10.3.0 py310hf73ecf8_0 conda-forge pip 24.1.2 pyhd8ed1ab_0 conda-forge pixman 0.43.2 h59595ed_0 conda-forge pkg-config 0.29.2 h4bc722e_1009 conda-forge ply 3.11 pyhd8ed1ab_2 conda-forge poppler 24.03.0 h590f24d_0 conda-forge poppler-data 0.4.12 hd8ed1ab_0 conda-forge portaudio 19.6.0 h7c63dc7_9 conda-forge postgresql 16.3 h8e811e2_0 conda-forge proj 9.3.1 h1d62c97_0 conda-forge prompt-toolkit 3.0.47 pyha770c72_0 conda-forge pthread-stubs 0.4 h36c2ea0_1001 conda-forge ptyprocess 0.7.0 pyhd3deb0d_0 conda-forge pugixml 1.14 h59595ed_0 conda-forge pulseaudio-client 17.0 hb77b528_0 conda-forge pure_eval 0.2.3 pyhd8ed1ab_0 conda-forge py-opencv 4.10.0 headless_py310h59be988_1 conda-forge pybind11 2.13.1 py310h25c7140_0 conda-forge pybind11-abi 4 hd8ed1ab_3 conda-forge pybind11-global 2.13.1 py310h25c7140_0 conda-forge pygments 2.18.0 pyhd8ed1ab_0 conda-forge pyparsing 3.1.2 pyhd8ed1ab_0 conda-forge pyqt 5.15.9 py310h04931ad_5 conda-forge pyqt5-sip 12.12.2 py310hc6cd4ac_5 conda-forge pyqtwebengine 5.15.9 py310h704022c_5 conda-forge python 3.10.14 hd12c33a_0_cpython conda-forge python-dateutil 2.9.0 pyhd8ed1ab_0 conda-forge python_abi 3.10 4_cp310 conda-forge pyyaml 6.0.1 py310h2372a71_1 conda-forge pyzmq 26.0.3 py310h6883aea_0 conda-forge qhull 2020.2 h434a139_5 conda-forge qt-main 5.15.8 hc9dc06e_21 conda-forge qt-webengine 5.15.8 h3e791b3_6 conda-forge qt6-main 6.7.2 h402ef58_0 conda-forge qtpy 2.4.1 pyhd8ed1ab_0 conda-forge re2 2023.09.01 h7f4b329_2 conda-forge readline 8.2 h8228510_1 conda-forge rhash 1.4.4 hd590300_0 conda-forge ruby 3.3.3 h3da8d8b_0 conda-forge s2n 1.4.13 he19d79f_0 conda-forge sdl 1.2.68 h293081c_0 conda-forge sdl2 2.30.5 hef7aa77_0 conda-forge sip 6.7.12 py310hc6cd4ac_0 conda-forge six 1.16.0 pyh6c4a22f_0 conda-forge snappy 1.2.1 ha2e4443_0 conda-forge soxr 0.1.3 h0b41bf4_3 conda-forge spdlog 1.13.0 hd2e6256_0 conda-forge sqlite 3.46.0 h6d4b2fc_0 conda-forge stack_data 0.6.2 pyhd8ed1ab_0 conda-forge svt-av1 2.1.0 hac33072_0 conda-forge swig 4.2.1 hc9a1274_0 conda-forge sysroot_linux-64 2.17 h4a8ded7_16 conda-forge tbb 2021.12.0 h434a139_2 conda-forge tbb-devel 2021.12.0 h2069b90_2 conda-forge tiledb 2.21.2 h27f064a_4 conda-forge tinyxml 2.6.2 h4bd325d_2 conda-forge tinyxml2 10.0.0 h59595ed_0 conda-forge tk 8.6.13 noxft_h4845f30_101 conda-forge toml 0.10.2 pyhd8ed1ab_0 conda-forge tomli 2.0.1 pyhd8ed1ab_0 conda-forge tomlplusplus 3.3.0 hcb278e6_0 conda-forge tornado 6.4.1 py310hc51659f_0 conda-forge traitlets 5.14.3 pyhd8ed1ab_0 conda-forge typing-extensions 4.12.2 hd8ed1ab_0 conda-forge typing_extensions 4.12.2 pyha770c72_0 conda-forge tzcode 2024a h3f72095_0 conda-forge tzdata 2024a h0c530f3_0 conda-forge u-msgpack-python 2.8.0 pyhd8ed1ab_0 conda-forge unicodedata2 15.1.0 py310h2372a71_0 conda-forge unixodbc 2.3.12 h661eb56_0 conda-forge urdfdom 4.0.0 hee28ff1_1 conda-forge urdfdom_headers 1.1.1 h00ab1b0_0 conda-forge uriparser 0.9.8 hac33072_0 conda-forge utfcpp 4.0.5 ha770c72_0 conda-forge vtk 9.3.0 qt_py310h1234567_200 conda-forge vtk-base 9.3.0 qt_py310h1234567_200 conda-forge vtk-io-ffmpeg 9.3.0 qt_py310h1234567_200 conda-forge wayland 1.23.0 h5291e77_0 conda-forge wcwidth 0.2.13 pyhd8ed1ab_0 conda-forge wslink 2.1.1 pyhd8ed1ab_0 conda-forge x264 1!164.3095 h166bdaf_2 conda-forge x265 3.5 h924138e_3 conda-forge xcb-util 0.4.0 hd590300_1 conda-forge xcb-util-cursor 0.1.4 hd590300_1 conda-forge xcb-util-image 0.4.0 h8ee46fc_1 conda-forge xcb-util-keysyms 0.4.0 h8ee46fc_1 conda-forge xcb-util-renderutil 0.3.9 hd590300_1 conda-forge xcb-util-wm 0.4.1 h8ee46fc_1 conda-forge xerces-c 3.2.5 hac6953d_0 conda-forge xkeyboard-config 2.42 h4ab18f5_0 conda-forge xorg-compositeproto 0.4.2 h7f98852_1001 conda-forge xorg-damageproto 1.2.1 h7f98852_1002 conda-forge xorg-fixesproto 5.0 h7f98852_1002 conda-forge xorg-inputproto 2.3.2 h7f98852_1002 conda-forge xorg-kbproto 1.0.7 h7f98852_1002 conda-forge xorg-libice 1.1.1 hd590300_0 conda-forge xorg-libsm 1.2.4 h7391055_0 conda-forge xorg-libx11 1.8.9 h8ee46fc_0 conda-forge xorg-libxau 1.0.11 hd590300_0 conda-forge xorg-libxaw 1.0.14 h7f98852_1 conda-forge xorg-libxcomposite 0.4.6 h0b41bf4_1 conda-forge xorg-libxdamage 1.1.5 h7f98852_1 conda-forge xorg-libxdmcp 1.1.3 h7f98852_0 conda-forge xorg-libxext 1.3.4 h0b41bf4_2 conda-forge xorg-libxfixes 5.0.3 h7f98852_1004 conda-forge xorg-libxi 1.7.10 h4bc722e_1 conda-forge xorg-libxinerama 1.1.5 h27087fc_0 conda-forge xorg-libxmu 1.1.3 h4ab18f5_1 conda-forge xorg-libxpm 3.5.17 hd590300_0 conda-forge xorg-libxrandr 1.5.2 h7f98852_1 conda-forge xorg-libxrender 0.9.11 hd590300_0 conda-forge xorg-libxt 1.3.0 hd590300_1 conda-forge xorg-libxtst 1.2.4 h4bc722e_0 conda-forge xorg-libxxf86vm 1.1.5 h4bc722e_1 conda-forge xorg-randrproto 1.5.0 h7f98852_1001 conda-forge xorg-recordproto 1.14.2 h7f98852_1002 conda-forge xorg-renderproto 0.11.1 h7f98852_1002 conda-forge xorg-util-macros 1.19.3 h7f98852_0 conda-forge xorg-xextproto 7.3.0 h0b41bf4_1003 conda-forge xorg-xf86vidmodeproto 2.3.1 h7f98852_1002 conda-forge xorg-xproto 7.0.31 h7f98852_1007 conda-forge xz 5.2.6 h166bdaf_0 conda-forge yaml 0.2.5 h7f98852_2 conda-forge yarl 1.9.4 py310h2372a71_0 conda-forge zeromq 4.3.5 h75354e8_4 conda-forge zlib 1.3.1 h4ab18f5_1 conda-forge zstd 1.5.6 ha6fb4c9_0 conda-forge zziplib 0.13.69 he45264a_2 conda-forge ```
LoreMoretti commented 3 months ago

Then, I am creating the world containing ergoCubGazeboV1_1 as reported in the wiki, which I copy here as well:

world_ergoCubGazeboV1_1.sdf ``` (robsub_gzsim) lomoretti@IITICUBLAP226:~/dnn-mpc/paper_romualdi_viceconte_2024_icra_dnn-mpc-walking/worlds (dnn-mpc/tsid/unicycle)$ cat world_ergoCubGazeboV1_1.sdf 0.001 1.0 true 0 0 10 0 0 0 0.8 0.8 0.8 1 0.2 0.2 0.2 1 1000 0.9 0.01 0.001 -0.5 0.1 -0.9 true 0 0 1 100 100 0 0 1 100 100 0.8 0.8 0.8 1 0.8 0.8 0.8 1 0.8 0.8 0.8 1 model://ergoCub/robots/ergoCubGazeboV1_1 ```

Then, I run gz sim world_ergoCubGazeboV1_1.sdf.

A black window appears, but then crash with the following terminal message:

crash log ``` (robsub_gzsim) lomoretti@IITICUBLAP226:~/dnn-mpc/paper_romualdi_viceconte_2024_icra_dnn-mpc-walking/worlds (dnn-mpc/tsid/unicycle)$ gz sim world_ergoCubGazeboV1_1.sdf [INFO] |yarp.os.Port|/clock| Port /clock active at tcp://172.20.10.5:10010/ [INFO] gz-sim-yarp-clock-system plugin initialized. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_waist_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor waist_imu_0 loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName torso_1) (sensorName waist_imu_0) (sensorScopedName "model/ergoCub/link/torso_1/sensor/waist_imu_0") (sensor_name waist_imu_0) (yarpDeviceName waist_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/waist_inertial_hardware_device [INFO] File is a URI: model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor l_arm_ft loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_arm_ft_sensor) (sensorName l_arm_ft) (sensorScopedName "model/ergoCub/joint/l_arm_ft_sensor/sensor/l_arm_ft") (sensor_name l_arm_ft) (yarpDeviceName ergocub_left_arm_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/ergocub_left_arm_ft [INFO] File is a URI: model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor r_arm_ft loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_arm_ft_sensor) (sensorName r_arm_ft) (sensorScopedName "model/ergoCub/joint/r_arm_ft_sensor/sensor/r_arm_ft") (sensor_name r_arm_ft) (yarpDeviceName ergocub_right_arm_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/ergocub_right_arm_ft [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_torso.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_torso.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device torso_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: torso_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0) (damping 0.0 0.0 0.0)) (LIMITS (jntPosMax 43.0 45.0 23.0) (jntPosMin -43.0 -18.0 -23.0) (jntVelMax 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 70.0) (kd 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.170000000000000012212) (maxInt 9999 9999 9999) (maxOutput 9999 9999 9999) (shift 0.0 0.0 0.0) (ko 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163) (maxInt 9999 9999 9999) (maxOutput 9999 9999 9999) (shift 0.0 0.0 0.0) (ko 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames torso_roll torso_pitch torso_yaw) (max_damping 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0) (yarpDeviceName torso_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 3 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint torso_roll added to the control board data. [INFO] Joint torso_pitch added to the control board data. [INFO] Joint torso_yaw added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint torso_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint torso_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint torso_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint torso_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint torso_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint torso_yaw trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] No initial configuration found, initializing trajectory generator with current values [INFO] Registered YARP device with instance name: model/ergoCub/torso_hardware_device [INFO] File is a URI: model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor l_leg_ft loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_leg_ft_sensor) (sensorName l_leg_ft) (sensorScopedName "model/ergoCub/joint/l_leg_ft_sensor/sensor/l_leg_ft") (sensor_name l_leg_ft) (yarpDeviceName ergocub_left_leg_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/ergocub_left_leg_ft [INFO] File is a URI: model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor l_foot_front_ft loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_foot_front_ft_sensor) (sensorName l_foot_front_ft) (sensorScopedName "model/ergoCub/joint/l_foot_front_ft_sensor/sensor/l_foot_front_ft") (sensor_name l_foot_front_ft) (yarpDeviceName ergocub_left_foot_front_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/ergocub_left_foot_front_ft [INFO] File is a URI: model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor l_foot_rear_ft loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_foot_rear_ft_sensor) (sensorName l_foot_rear_ft) (sensorScopedName "model/ergoCub/joint/l_foot_rear_ft_sensor/sensor/l_foot_rear_ft") (sensor_name l_foot_rear_ft) (yarpDeviceName ergocub_left_foot_rear_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/ergocub_left_foot_rear_ft [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor l_foot_front_ft_imu loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_foot_front) (sensorName l_foot_front_ft_imu) (sensorScopedName "model/ergoCub/link/l_foot_front/sensor/l_foot_front_ft_imu") (sensor_name l_foot_front_ft_imu) (yarpDeviceName l_foot_front_ft_sensor_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/l_foot_front_ft_sensor_inertial_hardware_device [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor l_foot_rear_ft_imu loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_foot_rear) (sensorName l_foot_rear_ft_imu) (sensorScopedName "model/ergoCub/link/l_foot_rear/sensor/l_foot_rear_ft_imu") (sensor_name l_foot_rear_ft_imu) (yarpDeviceName l_foot_rear_ft_sensor_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/l_foot_rear_ft_sensor_inertial_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_left_leg.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_left_leg.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device left_leg_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: left_leg_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 102.0 108.0 78.0 5.0 43.0 23.0) (jntPosMin -42.0 -15.0 -78.0 -103.0 -43.0 -23.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 40.0 100.0 100.0 100.0) (kd 0.149999999999999994449 0.149999999999999994449 0.349999999999999977796 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907) (ki 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName left_leg_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 6 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint l_hip_pitch added to the control board data. [INFO] Joint l_hip_roll added to the control board data. [INFO] Joint l_hip_yaw added to the control board data. [INFO] Joint l_knee added to the control board data. [INFO] Joint l_ankle_pitch added to the control board data. [INFO] Joint l_ankle_roll added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint l_hip_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_hip_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_hip_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_hip_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_hip_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_hip_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_knee trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_knee trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_ankle_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_ankle_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_ankle_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_ankle_roll trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] No initial configuration found, initializing trajectory generator with current values [INFO] Registered YARP device with instance name: model/ergoCub/left_leg_hardware_device [INFO] File is a URI: model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor r_leg_ft loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_leg_ft_sensor) (sensorName r_leg_ft) (sensorScopedName "model/ergoCub/joint/r_leg_ft_sensor/sensor/r_leg_ft") (sensor_name r_leg_ft) (yarpDeviceName ergocub_right_leg_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/ergocub_right_leg_ft [INFO] File is a URI: model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor r_foot_front_ft loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_foot_front_ft_sensor) (sensorName r_foot_front_ft) (sensorScopedName "model/ergoCub/joint/r_foot_front_ft_sensor/sensor/r_foot_front_ft") (sensor_name r_foot_front_ft) (yarpDeviceName ergocub_right_foot_front_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/ergocub_right_foot_front_ft [INFO] File is a URI: model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor r_foot_rear_ft loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_foot_rear_ft_sensor) (sensorName r_foot_rear_ft) (sensorScopedName "model/ergoCub/joint/r_foot_rear_ft_sensor/sensor/r_foot_rear_ft") (sensor_name r_foot_rear_ft) (yarpDeviceName ergocub_right_foot_rear_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/ergocub_right_foot_rear_ft [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor r_foot_front_ft_imu loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_foot_front) (sensorName r_foot_front_ft_imu) (sensorScopedName "model/ergoCub/link/r_foot_front/sensor/r_foot_front_ft_imu") (sensor_name r_foot_front_ft_imu) (yarpDeviceName r_foot_front_ft_sensor_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/r_foot_front_ft_sensor_inertial_hardware_device [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor r_foot_rear_ft_imu loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_foot_rear) (sensorName r_foot_rear_ft_imu) (sensorScopedName "model/ergoCub/link/r_foot_rear/sensor/r_foot_rear_ft_imu") (sensor_name r_foot_rear_ft_imu) (yarpDeviceName r_foot_rear_ft_sensor_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/r_foot_rear_ft_sensor_inertial_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_right_leg.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_right_leg.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device right_leg_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: right_leg_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 102.0 108.0 78.0 5.0 43.0 23.0) (jntPosMin -42.0 -15.0 -78.0 -103.0 -43.0 -23.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 40.0 100.0 100.0 100.0) (kd 0.149999999999999994449 0.149999999999999994449 0.349999999999999977796 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907) (ki 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName right_leg_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 6 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint r_hip_pitch added to the control board data. [INFO] Joint r_hip_roll added to the control board data. [INFO] Joint r_hip_yaw added to the control board data. [INFO] Joint r_knee added to the control board data. [INFO] Joint r_ankle_pitch added to the control board data. [INFO] Joint r_ankle_roll added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint r_hip_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_hip_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_hip_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_hip_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_hip_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_hip_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_knee trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_knee trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_ankle_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_ankle_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_ankle_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_ankle_roll trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] No initial configuration found, initializing trajectory generator with current values [INFO] Registered YARP device with instance name: model/ergoCub/right_leg_hardware_device [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_inertial.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor head_imu_0 loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName head) (sensorName head_imu_0) (sensorScopedName "model/ergoCub/link/head/sensor/head_imu_0") (sensor_name head_imu_0) (yarpDeviceName head_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/head_inertial_hardware_device [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor realsense_imu_0 loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName realsense) (sensorName realsense_imu_0) (sensorScopedName "model/ergoCub/link/realsense/sensor/realsense_imu_0") (sensor_name realsense_imu_0) (yarpDeviceName realsense_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/realsense_inertial_hardware_device [INFO] File is a URI: model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini [INFO] gz-sim-yarp-laser-system: configuration of sensor lasersensor_head loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_laser| Parameters are (SENSOR (max_distance 5.0) (min_distance 0.200000000000000011102) (max_angle 360) (min_angle 0) (resolution 0.5) (allow_infinity 1)) (device gazebo_laser) (disableImplicitNetworkWrapper) (parentLinkName head) (period 10) (sensorName lasersensor_head) (sensorScopedName "model/ergoCub/link/head/sensor/lasersensor_head") (sensor_name lasersensor_head) (yarpDeviceName las360) [INFO] |yarp.devices.Lidar2DDeviceBase| Using the following parameters: [INFO] |yarp.devices.Lidar2DDeviceBase| max_dist: 5 min_dist: 0.2 [INFO] |yarp.devices.Lidar2DDeviceBase| max_angle: 360 min_angle: 0 [INFO] |yarp.devices.Lidar2DDeviceBase| resolution: 0.5 [INFO] |yarp.devices.Lidar2DDeviceBase| sensors: 720 [INFO] |yarp.devices.Lidar2DDeviceBase| allow_infinity: true [INFO] |yarp.dev.PolyDriver|gazebo_laser| Created device . See C++ class LaserDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/las360 [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_head.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_head.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device head_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: head_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 17.0 20.0 45.0 30.0) (jntPosMin -30.0 -20.0 -45.0 -30) (jntVelMax 100.0 100.0 100.0 100)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.121999999999999997335 0.121999999999999997335 0.121999999999999997335 0.121999999999999997335) (ki 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (maxInt 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307) (ki 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (maxInt 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames neck_pitch neck_roll neck_yaw camera_tilt) (max_damping 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0) (yarpDeviceName head_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 4 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint neck_pitch added to the control board data. [INFO] Joint neck_roll added to the control board data. [INFO] Joint neck_yaw added to the control board data. [INFO] Joint camera_tilt added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Group TRAJECTORY_GENERATION not found in plugin configuration. Defaults to minimum jerk trajectory. [WARNING] Group TRAJECTORY_GENERATION not found in plugin configuration. Defaults trajectory generation reference speed and accelerations will be applied [DEBUG] Joint neck_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint neck_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint neck_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint neck_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint neck_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint neck_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint camera_tilt trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint camera_tilt trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] No initial configuration found, initializing trajectory generator with current values [INFO] Registered YARP device with instance name: model/ergoCub/head_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_left_arm.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_left_arm.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device left_arm_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: left_arm_hardware_device [DEBUG] gz-sim-yarp-controlboard-system: initialConfiguration: -0.52 0.52 0 0.785 0 0 0.0 [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 20.0 160.0 80.0 75.0 90.0 50.0 30.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 5.74500000000000010658 5.74500000000000010658 5.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (ki 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0 0.0 0.0 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (initialConfiguration "-0.52 0.52 0 0.785 0 0 0.0") (jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_yaw l_wrist_roll l_wrist_pitch) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName left_arm_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 7 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint l_shoulder_pitch added to the control board data. [INFO] Joint l_shoulder_roll added to the control board data. [INFO] Joint l_shoulder_yaw added to the control board data. [INFO] Joint l_elbow added to the control board data. [INFO] Joint l_wrist_yaw added to the control board data. [INFO] Joint l_wrist_roll added to the control board data. [INFO] Joint l_wrist_pitch added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint l_shoulder_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_shoulder_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_shoulder_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_shoulder_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_shoulder_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_shoulder_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_elbow trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_elbow trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_wrist_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_wrist_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_wrist_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_wrist_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_wrist_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_wrist_pitch trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Initial configuration found, initializing trajectory generator with it [INFO] Registered YARP device with instance name: model/ergoCub/left_arm_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_right_arm.ini [INFO] Yarp configuration file loaded: /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_right_arm.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device right_arm_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: right_arm_hardware_device [DEBUG] gz-sim-yarp-controlboard-system: initialConfiguration: -0.52 0.52 0 0.785 0 0 0.0 [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 20.0 160.0 80.0 75.0 90.0 50.0 30.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 5.74500000000000010658 5.74500000000000010658 5.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (ki 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0 0.0 0.0 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (initialConfiguration "-0.52 0.52 0 0.785 0 0 0.0") (jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_yaw r_wrist_roll r_wrist_pitch) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName right_arm_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 7 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint r_shoulder_pitch added to the control board data. [INFO] Joint r_shoulder_roll added to the control board data. [INFO] Joint r_shoulder_yaw added to the control board data. [INFO] Joint r_elbow added to the control board data. [INFO] Joint r_wrist_yaw added to the control board data. [INFO] Joint r_wrist_roll added to the control board data. [INFO] Joint r_wrist_pitch added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint r_shoulder_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_shoulder_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_shoulder_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_shoulder_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_shoulder_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_shoulder_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_elbow trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_elbow trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_wrist_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_wrist_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_wrist_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_wrist_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_wrist_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_wrist_pitch trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Initial configuration found, initializing trajectory generator with it [INFO] Registered YARP device with instance name: model/ergoCub/right_arm_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_robotinterface.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/ergocub_gz_sim.xml [DEBUG] Reading file /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/ergocub_gz_sim.xml [DEBUG] yarprobotinterface: using xml parser for DTD v3.x [DEBUG] Reading file /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/ergocub_gz_sim.xml [INFO] Yarprobotinterface was started using the following enable_tags: [INFO] Yarprobotinterface was started using the following disable_tags: [DEBUG] List of all enable attributes found in the include tags: [DEBUG] List of all disable attributes found in the include tags: [DEBUG] Preprocessor complete in: 0.000588417 s [INFO] startup phase starting... [INFO] Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/left_arm"), ("period" = "0.01")] [DEBUG] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_arm-mc_nws_yarp) (name "/ergocubSim/left_arm") (period 0.0100000000000000002082) (robotName "/ergocubSim") [INFO] |yarp.os.Port|/ergocubSim/left_arm/rpc:i| Port /ergocubSim/left_arm/rpc:i active at tcp://172.20.10.5:10011/ [INFO] |yarp.os.Port|/ergocubSim/left_arm/command:i| Port /ergocubSim/left_arm/command:i active at tcp://172.20.10.5:10012/ [INFO] |yarp.os.Port|/ergocubSim/left_arm/state:o| Port /ergocubSim/left_arm/state:o active at tcp://172.20.10.5:10013/ [INFO] |yarp.os.Port|/ergocubSim/left_arm/stateExt:o| Port /ergocubSim/left_arm/stateExt:o active at tcp://172.20.10.5:10014/ [INFO] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device right_arm-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/right_arm"), ("period" = "0.01")] [DEBUG] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/ergocubSim/right_arm") (period 0.0100000000000000002082) (robotName "/ergocubSim") [INFO] |yarp.os.Port|/ergocubSim/right_arm/rpc:i| Port /ergocubSim/right_arm/rpc:i active at tcp://172.20.10.5:10015/ [INFO] |yarp.os.Port|/ergocubSim/right_arm/command:i| Port /ergocubSim/right_arm/command:i active at tcp://172.20.10.5:10016/ [INFO] |yarp.os.Port|/ergocubSim/right_arm/state:o| Port /ergocubSim/right_arm/state:o active at tcp://172.20.10.5:10017/ [INFO] |yarp.os.Port|/ergocubSim/right_arm/stateExt:o| Port /ergocubSim/right_arm/stateExt:o active at tcp://172.20.10.5:10018/ [INFO] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device left_leg-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/left_leg"), ("period" = "0.01")] [DEBUG] |yarp.dev.PolyDriver|left_leg-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_leg-mc_nws_yarp) (name "/ergocubSim/left_leg") (period 0.0100000000000000002082) (robotName "/ergocubSim") [INFO] |yarp.os.Port|/ergocubSim/left_leg/rpc:i| Port /ergocubSim/left_leg/rpc:i active at tcp://172.20.10.5:10019/ [INFO] |yarp.os.Port|/ergocubSim/left_leg/command:i| Port /ergocubSim/left_leg/command:i active at tcp://172.20.10.5:10020/ [INFO] |yarp.os.Port|/ergocubSim/left_leg/state:o| Port /ergocubSim/left_leg/state:o active at tcp://172.20.10.5:10021/ [INFO] |yarp.os.Port|/ergocubSim/left_leg/stateExt:o| Port /ergocubSim/left_leg/stateExt:o active at tcp://172.20.10.5:10022/ [INFO] |yarp.dev.PolyDriver|left_leg-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device right_leg-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/right_leg"), ("period" = "0.01")] [DEBUG] |yarp.dev.PolyDriver|right_leg-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_leg-mc_nws_yarp) (name "/ergocubSim/right_leg") (period 0.0100000000000000002082) (robotName "/ergocubSim") [INFO] |yarp.os.Port|/ergocubSim/right_leg/rpc:i| Port /ergocubSim/right_leg/rpc:i active at tcp://172.20.10.5:10023/ [INFO] |yarp.os.Port|/ergocubSim/right_leg/command:i| Port /ergocubSim/right_leg/command:i active at tcp://172.20.10.5:10024/ [INFO] |yarp.os.Port|/ergocubSim/right_leg/state:o| Port /ergocubSim/right_leg/state:o active at tcp://172.20.10.5:10025/ [INFO] |yarp.os.Port|/ergocubSim/right_leg/stateExt:o| Port /ergocubSim/right_leg/stateExt:o active at tcp://172.20.10.5:10026/ [INFO] |yarp.dev.PolyDriver|right_leg-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device head-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/head")] [DEBUG] |yarp.dev.PolyDriver|head-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/ergocubSim/head") (robotName "/ergocubSim") [DEBUG] |yarp.devices.controlBoard_nws_yarp| 'period' parameter missing, using default thread period = 0.02s [INFO] |yarp.os.Port|/ergocubSim/head/rpc:i| Port /ergocubSim/head/rpc:i active at tcp://172.20.10.5:10027/ [INFO] |yarp.os.Port|/ergocubSim/head/command:i| Port /ergocubSim/head/command:i active at tcp://172.20.10.5:10028/ [INFO] |yarp.os.Port|/ergocubSim/head/state:o| Port /ergocubSim/head/state:o active at tcp://172.20.10.5:10029/ [INFO] |yarp.os.Port|/ergocubSim/head/stateExt:o| Port /ergocubSim/head/stateExt:o active at tcp://172.20.10.5:10030/ [INFO] |yarp.dev.PolyDriver|head-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device torso-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/torso"), ("period" = "0.01")] [DEBUG] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/ergocubSim/torso") (period 0.0100000000000000002082) (robotName "/ergocubSim") [INFO] |yarp.os.Port|/ergocubSim/torso/rpc:i| Port /ergocubSim/torso/rpc:i active at tcp://172.20.10.5:10031/ [INFO] |yarp.os.Port|/ergocubSim/torso/command:i| Port /ergocubSim/torso/command:i active at tcp://172.20.10.5:10032/ [INFO] |yarp.os.Port|/ergocubSim/torso/state:o| Port /ergocubSim/torso/state:o active at tcp://172.20.10.5:10033/ [INFO] |yarp.os.Port|/ergocubSim/torso/stateExt:o| Port /ergocubSim/torso/stateExt:o active at tcp://172.20.10.5:10034/ [INFO] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device left_arm-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(left_arm_joints1)"), ("left_arm_joints1" = "( 0 6 0 6 )"), ("joints" = "7")] [DEBUG] |yarp.dev.PolyDriver|left_arm-mc_remapper| Parameters are (device controlboardremapper) (id left_arm-mc_remapper) (joints 7) (left_arm_joints1 (0 6 0 6)) (networks (left_arm_joints1)) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|left_arm-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device right_arm-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(right_arm_joints1)"), ("right_arm_joints1" = "( 0 6 0 6 )"), ("joints" = "7")] [DEBUG] |yarp.dev.PolyDriver|right_arm-mc_remapper| Parameters are (device controlboardremapper) (id right_arm-mc_remapper) (joints 7) (networks (right_arm_joints1)) (right_arm_joints1 (0 6 0 6)) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|right_arm-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device left_leg-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(left_leg_joints1)"), ("left_leg_joints1" = "( 0 5 0 5 )"), ("joints" = "6")] [DEBUG] |yarp.dev.PolyDriver|left_leg-mc_remapper| Parameters are (device controlboardremapper) (id left_leg-mc_remapper) (joints 6) (left_leg_joints1 (0 5 0 5)) (networks (left_leg_joints1)) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|left_leg-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device right_leg-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(right_leg_joints1)"), ("right_leg_joints1" = "( 0 5 0 5 )"), ("joints" = "6")] [DEBUG] |yarp.dev.PolyDriver|right_leg-mc_remapper| Parameters are (device controlboardremapper) (id right_leg-mc_remapper) (joints 6) (networks (right_leg_joints1)) (right_leg_joints1 (0 5 0 5)) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|right_leg-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device head-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(head_joints1)"), ("head_joints1" = "( 0 3 0 3 )"), ("joints" = "4")] [DEBUG] |yarp.dev.PolyDriver|head-mc_remapper| Parameters are (device controlboardremapper) (head_joints1 (0 3 0 3)) (id head-mc_remapper) (joints 4) (networks (head_joints1)) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|head-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device torso-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(torso_joints)"), ("torso_joints" = "( 0 2 0 2 )"), ("joints" = "3")] [DEBUG] |yarp.dev.PolyDriver|torso-mc_remapper| Parameters are (device controlboardremapper) (id torso-mc_remapper) (joints 3) (networks (torso_joints)) (robotName "/ergocubSim") (torso_joints (0 2 0 2)) [INFO] |yarp.dev.PolyDriver|torso-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device left_leg-FT_remapper with parameters [("robotName" = "/ergocubSim"), ("SixAxisForceTorqueSensorsNames" = "(l_leg_ft l_foot_rear_ft l_foot_front_ft)"), ("TemperatureSensorsNames" = "(l_leg_ft l_foot_rear_ft l_foot_front_ft)")] [DEBUG] |yarp.dev.PolyDriver|left_leg-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (l_leg_ft l_foot_rear_ft l_foot_front_ft)) (TemperatureSensorsNames (l_leg_ft l_foot_rear_ft l_foot_front_ft)) (device multipleanalogsensorsremapper) (id left_leg-FT_remapper) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|left_leg-FT_remapper| Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. [INFO] Opening device right_leg-FT_remapper with parameters [("robotName" = "/ergocubSim"), ("SixAxisForceTorqueSensorsNames" = "(r_leg_ft r_foot_rear_ft r_foot_front_ft)"), ("TemperatureSensorsNames" = "(r_leg_ft r_foot_rear_ft r_foot_front_ft)")] [DEBUG] |yarp.dev.PolyDriver|right_leg-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (r_leg_ft r_foot_rear_ft r_foot_front_ft)) (TemperatureSensorsNames (r_leg_ft r_foot_rear_ft r_foot_front_ft)) (device multipleanalogsensorsremapper) (id right_leg-FT_remapper) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|right_leg-FT_remapper| Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. [INFO] Opening device left_leg-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_leg/FT")] [DEBUG] |yarp.dev.PolyDriver|left_leg-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_leg-FT_wrapper) (name "/ergocubSim/left_leg/FT") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|left_leg-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device right_leg-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_leg/FT")] [DEBUG] |yarp.dev.PolyDriver|right_leg-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_leg-FT_wrapper) (name "/ergocubSim/right_leg/FT") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|right_leg-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device left_arm-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_arm/FT")] [DEBUG] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/ergocubSim/left_arm/FT") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device right_arm-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_arm/FT")] [DEBUG] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_arm-FT_wrapper) (name "/ergocubSim/right_arm/FT") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device head-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/head/inertials")] [DEBUG] |yarp.dev.PolyDriver|head-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/ergocubSim/head/inertials") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|head-inertials_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device waist-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/waist/inertials")] [DEBUG] |yarp.dev.PolyDriver|waist-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id waist-inertials_wrapper) (name "/ergocubSim/waist/inertials") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|waist-inertials_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device left_foot-IMU_remapper with parameters [("robotName" = "/ergocubSim"), ("ThreeAxisGyroscopesNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("ThreeAxisLinearAccelerometersNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("ThreeAxisMagnetometersNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("OrientationSensorsNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)")] [DEBUG] |yarp.dev.PolyDriver|left_foot-IMU_remapper| Parameters are (OrientationSensorsNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisGyroscopesNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisLinearAccelerometersNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisMagnetometersNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id left_foot-IMU_remapper) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|left_foot-IMU_remapper| Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. [INFO] Opening device left_foot-IMU_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_foot_heel_tiptoe/imu")] [DEBUG] |yarp.dev.PolyDriver|left_foot-IMU_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_foot-IMU_wrapper) (name "/ergocubSim/left_foot_heel_tiptoe/imu") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|left_foot-IMU_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device right_foot-IMU_remapper with parameters [("robotName" = "/ergocubSim"), ("ThreeAxisGyroscopesNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("ThreeAxisLinearAccelerometersNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("ThreeAxisMagnetometersNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("OrientationSensorsNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)")] [DEBUG] |yarp.dev.PolyDriver|right_foot-IMU_remapper| Parameters are (OrientationSensorsNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisGyroscopesNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisLinearAccelerometersNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisMagnetometersNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id right_foot-IMU_remapper) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|right_foot-IMU_remapper| Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. [INFO] Opening device right_foot-IMU_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_foot_heel_tiptoe/imu")] [DEBUG] |yarp.dev.PolyDriver|right_foot-IMU_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_foot-IMU_wrapper) (name "/ergocubSim/right_foot_heel_tiptoe/imu") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|right_foot-IMU_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device alljoints-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/alljoints/inertials")] [DEBUG] |yarp.dev.PolyDriver|alljoints-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id alljoints-inertials_wrapper) (name "/ergocubSim/alljoints/inertials") (period 10) (robotName "/ergocubSim") [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|alljoints-inertials_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device alljoints-inertials_remapper with parameters [("robotName" = "/ergocubSim"), ("OrientationSensorsNames" = "(head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_front_ft_imu l_foot_rear_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_front_ft_imu r_foot_rear_ft_imu)")] [DEBUG] |yarp.dev.PolyDriver|alljoints-inertials_remapper| Parameters are (OrientationSensorsNames (head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_front_ft_imu l_foot_rear_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_front_ft_imu r_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id alljoints-inertials_remapper) (robotName "/ergocubSim") [INFO] |yarp.dev.PolyDriver|alljoints-inertials_remapper| Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. [INFO] Opening device lidarWrapY with parameters [("robotName" = "/ergocubSim"), ("period" = "0.01"), ("name" = "/ergocubSim/laser:o")] [DEBUG] |yarp.dev.PolyDriver|lidarWrapY| Parameters are (device rangefinder2D_nws_yarp) (id lidarWrapY) (name "/ergocubSim/laser:o") (period 0.0100000000000000002082) (robotName "/ergocubSim") [INFO] |yarp.os.Port|/ergocubSim/laser:o| Port /ergocubSim/laser:o active at tcp://172.20.10.5:10035/ [INFO] |yarp.os.Port|/ergocubSim/laser:o/rpc:i| Port /ergocubSim/laser:o/rpc:i active at tcp://172.20.10.5:10036/ [INFO] |yarp.dev.PolyDriver|lidarWrapY| Created wrapper . See C++ class Rangefinder2D_nws_yarp for documentation. [INFO] Entering action level 5 of phase startup [INFO] Executing attach action, level 5 on device left_arm-mc_remapper with parameters [("networks" = "(left_arm_joints1)"), ("left_arm_joints1" = "left_arm_hardware_device")] [INFO] left_arm-mc_remapper is not an IWrapper. Trying IMultipleWrapper [INFO] Executing attach action, level 5 on device right_arm-mc_remapper with parameters [("networks" = "(right_arm_joints1)"), ("right_arm_joints1" = "right_arm_hardware_device")] [INFO] right_arm-mc_remapper is not an IWrapper. Trying IMultipleWrapper [INFO] Executing attach action, level 5 on device left_leg-mc_remapper with parameters [("networks" = "(left_leg_joints1)"), ("left_leg_joints1" = "left_leg_hardware_device")] [INFO] left_leg-mc_remapper is not an IWrapper. Trying IMultipleWrapper [INFO] Executing attach action, level 5 on device right_leg-mc_remapper with parameters [("networks" = "(right_leg_joints1)"), ("right_leg_joints1" = "right_leg_hardware_device")] [INFO] right_leg-mc_remapper is not an IWrapper. Trying IMultipleWrapper [INFO] Executing attach action, level 5 on device head-mc_remapper with parameters [("networks" = "(head_joints1)"), ("head_joints1" = "head_hardware_device")] [INFO] head-mc_remapper is not an IWrapper. Trying IMultipleWrapper [INFO] Executing attach action, level 5 on device torso-mc_remapper with parameters [("networks" = "(torso_joints)"), ("torso_joints" = "torso_hardware_device")] [INFO] torso-mc_remapper is not an IWrapper. Trying IMultipleWrapper [INFO] Executing attach action, level 5 on device left_leg-FT_remapper with parameters [("networks" = "(left_leg_ft left_foot_rear_ft left_foot_front_ft)"), ("left_leg_ft" = "ergocub_left_leg_ft"), ("left_foot_rear_ft" = "ergocub_left_foot_rear_ft"), ("left_foot_front_ft" = "ergocub_left_foot_front_ft")] [INFO] Executing attach action, level 5 on device right_leg-FT_remapper with parameters [("networks" = "(right_leg_ft right_foot_rear_ft right_foot_front_ft)"), ("right_leg_ft" = "ergocub_right_leg_ft"), ("right_foot_rear_ft" = "ergocub_right_foot_rear_ft"), ("right_foot_front_ft" = "ergocub_right_foot_front_ft")] [INFO] Executing attach action, level 5 on device left_foot-IMU_remapper with parameters [("networks" = "(FirstIMU SecondIMU)"), ("FirstIMU" = "l_foot_front_ft_sensor_inertial_hardware_device"), ("SecondIMU" = "l_foot_rear_ft_sensor_inertial_hardware_device")] [INFO] Executing attach action, level 5 on device right_foot-IMU_remapper with parameters [("networks" = "(FirstIMU SecondIMU)"), ("FirstIMU" = "r_foot_front_ft_sensor_inertial_hardware_device"), ("SecondIMU" = "r_foot_rear_ft_sensor_inertial_hardware_device")] [INFO] Executing attach action, level 5 on device alljoints-inertials_remapper with parameters [("networks" = "(head_imu left_arm_imu left_leg_imu left_foot_front_imu left_foot_rear_imu right_arm_imu right_leg_imu right_foot_front_imu right_foot_rear_imu)"), ("head_imu" = "head_inertial_hardware_device"), ("left_arm_imu" = "l_arm_ft_sensor_inertial_hardware_device"), ("left_leg_imu" = "l_leg_ft_sensor_inertial_hardware_device"), ("left_foot_front_imu" = "l_foot_front_ft_sensor_inertial_hardware_device"), ("left_foot_rear_imu" = "l_foot_rear_ft_sensor_inertial_hardware_device"), ("right_arm_imu" = "r_arm_ft_sensor_inertial_hardware_device"), ("right_leg_imu" = "r_leg_ft_sensor_inertial_hardware_device"), ("right_foot_front_imu" = "r_foot_front_ft_sensor_inertial_hardware_device"), ("right_foot_rear_imu" = "r_foot_rear_ft_sensor_inertial_hardware_device")] [ERROR] Target device l_arm_ft_sensor_inertial_hardware_device (network = left_arm_imu ) does not exist. [ERROR] Cannot run attach action on device alljoints-inertials_remapper [INFO] Executing attach action, level 5 on device lidarWrapY with parameters [("networks" = "(the_device)"), ("the_device" = "las360")] [INFO] All actions for action level 5 of startup phase started. Waiting for unfinished actions. [INFO] All actions for action level 5 of startup phase finished. [INFO] Entering action level 10 of phase startup [INFO] Executing attach action, level 10 on device left_arm-mc_nws_yarp with parameters [("device" = "left_arm-mc_remapper")] [INFO] Executing attach action, level 10 on device right_arm-mc_nws_yarp with parameters [("device" = "right_arm-mc_remapper")] [INFO] Executing attach action, level 10 on device left_leg-mc_nws_yarp with parameters [("device" = "left_leg-mc_remapper")] [INFO] Executing attach action, level 10 on device right_leg-mc_nws_yarp with parameters [("device" = "right_leg-mc_remapper")] [INFO] Executing attach action, level 10 on device head-mc_nws_yarp with parameters [("device" = "head-mc_remapper")] [INFO] Executing attach action, level 10 on device torso-mc_nws_yarp with parameters [("device" = "torso-mc_remapper")] [INFO] Executing attach action, level 10 on device left_leg-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "left_leg-FT_remapper")] [INFO] left_leg-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/ergocubSim/left_leg/FT/measures:o| Port /ergocubSim/left_leg/FT/measures:o active at tcp://172.20.10.5:10037/ [INFO] |yarp.os.Port|/ergocubSim/left_leg/FT/rpc:o| Port /ergocubSim/left_leg/FT/rpc:o active at tcp://172.20.10.5:10038/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 10 on device right_leg-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "right_leg-FT_remapper")] [INFO] right_leg-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/ergocubSim/right_leg/FT/measures:o| Port /ergocubSim/right_leg/FT/measures:o active at tcp://172.20.10.5:10039/ [INFO] |yarp.os.Port|/ergocubSim/right_leg/FT/rpc:o| Port /ergocubSim/right_leg/FT/rpc:o active at tcp://172.20.10.5:10040/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 10 on device left_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "ergocub_left_arm_ft")] [INFO] left_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/ergocubSim/left_arm/FT/measures:o| Port /ergocubSim/left_arm/FT/measures:o active at tcp://172.20.10.5:10041/ [INFO] |yarp.os.Port|/ergocubSim/left_arm/FT/rpc:o| Port /ergocubSim/left_arm/FT/rpc:o active at tcp://172.20.10.5:10042/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 10 on device right_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "ergocub_right_arm_ft")] [INFO] right_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/ergocubSim/right_arm/FT/measures:o| Port /ergocubSim/right_arm/FT/measures:o active at tcp://172.20.10.5:10043/ [INFO] |yarp.os.Port|/ergocubSim/right_arm/FT/rpc:o| Port /ergocubSim/right_arm/FT/rpc:o active at tcp://172.20.10.5:10044/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 10 on device head-inertials_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head_inertial_hardware_device")] [INFO] head-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/ergocubSim/head/inertials/measures:o| Port /ergocubSim/head/inertials/measures:o active at tcp://172.20.10.5:10045/ [INFO] |yarp.os.Port|/ergocubSim/head/inertials/rpc:o| Port /ergocubSim/head/inertials/rpc:o active at tcp://172.20.10.5:10046/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 10 on device waist-inertials_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "waist_inertial_hardware_device")] [INFO] waist-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/ergocubSim/waist/inertials/measures:o| Port /ergocubSim/waist/inertials/measures:o active at tcp://172.20.10.5:10047/ [INFO] |yarp.os.Port|/ergocubSim/waist/inertials/rpc:o| Port /ergocubSim/waist/inertials/rpc:o active at tcp://172.20.10.5:10048/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 10 on device left_foot-IMU_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "left_foot-IMU_remapper")] [INFO] left_foot-IMU_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/ergocubSim/left_foot_heel_tiptoe/imu/measures:o| Port /ergocubSim/left_foot_heel_tiptoe/imu/measures:o active at tcp://172.20.10.5:10049/ [INFO] |yarp.os.Port|/ergocubSim/left_foot_heel_tiptoe/imu/rpc:o| Port /ergocubSim/left_foot_heel_tiptoe/imu/rpc:o active at tcp://172.20.10.5:10050/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 10 on device right_foot-IMU_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "right_foot-IMU_remapper")] [INFO] right_foot-IMU_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/ergocubSim/right_foot_heel_tiptoe/imu/measures:o| Port /ergocubSim/right_foot_heel_tiptoe/imu/measures:o active at tcp://172.20.10.5:10051/ [INFO] |yarp.os.Port|/ergocubSim/right_foot_heel_tiptoe/imu/rpc:o| Port /ergocubSim/right_foot_heel_tiptoe/imu/rpc:o active at tcp://172.20.10.5:10052/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 10 on device alljoints-inertials_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "alljoints-inertials_remapper")] [INFO] alljoints-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper Stack trace (most recent call last): #31 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f47089042, in vm_sendish #30 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f4707cf07, in vm_call_cfunc_with_frame_ #29 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f46fc467d, in rb_f_fork #28 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f46ef9da6, in rb_protect #27 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f47094f91, in rb_yield #26 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f470903e7, in rb_vm_exec #25 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f4708d138, in vm_exec_core #24 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f47089042, in vm_sendish #23 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f4707cf07, in vm_call_cfunc_with_frame_ #22 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/ruby/3.3.0/x86_64-linux/fiddle.so", at 0x7f6f2b066efc, in function_call #21 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f4704d431, in rb_nogvl #20 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/ruby/3.3.0/x86_64-linux/fiddle.so", at 0x7f6f2b066848, in nogvl_ffi_call #19 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libffi.so.8.1.0", at 0x7f6f2b009fe9, in ffi_call_int #18 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libffi.so.8.1.0", at 0x7f6f2b00aa49, in ffi_call_unix64 #17 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8-gz.so.8.3.0", at 0x7f6f2a395bcd, in runServer #16 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a036b6f, in gz::sim::v8::Server::Server(gz::sim::v8::ServerConfig const&) #15 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a04459e, in gz::sim::v8::ServerPrivate::CreateEntities() #14 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a05ce09, in gz::sim::v8::SimulationRunner::SimulationRunner(sdf::v14::World const*, std::shared_ptr const&, gz::sim::v8::ServerConfig const&) #13 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f29fd6f1a, in gz::sim::v8::LevelManager::UpdateLevelsState() #12 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f29fcb4a8, in gz::sim::v8::LevelManager::LoadActiveEntities(std::set, std::allocator >, std::less, std::allocator > >, std::allocator, std::allocator > > > const&) #11 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a017de0, in gz::sim::v8::SdfEntityCreator::CreateEntities(sdf::v14::Model const*) #10 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a00dcaf, in void gz::sim::v8::EventManager::Emit >), gz::sim::v8::events::LoadPluginsTag>, unsigned long const&, std::vector > const&>(unsigned long const&, std::vector > const&) #9 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a04e655, in gz::sim::v8::SimulationRunner::LoadPlugins(unsigned long, std::vector > const&) #8 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a06b854, in gz::sim::v8::SystemManager::LoadPlugin(unsigned long, sdf::v14::Plugin const&) #7 Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a06b1ff, in gz::sim::v8::SystemManager::AddSystemImpl(gz::sim::v8::SystemInternal, std::shared_ptr) #6 Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/libgz-sim-yarp-robotinterface-system.so", at 0x7f6eec41c703, in gzyarp::RobotInterface::Configure(unsigned long const&, std::shared_ptr const&, gz::sim::v8::EntityComponentManager&, gz::sim::v8::EventManager&) #5 Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3.9.0", at 0x7f6eec504581, in yarp::robotinterface::Robot::enterPhase(yarp::robotinterface::ActionPhase) #4 Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3.9.0", at 0x7f6eec502319, in yarp::robotinterface::Robot::Private::attach(yarp::robotinterface::Device const&, std::vector > const&) #3 Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3.9.0", at 0x7f6eec4f652e, in yarp::robotinterface::Device::attach(yarp::dev::PolyDriverList const&) const #2 Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/yarp/yarp_multipleanalogsensorsserver.so", at 0x7f6eec3604cb, in MultipleAnalogSensorsServer::attachAll(yarp::dev::PolyDriverList const&) #1 Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/yarp/yarp_multipleanalogsensorsserver.so", at 0x7f6eec35e6b8, in MultipleAnalogSensorsServer::populateAllSensorsMetadata() #0 Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/yarp/yarp_multipleanalogsensorsremapper.so", at 0x7f6eec382314, in non-virtual thunk to MultipleAnalogSensorsRemapper::getNrOfThreeAxisGyroscopes() const Segmentation fault (Address not mapped to object [0x8]) ```
traversaro commented 3 months ago

Interesting. If you are compiling gz-sim-yarp-plugins, can you try to enable BUILD_TESTING in the CMake build of the repo and run the tests, to understand if those work fine or not in your system?

LoreMoretti commented 3 months ago

Interesting. If you are compiling gz-sim-yarp-plugins, can you try to enable BUILD_TESTING in the CMake build of the repo and run the tests, to understand if those work fine or not in your system?

while configuring to build the test I get the following error:

 CMake Error at /home/lomoretti/mambaforge/envs/robsub_gzsim/share/cmake-3.30/Modules/FindPackageHandleStandardArgs.cmake:233 (message):
   Could NOT find GTest (missing: GTEST_LIBRARY GTEST_MAIN_LIBRARY)
 Call Stack (most recent call first):    
   /home/lomoretti/mambaforge/envs/robsub_gzsim/share/cmake-3.30/Modules/FindPackageHandleStandardArgs.cmake:603 (_FPHSA_FAILURE_MESSAGE)
   /home/lomoretti/mambaforge/envs/robsub_gzsim/share/cmake-3.30/Modules/FindGTest.cmake:273 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
   tests/CMakeLists.txt:1 (find_package) 

 Configuring incomplete, errors occurred!

is GTest a needed dependency?

traversaro commented 3 months ago

Yes, it is indeed a test dependency, you can install it with the gtest conda-forge package, see https://github.com/robotology/gz-sim-yarp-plugins/blob/e681eca66446e3652b0f1f002b84845f27b3c22c/ci_env.yml#L12 .

LoreMoretti commented 3 months ago

Here the log of the tests:

(robsub_gzsim) lomoretti@IITICUBLAP226:~/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins (master)$ ctest
Test project /home/lomoretti/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins
      Start  1: ForceTorqueTest
 1/13 Test  #1: ForceTorqueTest .............................***Failed    3.09 sec
      Start  2: ImuTest
 2/13 Test  #2: ImuTest .....................................   Passed    7.17 sec
      Start  3: LaserTest
 3/13 Test  #3: LaserTest ...................................***Failed    3.39 sec
      Start  4: CameraTest
 4/13 Test  #4: CameraTest ..................................***Failed    8.19 sec
      Start  5: ClockTest
 5/13 Test  #5: ClockTest ...................................***Exception: SegFault  4.11 sec
      Start  6: ControlBoardTorqueControlTest
 6/13 Test  #6: ControlBoardTorqueControlTest ...............***Exception: SegFault  2.10 sec
      Start  7: ControlBoardPositionDirectControlTest
 7/13 Test  #7: ControlBoardPositionDirectControlTest .......***Failed    0.46 sec
      Start  8: ControlBoardPositionControlTest
 8/13 Test  #8: ControlBoardPositionControlTest .............***Exception: SegFault  0.47 sec
      Start  9: ControlBoardCommonsTest
 9/13 Test  #9: ControlBoardCommonsTest .....................***Exception: SegFault  0.61 sec
      Start 10: ControlBoardOnMultipleGazeboInstancesTest
10/13 Test #10: ControlBoardOnMultipleGazeboInstancesTest ...***Exception: SegFault  0.52 sec
      Start 11: ConfigurationParsingFromFileTest
11/13 Test #11: ConfigurationParsingFromFileTest ............   Passed    0.48 sec
      Start 12: ConfigurationParsingFromStringTest
12/13 Test #12: ConfigurationParsingFromStringTest ..........   Passed    0.42 sec
      Start 13: ConcurrentInstancesTest
13/13 Test #13: ConcurrentInstancesTest .....................   Passed    3.46 sec

31% tests passed, 9 tests failed out of 13

Total Test time (real) =  34.47 sec

The following tests FAILED:
      1 - ForceTorqueTest (Failed)
      3 - LaserTest (Failed)
      4 - CameraTest (Failed)
      5 - ClockTest (SEGFAULT)
      6 - ControlBoardTorqueControlTest (SEGFAULT)
      7 - ControlBoardPositionDirectControlTest (Failed)
      8 - ControlBoardPositionControlTest (SEGFAULT)
      9 - ControlBoardCommonsTest (SEGFAULT)
     10 - ControlBoardOnMultipleGazeboInstancesTest (SEGFAULT)
Errors while running CTest
Output from these tests are in: /home/lomoretti/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.

I have re-run with verbose options the failed one:

tests log with verbosity ``` (robsub_gzsim) lomoretti@IITICUBLAP226:~/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins (master)$ ctest --rerun-failed --output-on-failure Test project /home/lomoretti/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins Start 1: ForceTorqueTest 1/9 Test #1: ForceTorqueTest .............................***Failed 3.08 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ForceTorqueTest [ RUN ] ForceTorqueTest.PluginTest [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/forcetorque/model.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ForceTorque] for entity [1] [Msg] Create service on [/world/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName forcetorque_plugin_device) (jointName joint_12) (sensorName force_torque_sensor) [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor force_torque_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (jointName joint_12) (sensorName force_torque_sensor) (sensorScopedName "model/force_torque_model/joint/joint_12/sensor/force_torque_sensor") (sensor_name force_torque_sensor) (yarpDeviceName forcetorque_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/force_torque_model/forcetorque_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ForceTorque] for entity [8] [ERROR] File not found: ../../../tests/forcetorque/forcetorque_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/forcetorque/forcetorque_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/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]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 16 [DEBUG] |yarp.dev.PolyDriver|multipleanalogsensorsclient| Parameters are (device multipleanalogsensorsclient) (local "/ForceTorqueTest") (remote "/forcetorque") (timeout 1.0) [ERROR] |yarp.os.Port|/ForceTorqueTest/rpc:i| Port /ForceTorqueTest/rpc:i failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.device.multipleanalogsensorsclient| Failure to open the port /ForceTorqueTest/rpc:i. [DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete [ERROR] |yarp.dev.PolyDriver|multipleanalogsensorsclient| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/forcetorque/ForceTorqueTest.cc:39: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1) [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (Exiting postupdate worker thread (0) 02) [ FAILED ] ForceTorqueTest.PluginTest (3036 ms) [----------] 1 test from ForceTorqueTest (3036 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (3036 ms total) [ PASSED ] 0 tests. [ FAILED ] 1 test, listed below: [ FAILED ] ForceTorqueTest.PluginTest 1 FAILED TEST Start 3: LaserTest 2/9 Test #3: LaserTest ...................................***Failed 3.36 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from LaserTest [ RUN ] LaserTest.PluginTest [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/laser/model.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/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/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/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] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [ERROR] File not found: ../../../tests/laser/laser.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/laser/laser.ini [ERROR] gz-sim-yarp-laser-system : missing configuration [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Laser] for entity [8] [ERROR] File not found: ../../../tests/laser/laser_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/laser/laser_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/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]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene] [Dbg] [Sensors.cc:294] [Dbg] [Sensors.cc:700] [Dbg] [Sensors.cc:294] Rendering Thread initialized Initialization neededInitialization needed [Dbg] [Lidar.cc:133] Laser scans for [laser_model::link_1::laser_sensor] advertised on [world/sensors/model/laser_model/link/link_1/sensor/laser_sensor/scan] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [laser_model::link_1::laser_sensor] advertised on [world/sensors/model/laser_model/link/link_1/sensor/laser_sensor/scan/points] [DEBUG] |yarp.dev.PolyDriver|Rangefinder2DClient| Parameters are (device Rangefinder2DClient) (local "/LaserTest") (remote "/laser") [ERROR] |yarp.os.Port|/LaserTest| Port /LaserTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.device.Rangefinder2DClient| open() error could not open port /LaserTest, check network [ERROR] |yarp.dev.PolyDriver|Rangefinder2DClient| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/laser/LaserTest.cc:38: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (0)[Dbg] [SimulationRunner.cc:574] )Exiting postupdate worker thread (2) Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] LaserTest.PluginTest (3311 ms) [----------] 1 test from LaserTest (3311 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (3311 ms total) [ PASSED ] 0 tests. [ FAILED ] 1 test, listed below: [ FAILED ] LaserTest.PluginTest 1 FAILED TEST Start 4: CameraTest 3/9 Test #4: CameraTest ..................................***Failed 7.66 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 4 tests from 1 test suite. [----------] Global test environment set-up. [----------] 4 tests from CameraTest [ RUN ] CameraTest.PluginTest [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/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/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/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] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) [INFO] gz-sim-yarp-camera-system: configuration of sensor camera_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (yarpDeviceName camera_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class CameraDriver for documentation. [INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8] [ERROR] File not found: ../../../tests/camera/camera_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/camera/camera_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/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]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene][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. 1;36m [Dbg] [Sensors.cc:700] Rendering Thread initialized [Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image] [Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info] [Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation. [DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera") [ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open /CameraTest port. [INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera [ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:39: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (Exiting postupdate worker thread (1) 2) [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (0) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] CameraTest.PluginTest (3421 ms) [ RUN ] CameraTest.HorizontalFlip [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_hor_flip.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/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/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/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] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (horizontal_flip) [INFO] gz-sim-yarp-camera-system: configuration of sensor camera_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (horizontal_flip) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (yarpDeviceName camera_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class CameraDriver for documentation. [INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8] [ERROR] File not found: ../../../tests/camera/camera_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/camera/camera_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/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]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene][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. 1;36m [Dbg] [Sensors.cc:294] Rendering Thread initialized Initialization needed [Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image] [Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info] [Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation. [DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera") [ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open /CameraTest port. [INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera [ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:107: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2Exiting postupdate worker thread (2Exiting postupdate worker thread (1) 2Exiting postupdate worker thread () Exiting postupdate worker thread (0) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] CameraTest.HorizontalFlip (1408 ms) [ RUN ] CameraTest.VerticalFlip [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_ver_flip.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/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/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/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] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (vertical_flip) [INFO] gz-sim-yarp-camera-system: configuration of sensor camera_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (vertical_flip) (yarpDeviceName camera_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class CameraDriver for documentation. [INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8] [ERROR] File not found: ../../../tests/camera/camera_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/camera/camera_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/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]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene][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. 1;36m [Dbg] [Sensors.cc:700] Rendering Thread initialized Initialization needed [Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image] [Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info] [Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation. [DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera") [ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open /CameraTest port. [INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera [ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:175: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2) Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] 0) 1) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] CameraTest.VerticalFlip (1417 ms) [ RUN ] CameraTest.HorizontalVerticalFlip [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_hor_ver_flip.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/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/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/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] [SystemManager.cc:74] Loaded system [[Dbg] [Sensors.cc:422] gz::sim::systems::SensorsSensorsPrivate::RenderThread started ] for entity [] for entity [1] [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (horizontal_flip) (vertical_flip) [INFO] gz-sim-yarp-camera-system: configuration of sensor camera_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (horizontal_flip) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (vertical_flip) (yarpDeviceName camera_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class CameraDriver for documentation. [INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8] [ERROR] File not found: ../../../tests/camera/camera_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/camera/camera_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/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]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene][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. 1;36m [Dbg] [Sensors.cc:700] Initialization needed Rendering Thread initialized[Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image] [Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info] [Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation. [DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera") [ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open /CameraTest port. [INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera [ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:243: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2))[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1) Exiting postupdate worker thread (0) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] CameraTest.HorizontalVerticalFlip (1369 ms) [----------] 4 tests from CameraTest (7616 ms total) [----------] Global test environment tear-down [==========] 4 tests from 1 test suite ran. (7616 ms total) [ PASSED ] 0 tests. [ FAILED ] 4 tests, listed below: [ FAILED ] CameraTest.PluginTest [ FAILED ] CameraTest.HorizontalFlip [ FAILED ] CameraTest.VerticalFlip [ FAILED ] CameraTest.HorizontalVerticalFlip 4 FAILED TESTS Start 5: ClockTest 4/9 Test #5: ClockTest ...................................***Exception: SegFault 4.10 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ClockTest [ RUN ] ClockTest.GetSimulationTimeFromClockPort [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/clock/model.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/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/World/create] [Msg] Remove service on [/world/World/remove] [Msg] Pose service on [/world/World/set_pose] [Msg] Pose service on [/world/World/set_pose_vector] [Msg] Light configuration service on [/world/World/light_config] [Msg] Physics service on [/world/World/set_physics] [Msg] SphericalCoordinates service on [/world/World/set_spherical_coordinates] [Msg] Enable collision service on [/world/World/enable_collision] [Msg] Disable collision service on [/world/World/disable_collision] [Msg] Material service on [/world/World/visual_config] [Msg] Material service on [/world/World/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] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [ERROR] |yarp.os.Port|/clock| Port /clock failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] Failed to open port /clock [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Clock] for entity [1] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/World/control], [/world/World/control/state] and [/world/World/playback/control] [Msg] Serving GUI information on [/world/World/gui/info] [Msg] World [World] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/World/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]. [ERROR] |yarp.os.Port|/tmp_in| Port /tmp_in failed to activate at tcp://127.0.0.1:10003/ (address conflict) [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only Start 6: ControlBoardTorqueControlTest 5/9 Test #6: ControlBoardTorqueControlTest ...............***Exception: SegFault 2.10 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ControlBoardTorqueControl/ControlBoardTorqueControlFixture [ RUN ] ControlBoardTorqueControl/ControlBoardTorqueControlFixture.CompareJointTorqueWithExpectedValueUsingPendulumModel/0 [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration ========== Test Parameter: pendulum_joint_relative_to_child_link.sdf ========== configuring test [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTorqueControlTest.cc:67: Failure Expected equality of these values: deviceKeys.size() Which is: 0 1 [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) ========== Test PreUpdate Start 7: ControlBoardPositionDirectControlTest 6/9 Test #7: ControlBoardPositionDirectControlTest .......***Failed 0.40 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ControlBoardPositionDirectFixture [ RUN ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration ========== Configuring test [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found Number of Devices: 0 unknown file: Failure C++ exception with description "vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)" thrown in the test body. [ FAILED ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel (363 ms) [----------] 1 test from ControlBoardPositionDirectFixture (363 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (363 ms total) [ PASSED ] 0 tests. [ FAILED ] 1 test, listed below: [ FAILED ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel 1 FAILED TEST Start 8: ControlBoardPositionControlTest 7/9 Test #8: ControlBoardPositionControlTest .............***Exception: SegFault 0.40 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ControlBoardPositionFixture [ RUN ] ControlBoardPositionFixture.CheckPositionTrackingWithTrajectoryGenerationUsingPendulumModel [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration Configuring test [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardPositionControlTest.cc:72: Failure Expected equality of these values: deviceKeys.size() Which is: 0 1 Start 9: ControlBoardCommonsTest 8/9 Test #9: ControlBoardCommonsTest .....................***Exception: SegFault 0.52 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 4 tests from 1 test suite. [----------] Global test environment set-up. [----------] 4 tests from ControlBoardCommonsTest [ RUN ] ControlBoardCommonsTest.ConfigureControlBoardWithoutInitialCondition [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::Physics] - Requested library name: [gz-sim-physics-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::UserCommands] - Requested library name: [gz-sim-user-commands-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::SceneBroadcaster] - Requested library name: [gz-sim-scene-broadcaster-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so] [ OK ] ControlBoardCommonsTest.ConfigureControlBoardWithoutInitialCondition (277 ms) [ RUN ] ControlBoardCommonsTest.ConfigureControlBoardWithInitialCondition [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/pendulum_with_initial_configuration.sdf]. [Msg] Serving entity system service on [/entity/system/add] [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::Physics] - Requested library name: [gz-sim-physics-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::UserCommands] - Requested library name: [gz-sim-user-commands-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::SceneBroadcaster] - Requested library name: [gz-sim-scene-broadcaster-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so] [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] [Msg] Loaded level [3] [Msg] No systems loaded from SDF, loading defaults [Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config] [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 [default_physics] 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]. [ OK ] ControlBoardCommonsTest.ConfigureControlBoardWithInitialCondition (55 ms) [ RUN ] ControlBoardCommonsTest.ConfigureMultipleControlBoards [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/coupled_pendulum_two_controlboards.sdf]. [Msg] Serving entity system service on [/entity/system/add] [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard2.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard2.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::Physics] - Requested library name: [gz-sim-physics-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::UserCommands] - Requested library name: [gz-sim-user-commands-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::SceneBroadcaster] - Requested library name: [gz-sim-scene-broadcaster-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so] [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] [Msg] Loaded level [3] [Msg] No systems loaded from SDF, loading defaults [Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config] [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 [default_physics] 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]. [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found Number of registered control board devices: 0 /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardCommonsTest.cc:102: Failure Expected equality of these values: controlBoards.size() Which is: 0 2 [ FAILED ] ControlBoardCommonsTest.ConfigureMultipleControlBoards (52 ms) [ RUN ] ControlBoardCommonsTest.JointPositionLimitsForMultipleJoints [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/coupled_pendulum_two_joints_single_controlboard.sdf]. [Msg] Serving entity system service on [/entity/system/add] [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_joints.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_joints.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::Physics] - Requested library name: [gz-sim-physics-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::UserCommands] - Requested library name: [gz-sim-user-commands-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::SceneBroadcaster] - Requested library name: [gz-sim-scene-broadcaster-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so] [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] [Msg] Loaded level [3] [Msg] No systems loaded from SDF, loading defaults [Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config] [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 [default_physics] 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]. [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardCommonsTest.cc:124: Failure Value of: deviceIds.size() == 1 Actual: false Expected: true Start 10: ControlBoardOnMultipleGazeboInstancesTest 9/9 Test #10: ControlBoardOnMultipleGazeboInstancesTest ...***Exception: SegFault 0.62 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ControlBoardOnMultipleGazeboInstances [ RUN ] ControlBoardOnMultipleGazeboInstances.StartConcurrentGazeboInstances [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardOnMultipleGazeboInstancesTest.cc:77: Failure Value of: deviceIds.size() == 1 Actual: false Expected: true [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardOnMultipleGazeboInstancesTest.cc:107: Failure Value of: deviceIds.size() == 1 Actual: false Expected: true 0% tests passed, 9 tests failed out of 9 Total Test time (real) = 22.26 sec The following tests FAILED: 1 - ForceTorqueTest (Failed) 3 - LaserTest (Failed) 4 - CameraTest (Failed) 5 - ClockTest (SEGFAULT) 6 - ControlBoardTorqueControlTest (SEGFAULT) 7 - ControlBoardPositionDirectControlTest (Failed) 8 - ControlBoardPositionControlTest (SEGFAULT) 9 - ControlBoardCommonsTest (SEGFAULT) 10 - ControlBoardOnMultipleGazeboInstancesTest (SEGFAULT) Errors while running CTest ```
traversaro commented 3 months ago

This is interesting, tests are passing fine in CI https://github.com/robotology/gz-sim-yarp-plugins/actions/runs/10208894581/job/28246043512 .

Probably you can run conda list --explicit and env and compare them with the output of the same command in CI ("Print environemnt") build step to understand if there is anything strange in your setup.

LoreMoretti commented 3 months ago

Sure, here it is:

conda list --explicit ``` (robsub_gzsim) lomoretti@IITICUBLAP226:~$ conda list --explicit # This file may be used to create an environment using: # $ conda create --name --file # platform: linux-64 @EXPLICIT https://conda.anaconda.org/conda-forge/linux-64/bash-completion-2.11-ha770c72_1.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/_sysroot_linux-64_curr_repodata_hack-3-h69a702a_16.conda https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.7.4-hbcca054_0.conda https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_2.conda https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.40-hf3520f5_7.conda https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.84.0-ha770c72_3.conda https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-12.4.0-ha4f9413_100.conda https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-12.4.0-ha4f9413_100.conda https://conda.anaconda.org/conda-forge/linux-64/mumps-include-5.7.2-ha770c72_0.conda https://conda.anaconda.org/conda-forge/linux-64/nlohmann_json-3.11.3-h59595ed_0.conda https://conda.anaconda.org/conda-forge/noarch/poppler-data-0.4.12-hd8ed1ab_0.conda https://conda.anaconda.org/conda-forge/noarch/pybind11-abi-4-hd8ed1ab_3.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.10-4_cp310.conda https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h0c530f3_0.conda https://conda.anaconda.org/conda-forge/linux-64/utfcpp-4.0.5-ha770c72_0.conda https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-3.10.0-h4a8ded7_16.conda https://conda.anaconda.org/conda-forge/linux-64/libgomp-14.1.0-h77fa898_0.conda https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.17-h4a8ded7_16.conda https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.40-ha1999f0_7.conda https://conda.anaconda.org/conda-forge/noarch/libdrm-cos7-x86_64-2.4.97-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-14.1.0-h77fa898_0.conda https://conda.anaconda.org/conda-forge/noarch/libglvnd-cos7-x86_64-1.0.1-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/libsepol-cos7-x86_64-2.5-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/libxshmfence-cos7-x86_64-1.2-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/mesa-khr-devel-cos7-x86_64-18.3.4-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/noarch/mesa-libglapi-cos7-x86_64-18.3.4-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.12-h4ab18f5_0.conda https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/aws-c-common-0.9.17-h4ab18f5_0.conda https://conda.anaconda.org/conda-forge/linux-64/binutils-2.40-h4852527_7.conda https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.40-hb3c18ed_0.conda https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.32.3-h4bc722e_0.conda https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/fribidi-1.0.10-h36c2ea0_0.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/gettext-tools-0.22.5-h59595ed_2.conda https://conda.anaconda.org/conda-forge/linux-64/giflib-5.2.2-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/json-c-0.17-h1220068_1.conda https://conda.anaconda.org/conda-forge/linux-64/jxrlib-1.1-hd590300_3.conda https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.1-h166bdaf_0.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/lame-3.100-h166bdaf_1003.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.1.0-hd590300_1.conda https://conda.anaconda.org/conda-forge/linux-64/libdeflate-1.20-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-hd590300_2.conda https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.6.2-h59595ed_0.conda https://conda.anaconda.org/conda-forge/linux-64/libffi-3.4.2-h7f98852_5.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libgettextpo-0.22.5-h59595ed_2.conda https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-14.1.0-hc5f4f2c_0.conda https://conda.anaconda.org/conda-forge/noarch/libglvnd-glx-cos7-x86_64-1.0.1-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libiconv-1.17-hd590300_2.conda https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.0.0-hd590300_1.conda https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/libogg-1.3.5-h4ab18f5_0.conda https://conda.anaconda.org/conda-forge/linux-64/libopus-1.3.1-h7f98852_1.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libpciaccess-0.18-hd590300_0.conda https://conda.anaconda.org/conda-forge/noarch/libselinux-cos7-x86_64-2.5-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libsodium-1.0.18-h36c2ea0_1.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-14.1.0-hc0a3c3a_0.conda https://conda.anaconda.org/conda-forge/linux-64/libtasn1-4.19.0-h166bdaf_0.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libunistring-0.9.10-h7f98852_0.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.38.1-h0b41bf4_0.conda https://conda.anaconda.org/conda-forge/linux-64/libuv-1.48.0-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/libwebp-base-1.4.0-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/libxcrypt-4.4.36-hd590300_1.conda https://conda.anaconda.org/conda-forge/noarch/libxshmfence-devel-cos7-x86_64-1.2-h9b0a68f_1105.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.1-h4ab18f5_1.conda https://conda.anaconda.org/conda-forge/linux-64/lzo-2.10-hd590300_1001.conda https://conda.anaconda.org/conda-forge/linux-64/make-4.3-hd18ef5c_1.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/metis-5.1.0-h59595ed_1007.conda https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-h59595ed_0.conda https://conda.anaconda.org/conda-forge/linux-64/nettle-3.9.1-h7ab15ed_0.conda https://conda.anaconda.org/conda-forge/linux-64/ocl-icd-2.3.2-hd590300_1.conda https://conda.anaconda.org/conda-forge/linux-64/openssl-3.3.1-h4bc722e_2.conda https://conda.anaconda.org/conda-forge/linux-64/pkg-config-0.29.2-h4bc722e_1009.conda https://conda.anaconda.org/conda-forge/linux-64/pthread-stubs-0.4-h36c2ea0_1001.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.4-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/soxr-0.1.3-h0b41bf4_3.conda https://conda.anaconda.org/conda-forge/linux-64/tzcode-2024a-h3f72095_0.conda https://conda.anaconda.org/conda-forge/linux-64/x264-1!164.3095-h166bdaf_2.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-compositeproto-0.4.2-h7f98852_1001.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-damageproto-1.2.1-h7f98852_1002.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-inputproto-2.3.2-h7f98852_1002.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-kbproto-1.0.7-h7f98852_1002.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-libice-1.1.1-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/xorg-libxau-1.0.11-hd590300_0.conda https://conda.anaconda.org/conda-forge/linux-64/xorg-libxdmcp-1.1.3-h7f98852_0.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-randrproto-1.5.0-h7f98852_1001.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-recordproto-1.14.2-h7f98852_1002.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-renderproto-0.11.1-h7f98852_1002.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-util-macros-1.19.3-h7f98852_0.tar.bz2 https://conda.anaconda.org/conda-forge/linux-64/xorg-xextproto-7.3.0-h0b41bf4_1003.conda https://conda.anaconda.org/conda-forge/linux-64/xorg-xf86vidmodeproto-2.3.1-h7f98852_1002.tar.bz2 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https://conda.anaconda.org/conda-forge/linux-64/pyqtwebengine-5.15.9-py310h704022c_5.conda https://conda.anaconda.org/conda-forge/linux-64/vtk-9.3.0-qt_py310h1234567_200.conda https://conda.anaconda.org/conda-forge/linux-64/libgz-fuel-tools9-9.0.3-h9614a5f_0.conda https://conda.anaconda.org/conda-forge/linux-64/libgz-physics7-7.2.0-h45a2cb6_1.conda https://conda.anaconda.org/conda-forge/linux-64/libgz-rendering8-8.1.1-hd3aeb46_1.conda https://conda.anaconda.org/conda-forge/linux-64/pcl-1.14.1-hbf7b2d8_3.conda https://conda.anaconda.org/conda-forge/linux-64/libgz-gui8-8.0.0-hee5a715_6.conda https://conda.anaconda.org/conda-forge/linux-64/libgz-sensors8-8.0.0-hf437a2f_5.conda https://conda.anaconda.org/conda-forge/linux-64/libgz-sim8-8.3.0-h5fd5377_0.conda https://conda.anaconda.org/conda-forge/linux-64/gz-sim8-python-8.3.0-py310h64a2142_0.conda https://conda.anaconda.org/conda-forge/linux-64/gz-sim8-8.3.0-ha770c72_0.conda ```
env ``` (robsub_gzsim) lomoretti@IITICUBLAP226:~$ env SHELL=/bin/bash ROS_VERSION=2 DEBUG_FFLAGS=-march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-all -fno-plt -Og -g -Wall -Wextra -fcheck=all -fbacktrace -fimplicit-none -fvar-tracking-assignments -ffunction-sections -pipe SESSION_MANAGER=local/IITICUBLAP226:@/tmp/.ICE-unix/3074,unix/IITICUBLAP226:/tmp/.ICE-unix/3074 GZ_SIM_RESOURCE_PATH=/home/lomoretti/robotology/robotology-superbuild/build/install/share/gazebo/models:/home/lomoretti/robotology/robotology-superbuild/build/install/share/iCub/robots:/home/lomoretti/robotology/robotology-superbuild/build/install/share:/home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/robots:/home/lomoretti/robotology/robotology-superbuild/build/install/share/gazebo/worlds:/home/lomoretti/robotology/robotology-superbuild/build/install/share/RRbot/robots QT_ACCESSIBILITY=1 GZ_SIM_SYSTEM_PLUGIN_PATH=/home/lomoretti/robotology/robotology-superbuild/build/install/lib COLORTERM=truecolor GCC_RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ranlib XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg SSH_AGENT_LAUNCHER=gnome-keyring XDG_MENU_PREFIX=gnome- GNOME_DESKTOP_SESSION_ID=this-is-deprecated GTK_IM_MODULE=ibus CONDA_EXE=/home/lomoretti/mambaforge/bin/conda _CE_M= ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX=/home/lomoretti/robotology/robotology-superbuild/build/install build_alias=x86_64-conda-linux-gnu ROS_PYTHON_VERSION=3 CMAKE_ARGS=-DCMAKE_AR=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ar -DCMAKE_CXX_COMPILER_AR=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ar -DCMAKE_C_COMPILER_AR=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ar -DCMAKE_RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ranlib -DCMAKE_CXX_COMPILER_RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ranlib -DCMAKE_C_COMPILER_RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ranlib -DCMAKE_LINKER=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ld -DCMAKE_STRIP=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-strip -DCMAKE_BUILD_TYPE=Release GPROF=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gprof LC_ADDRESS=it_IT.UTF-8 CONDA_TOOLCHAIN_BUILD=x86_64-conda-linux-gnu GNOME_SHELL_SESSION_MODE=ubuntu _CONDA_PYTHON_SYSCONFIGDATA_NAME=_sysconfigdata_x86_64_conda_cos6_linux_gnu LC_NAME=it_IT.UTF-8 SSH_AUTH_SOCK=/run/user/1000/keyring/ssh YARP_ROBOT_NAME=ergoCubGazeboV1_1 STRINGS=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-strings CPP=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-cpp CMAKE_EXPORT_COMPILE_COMMANDS=1 XMODIFIERS=@im=ibus DESKTOP_SESSION=ubuntu LC_MONETARY=it_IT.UTF-8 MATLABPATH=/home/lomoretti/robotology/robotology-superbuild/build/install/mex:/home/lomoretti/robotology/robotology-superbuild/build/install/mex/+wbc/simulink/MomentumVelocityControl:/home/lomoretti/robotology/robotology-superbuild/build/install/mex/+wbc/simulink:/home/lomoretti/robotology/robotology-superbuild/build/install/mex/+wbc/examples:/home/lomoretti/robotology/robotology-superbuild/build/install/share/WBToolbox:/home/lomoretti/robotology/robotology-superbuild/build/install/share/WBToolbox/images ROS_PACKAGE_PATH=/home/lomoretti/robotology/robotology-superbuild/build/install/share XML_CATALOG_FILES=file:///home/lomoretti/mambaforge/envs/robsub_gzsim/etc/xml/catalog file:///etc/xml/catalog FFLAGS=-march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include GTK_MODULES=gail:atk-bridge DWP=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-dwp PWD=/home/lomoretti GSETTINGS_SCHEMA_DIR=/home/lomoretti/mambaforge/envs/robsub_gzsim/share/glib-2.0/schemas LOGNAME=lomoretti XDG_SESSION_DESKTOP=ubuntu XDG_SESSION_TYPE=x11 CONDA_PREFIX=/home/lomoretti/mambaforge/envs/robsub_gzsim GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1 ROS_DOMAIN_ID=4 SYSTEMD_EXEC_PID=3456 GSETTINGS_SCHEMA_DIR_CONDA_BACKUP= CXX=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-c++ CXXFLAGS=-fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include XAUTHORITY=/run/user/1000/gdm/Xauthority CONDA_TOOLCHAIN_HOST=x86_64-conda-linux-gnu DEBUG_CXXFLAGS=-fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-all -fno-plt -Og -g -Wall -Wextra -fvar-tracking-assignments -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include WINDOWPATH=2 LDFLAGS=-Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,--allow-shlib-undefined -Wl,-rpath,/home/lomoretti/mambaforge/envs/robsub_gzsim/lib -Wl,-rpath-link,/home/lomoretti/mambaforge/envs/robsub_gzsim/lib -L/home/lomoretti/mambaforge/envs/robsub_gzsim/lib HOME=/home/lomoretti USERNAME=lomoretti IM_CONFIG_PHASE=1 LC_PAPER=it_IT.UTF-8 LANG=en_US.UTF-8 MESON_ARGS=-Dbuildtype=release GITHUB_TOKEN=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 DEBUG_CFLAGS=-march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-all -fno-plt -Og -g -Wall -Wextra -fvar-tracking-assignments -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36: XDG_CURRENT_DESKTOP=ubuntu:GNOME OGRE2_RESOURCE_PATH=/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/OGRE-Next VTE_VERSION=6800 CXX_FOR_BUILD=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-c++ ELFEDIT=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-elfedit CONDA_PROMPT_MODIFIER=(robsub_gzsim) AMENT_PREFIX_PATH=/opt/ros/humble:/home/lomoretti/robotology/robotology-superbuild/build/install CMAKE_PREFIX_PATH=/home/lomoretti/mambaforge/envs/robsub_gzsim:/home/lomoretti/mambaforge/envs/robsub_gzsim/x86_64-conda-linux-gnu/sysroot/usr:/home/lomoretti/robotology/robotology-superbuild/build/install GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/dfe8336a_303d_4988_baae_0e12cb755d43 CPPFLAGS=-DNDEBUG -D_FORTIFY_SOURCE=2 -O2 -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include CPL_ZIP_ENCODING=UTF-8 LD=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ld READELF=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-readelf GXX=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-g++ FC_FOR_BUILD=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gfortran ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=/home/lomoretti/robotology/robotology-superbuild GCC_AR=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ar GEM_HOME=/home/lomoretti/mambaforge/envs/robsub_gzsim/share/rubygems/ LESSCLOSE=/usr/bin/lesspipe %s %s ADDR2LINE=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-addr2line XDG_SESSION_CLASS=user PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages:/home/lomoretti/robotology/robotology-superbuild/build/install/lib/python3.10/site-packages TERM=xterm-256color LC_IDENTIFICATION=it_IT.UTF-8 _CE_CONDA= GCC_NM=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-nm SIZE=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-size F77=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gfortran HOST=x86_64-conda-linux-gnu LESSOPEN=| /usr/bin/lesspipe %s CC_FOR_BUILD=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-cc USER=lomoretti JAVA_TOOL_OPTIONS= -Djogl.disable.openglarbcontext=1 GNOME_TERMINAL_SERVICE=:1.165 CONDA_SHLVL=1 AR=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ar AS=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-as DEBUG_CPPFLAGS=-D_DEBUG -D_FORTIFY_SOURCE=2 -Og -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include F95=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-f95 F90=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gfortran host_alias=x86_64-conda-linux-gnu DISPLAY=:1 SHLVL=1 NM=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-nm GCC=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc GDAL_DRIVER_PATH=/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gdalplugins DEBUG_FORTRANFLAGS=-march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-all -fno-plt -Og -g -Wall -Wextra -fcheck=all -fbacktrace -fimplicit-none -fvar-tracking-assignments -ffunction-sections -pipe LC_TELEPHONE=it_IT.UTF-8 FORTRANFLAGS=-march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include QT_IM_MODULE=ibus LC_MEASUREMENT=it_IT.UTF-8 BLOCKFACTORY_PLUGIN_PATH=/home/lomoretti/robotology/robotology-superbuild/build/install/lib/blockfactory PROJ_DATA=/home/lomoretti/mambaforge/envs/robsub_gzsim/share/proj LD_GOLD=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ld.gold CONDA_PYTHON_EXE=/home/lomoretti/mambaforge/bin/python LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/home/lomoretti/robotology/robotology-superbuild/build/install/lib XDG_RUNTIME_DIR=/run/user/1000 ROS_LOCALHOST_ONLY=0 GFORTRAN=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gfortran CONDA_DEFAULT_ENV=robsub_gzsim OBJCOPY=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-objcopy LC_TIME=it_IT.UTF-8 FC=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gfortran LC_ALL=en_US.UTF-8 STRIP=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-strip GAZEBO_MODEL_PATH=/home/lomoretti/robotology/robotology-superbuild/build/install/share/gazebo/models:/home/lomoretti/robotology/robotology-superbuild/build/install/share/iCub/robots:/home/lomoretti/robotology/robotology-superbuild/build/install/share:/home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/robots:/home/lomoretti/robotology/robotology-superbuild/build/install/share/RRbot/robots XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/home/lomoretti/.local/share/flatpak/exports/share:/var/lib/flatpak/exports/share:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop:/home/lomoretti/robotology/robotology-superbuild/build/install/share YARP_DATA_DIRS=/home/lomoretti/robotology/robotology-superbuild/build/install/share/yarp:/home/lomoretti/robotology/robotology-superbuild/build/install/share/iCub:/home/lomoretti/robotology/robotology-superbuild/build/install/share/ICUBcontrib:/home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub:/home/lomoretti/robotology/robotology-superbuild/build/install/share/RRbot GDAL_DATA=/home/lomoretti/mambaforge/envs/robsub_gzsim/share/gdal OBJDUMP=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-objdump PATH=/opt/ros/humble/bin:/home/lomoretti/mambaforge/envs/robsub_gzsim/share/rubygems/bin:/home/lomoretti/mambaforge/envs/robsub_gzsim/bin:/home/lomoretti/mambaforge/condabin:/home/lomoretti/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/lomoretti/.local/bin:/home/lomoretti/robotology/robotology-superbuild/build/install/bin:/home/lomoretti/robotology/robotology-superbuild/build/install/lib/python3.10/site-packages/bin:/home/lomoretti/.local/bin CC=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-cc GDMSESSION=ubuntu CFLAGS=-march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include CXXFILT=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-c++filt DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus BUILD=x86_64-conda-linux-gnu ROS_DISTRO=humble RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ranlib CONDA_BUILD_SYSROOT=/home/lomoretti/mambaforge/envs/robsub_gzsim/x86_64-conda-linux-gnu/sysroot LC_NUMERIC=it_IT.UTF-8 PROJ_NETWORK=ON OGRE_RESOURCE_PATH=/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/OGRE _=/usr/bin/env ```
traversaro commented 3 months ago

Ok, there is nothing too strange in the env (at least that I see), we can move to actually see the test failures.

For the first one, I see:

[ERROR] File not found:  ../../../tests/forcetorque/forcetorque_nws.xml
[ERROR] Error while finding yarpRobotInterfaceConfigurationFile:  ../../../tests/forcetorque/forcetorque_nws.xml
[ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found
[ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file

Somehow the test in https://github.com/robotology/gz-sim-yarp-plugins/blob/e681eca66446e3652b0f1f002b84845f27b3c22c/tests/forcetorque/ForceTorqueTest.cc#L27 can't find the yarprobotinterface files. The problem seems with the relative path (relative w.r.t. to what?) passed to yarpRobotInterfaceConfigurationFile. The problem seems similar to https://github.com/robotology/gz-sim-yarp-plugins/pull/168 . I guess in CI the test pass as somehow this relative path encodes the assumption that the build directory is a child directory of the source directory of gz-sim-yarp-plugins, assumption that is not true when running the test in the superbuild.

traversaro commented 3 months ago

Anyhow these failures are probably unrelated, we can open a new issue for tracking this @xela-95 .

xela-95 commented 3 months ago

Looking at the logs posted in https://github.com/robotology/gz-sim-yarp-plugins/issues/173#issuecomment-2264879467, here are the lines that trigger me the most:

[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_robotinterface.so] : Could not find shared library.
[ERROR] Target device l_arm_ft_sensor_inertial_hardware_device (network = left_arm_imu ) does not exist.
[ERROR] Cannot run attach action on device alljoints-inertials_remapper
traversaro commented 3 months ago

The first three are the usual errors you get as the model also contains Gazebo Classic plugins, so you can ignore them.

traversaro commented 3 months ago

Probably it is some kind of regression of https://github.com/icub-tech-iit/ergocub-software/pull/232/files and https://github.com/icub-tech-iit/ergocub-software/pull/232 and https://github.com/icub-tech-iit/ergocub-software/pull/236 that added the plugins for the FT imus only on Gazebo Classic and not in gz-sim ? I guess the fix is just to add those and regenerate the models, or for the time being just disable those devices from yarprobotinterface .xml files. Probably we could add some smoke test in ergocub-software to ensure that the model load successfully without failures (or even an helper command that does that from the command line, and call that from the tests).

xela-95 commented 3 months ago

I just created a new conda environment from which I installed all the dependencies of robotology superbuild, then I created the world SDF and launched gz sim and it opened:

image

Here's the logs:

Details ```    ~/Desktop/debug_ergocub_gz_sim  gz sim ergocub-world.sdf  ✔  robsub_debug   14:38:58  qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in "" [ERROR] |yarp.os.Network| Cannot connect to port /root [ERROR] |yarp.os.Port| Port /clock failed to activate (invalid address) [ERROR] Failed to open port /clock [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_waist_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor waist_imu_0 loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName torso_1) (sensorName waist_imu_0) (sensorScopedName "model/ergoCub/link/torso_1/sensor/waist_imu_0") (sensor_name waist_imu_0) (yarpDeviceName waist_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/waist_inertial_hardware_device [ERROR] Yarp network does not seem to be available, is the yarpserver running? [ERROR] Yarp network does not seem to be available, is the yarpserver running? [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_torso.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_torso.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device torso_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: torso_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0) (damping 0.0 0.0 0.0)) (LIMITS (jntPosMax 43.0 45.0 23.0) (jntPosMin -43.0 -18.0 -23.0) (jntVelMax 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 70.0) (kd 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.170000000000000012212) (maxInt 9999 9999 9999) (maxOutput 9999 9999 9999) (shift 0.0 0.0 0.0) (ko 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163) (maxInt 9999 9999 9999) (maxOutput 9999 9999 9999) (shift 0.0 0.0 0.0) (ko 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames torso_roll torso_pitch torso_yaw) (max_damping 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0) (yarpDeviceName torso_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 3 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint torso_roll added to the control board data. [INFO] Joint torso_pitch added to the control board data. [INFO] Joint torso_yaw added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint torso_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint torso_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint torso_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint torso_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint torso_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint torso_yaw trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] No initial configuration found, initializing trajectory generator with current values [INFO] Registered YARP device with instance name: model/ergoCub/torso_hardware_device [ERROR] Yarp network does not seem to be available, is the yarpserver running? [ERROR] Yarp network does not seem to be available, is the yarpserver running? [ERROR] Yarp network does not seem to be available, is the yarpserver running? [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor l_foot_front_ft_imu loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_foot_front) (sensorName l_foot_front_ft_imu) (sensorScopedName "model/ergoCub/link/l_foot_front/sensor/l_foot_front_ft_imu") (sensor_name l_foot_front_ft_imu) (yarpDeviceName l_foot_front_ft_sensor_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/l_foot_front_ft_sensor_inertial_hardware_device [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor l_foot_rear_ft_imu loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_foot_rear) (sensorName l_foot_rear_ft_imu) (sensorScopedName "model/ergoCub/link/l_foot_rear/sensor/l_foot_rear_ft_imu") (sensor_name l_foot_rear_ft_imu) (yarpDeviceName l_foot_rear_ft_sensor_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/l_foot_rear_ft_sensor_inertial_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_left_leg.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_left_leg.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device left_leg_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: left_leg_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 102.0 108.0 78.0 5.0 43.0 23.0) (jntPosMin -42.0 -15.0 -78.0 -103.0 -43.0 -23.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 40.0 100.0 100.0 100.0) (kd 0.149999999999999994449 0.149999999999999994449 0.349999999999999977796 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907) (ki 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName left_leg_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 6 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint l_hip_pitch added to the control board data. [INFO] Joint l_hip_roll added to the control board data. [INFO] Joint l_hip_yaw added to the control board data. [INFO] Joint l_knee added to the control board data. [INFO] Joint l_ankle_pitch added to the control board data. [INFO] Joint l_ankle_roll added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint l_hip_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_hip_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_hip_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_hip_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_hip_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_hip_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_knee trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_knee trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_ankle_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_ankle_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_ankle_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_ankle_roll trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] No initial configuration found, initializing trajectory generator with current values [INFO] Registered YARP device with instance name: model/ergoCub/left_leg_hardware_device [ERROR] Yarp network does not seem to be available, is the yarpserver running? [ERROR] Yarp network does not seem to be available, is the yarpserver running? [ERROR] Yarp network does not seem to be available, is the yarpserver running? [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor r_foot_front_ft_imu loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_foot_front) (sensorName r_foot_front_ft_imu) (sensorScopedName "model/ergoCub/link/r_foot_front/sensor/r_foot_front_ft_imu") (sensor_name r_foot_front_ft_imu) (yarpDeviceName r_foot_front_ft_sensor_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/r_foot_front_ft_sensor_inertial_hardware_device [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor r_foot_rear_ft_imu loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_foot_rear) (sensorName r_foot_rear_ft_imu) (sensorScopedName "model/ergoCub/link/r_foot_rear/sensor/r_foot_rear_ft_imu") (sensor_name r_foot_rear_ft_imu) (yarpDeviceName r_foot_rear_ft_sensor_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/r_foot_rear_ft_sensor_inertial_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_right_leg.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_right_leg.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device right_leg_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: right_leg_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 102.0 108.0 78.0 5.0 43.0 23.0) (jntPosMin -42.0 -15.0 -78.0 -103.0 -43.0 -23.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 40.0 100.0 100.0 100.0) (kd 0.149999999999999994449 0.149999999999999994449 0.349999999999999977796 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907) (ki 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName right_leg_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 6 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint r_hip_pitch added to the control board data. [INFO] Joint r_hip_roll added to the control board data. [INFO] Joint r_hip_yaw added to the control board data. [INFO] Joint r_knee added to the control board data. [INFO] Joint r_ankle_pitch added to the control board data. [INFO] Joint r_ankle_roll added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint r_hip_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_hip_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_hip_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_hip_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_hip_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_hip_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_knee trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_knee trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_ankle_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_ankle_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_ankle_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_ankle_roll trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] No initial configuration found, initializing trajectory generator with current values [INFO] Registered YARP device with instance name: model/ergoCub/right_leg_hardware_device [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_inertial.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor head_imu_0 loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName head) (sensorName head_imu_0) (sensorScopedName "model/ergoCub/link/head/sensor/head_imu_0") (sensor_name head_imu_0) (yarpDeviceName head_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/head_inertial_hardware_device [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini [INFO] gz-sim-yarp-imu-system: configuration of sensor realsense_imu_0 loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName realsense) (sensorName realsense_imu_0) (sensorScopedName "model/ergoCub/link/realsense/sensor/realsense_imu_0") (sensor_name realsense_imu_0) (yarpDeviceName realsense_inertial_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class IMUDriver for documentation. [INFO] Registered YARP device with instance name: model/ergoCub/realsense_inertial_hardware_device [ERROR] Yarp network does not seem to be available, is the yarpserver running? [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_head.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_head.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device head_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: head_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 17.0 20.0 45.0 30.0) (jntPosMin -30.0 -20.0 -45.0 -30) (jntVelMax 100.0 100.0 100.0 100)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.121999999999999997335 0.121999999999999997335 0.121999999999999997335 0.121999999999999997335) (ki 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (maxInt 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307) (ki 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (maxInt 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames neck_pitch neck_roll neck_yaw camera_tilt) (max_damping 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0) (yarpDeviceName head_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 4 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint neck_pitch added to the control board data. [INFO] Joint neck_roll added to the control board data. [INFO] Joint neck_yaw added to the control board data. [INFO] Joint camera_tilt added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Group TRAJECTORY_GENERATION not found in plugin configuration. Defaults to minimum jerk trajectory. [WARNING] Group TRAJECTORY_GENERATION not found in plugin configuration. Defaults trajectory generation reference speed and accelerations will be applied [DEBUG] Joint neck_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint neck_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint neck_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint neck_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint neck_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint neck_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint camera_tilt trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint camera_tilt trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] No initial configuration found, initializing trajectory generator with current values [INFO] Registered YARP device with instance name: model/ergoCub/head_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_left_arm.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_left_arm.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device left_arm_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: left_arm_hardware_device [DEBUG] gz-sim-yarp-controlboard-system: initialConfiguration: -0.52 0.52 0 0.785 0 0 0.0 [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 20.0 160.0 80.0 75.0 90.0 50.0 30.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 5.74500000000000010658 5.74500000000000010658 5.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (ki 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0 0.0 0.0 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (initialConfiguration "-0.52 0.52 0 0.785 0 0 0.0") (jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_yaw l_wrist_roll l_wrist_pitch) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName left_arm_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 7 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint l_shoulder_pitch added to the control board data. [INFO] Joint l_shoulder_roll added to the control board data. [INFO] Joint l_shoulder_yaw added to the control board data. [INFO] Joint l_elbow added to the control board data. [INFO] Joint l_wrist_yaw added to the control board data. [INFO] Joint l_wrist_roll added to the control board data. [INFO] Joint l_wrist_pitch added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint l_shoulder_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_shoulder_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_shoulder_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_shoulder_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_shoulder_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_shoulder_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_elbow trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_elbow trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_wrist_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_wrist_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_wrist_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_wrist_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint l_wrist_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint l_wrist_pitch trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Initial configuration found, initializing trajectory generator with it [INFO] Registered YARP device with instance name: model/ergoCub/left_arm_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [INFO] File is a URI: model://ergoCub/conf/gazebo_ergocub_right_arm.ini [INFO] Yarp configuration file loaded: /home/acroci/mambaforge/envs/jaxsim/share/ergoCub/conf/gazebo_ergocub_right_arm.ini [INFO] gz-sim-yarp-controlboard-system: configuration of device right_arm_hardware_device loaded [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/ergoCub [DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName: right_arm_hardware_device [DEBUG] gz-sim-yarp-controlboard-system: initialConfiguration: -0.52 0.52 0 0.785 0 0 0.0 [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 20.0 160.0 80.0 75.0 90.0 50.0 30.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 5.74500000000000010658 5.74500000000000010658 5.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (ki 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0 0.0 0.0 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (initialConfiguration "-0.52 0.52 0 0.785 0 0 0.0") (jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_yaw r_wrist_roll r_wrist_pitch) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName right_arm_hardware_device) [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. [WARNING] Parameter jointNames should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Found 7 joints from the plugin configuration. [INFO] Found 65 joints from the model description. [INFO] Joint r_shoulder_pitch added to the control board data. [INFO] Joint r_shoulder_roll added to the control board data. [INFO] Joint r_shoulder_yaw added to the control board data. [INFO] Joint r_elbow added to the control board data. [INFO] Joint r_wrist_yaw added to the control board data. [INFO] Joint r_wrist_roll added to the control board data. [INFO] Joint r_wrist_pitch added to the control board data. [WARNING] Parameter jntPosMin should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter jntPosMax should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Trajectory generator type set to minimum_jerk [ERROR] refSpeed not found [WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied [ERROR] refAcceleration not found [WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied [DEBUG] Joint r_shoulder_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_shoulder_pitch trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_shoulder_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_shoulder_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_shoulder_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_shoulder_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_elbow trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_elbow trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_wrist_yaw trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_wrist_yaw trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_wrist_roll trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_wrist_roll trajectory generation reference acceleration: 10 [deg/s^2] [DEBUG] Joint r_wrist_pitch trajectory generation reference speed: 10 [deg/s] [DEBUG] Joint r_wrist_pitch trajectory generation reference acceleration: 10 [deg/s^2] [WARNING] Parameter kp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter kd should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ki should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxInt should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter maxOutput should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter shift should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter ko should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionUp should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [WARNING] Parameter stictionDwn should be a list, but its format is deprecated as parenthesis are missing. Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 . [INFO] Initial configuration found, initializing trajectory generator with it [INFO] Registered YARP device with instance name: model/ergoCub/right_arm_hardware_device [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_robotinterface.so] : Could not find shared library. [ERROR] gz-sim-yarp-robotinterface-system : yarp network does not seem to be available, is the yarpserver running? [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_lasersensor.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_depthCamera.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_camera.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_forcetorque.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_forcetorque.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_forcetorque.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_forcetorque.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_forcetorque.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_forcetorque.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_forcetorque.so] : Could not find shared library. [Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_forcetorque.so] : Could not find shared library. ```

Here's the conda environment:

Details ``` # Name Version Build Channel _libgcc_mutex 0.1 conda_forge conda-forge _openmp_mutex 4.5 2_gnu conda-forge _sysroot_linux-64_curr_repodata_hack 3 h69a702a_16 conda-forge ace 8.0.0 hac33072_1 conda-forge aiohttp 3.9.5 py310h2372a71_0 conda-forge aiosignal 1.3.1 pyhd8ed1ab_0 conda-forge alsa-lib 1.2.12 h4ab18f5_0 conda-forge ampl-mp 3.1.0 h2cc385e_1006 conda-forge aom 3.9.1 hac33072_0 conda-forge asio 1.29.0 h59595ed_0 conda-forge assimp 5.3.1 h8343317_3 conda-forge asttokens 2.4.1 pyhd8ed1ab_0 conda-forge async-timeout 4.0.3 pyhd8ed1ab_0 conda-forge atk-1.0 2.38.0 h04ea711_2 conda-forge attr 2.5.1 h166bdaf_1 conda-forge attrs 23.2.0 pyh71513ae_0 conda-forge aws-c-auth 0.7.20 h5f1c8d9_0 conda-forge aws-c-cal 0.6.12 h2ba76a8_0 conda-forge aws-c-common 0.9.17 h4ab18f5_0 conda-forge aws-c-compression 0.2.18 h36a0aea_4 conda-forge aws-c-event-stream 0.4.2 h161de36_10 conda-forge aws-c-http 0.8.1 h63f54a0_13 conda-forge aws-c-io 0.14.8 h96d4d28_0 conda-forge aws-c-mqtt 0.10.4 hcc7299c_2 conda-forge aws-c-s3 0.5.9 h10bd90f_0 conda-forge aws-c-sdkutils 0.1.16 h36a0aea_0 conda-forge aws-checksums 0.1.18 h36a0aea_4 conda-forge aws-crt-cpp 0.26.8 h4f3a3cc_11 conda-forge aws-sdk-cpp 1.11.267 h51dfee4_8 conda-forge azure-core-cpp 1.11.1 h91d86a7_1 conda-forge azure-storage-blobs-cpp 12.10.0 h00ab1b0_1 conda-forge azure-storage-common-cpp 12.5.0 h94269e2_4 conda-forge bash-completion 2.11 ha770c72_1 conda-forge binutils 2.40 h4852527_7 conda-forge binutils_impl_linux-64 2.40 ha1999f0_7 conda-forge binutils_linux-64 2.40 hb3c18ed_0 conda-forge blosc 1.21.6 hef167b5_0 conda-forge boost 1.84.0 hb7f781d_3 conda-forge brotli 1.1.0 hd590300_1 conda-forge brotli-bin 1.1.0 hd590300_1 conda-forge bullet-cpp 3.25 hcc13569_2 conda-forge bzip2 1.0.8 h4bc722e_7 conda-forge c-ares 1.32.3 h4bc722e_0 conda-forge c-compiler 1.7.0 hd590300_1 conda-forge ca-certificates 2024.7.4 hbcca054_0 conda-forge cached-property 1.5.2 hd8ed1ab_1 conda-forge cached_property 1.5.2 pyha770c72_1 conda-forge cairo 1.18.0 h3faef2a_0 conda-forge certifi 2024.7.4 pyhd8ed1ab_0 conda-forge cfitsio 4.4.0 hbdc6101_1 conda-forge cli11 2.4.1 h59595ed_0 conda-forge cmake 3.30.1 hf8c4bd3_0 conda-forge compilers 1.7.0 ha770c72_1 conda-forge console_bridge 1.0.2 h924138e_1 conda-forge contourpy 1.2.1 py310hd41b1e2_0 conda-forge cppzmq 4.10.0 h2e2a08d_1 conda-forge cudatoolkit 11.8.0 h4ba93d1_13 conda-forge cxx-compiler 1.7.0 h00ab1b0_1 conda-forge cycler 0.12.1 pyhd8ed1ab_0 conda-forge dartsim 6.13.2 h89be5ba_2 conda-forge dav1d 1.2.1 hd590300_0 conda-forge dbus 1.13.6 h5008d03_3 conda-forge decorator 5.1.1 pyhd8ed1ab_0 conda-forge double-conversion 3.3.0 h59595ed_0 conda-forge eigen 3.4.0 h00ab1b0_0 conda-forge elfutils 0.191 h924a536_0 conda-forge exceptiongroup 1.2.2 pyhd8ed1ab_0 conda-forge executing 2.0.1 pyhd8ed1ab_0 conda-forge expat 2.6.2 h59595ed_0 conda-forge fcl 0.7.0 hadc09e8_4 conda-forge ffmpeg 6.1.1 gpl_h853fe30_113 conda-forge flann 1.9.2 h2b5ea80_0 conda-forge fmt 10.2.1 h00ab1b0_0 conda-forge font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge font-ttf-inconsolata 3.000 h77eed37_0 conda-forge font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge font-ttf-ubuntu 0.83 h77eed37_2 conda-forge fontconfig 2.14.2 h14ed4e7_0 conda-forge fonts-conda-ecosystem 1 0 conda-forge fonts-conda-forge 1 0 conda-forge fonttools 4.53.1 py310h5b4e0ec_0 conda-forge fortran-compiler 1.7.0 heb67821_1 conda-forge freeglut 3.2.2 hac7e632_2 conda-forge freeimage 3.18.0 h4b96d29_20 conda-forge freetype 2.12.1 h267a509_2 conda-forge freexl 2.0.0 h743c826_0 conda-forge fribidi 1.0.10 h36c2ea0_0 conda-forge frozenlist 1.4.1 py310h2372a71_0 conda-forge gcc 12.4.0 h236703b_0 conda-forge gcc_impl_linux-64 12.4.0 hb2e57f8_0 conda-forge gcc_linux-64 12.4.0 h6b7512a_0 conda-forge gdbm 1.18 h0a1914f_2 conda-forge gdk-pixbuf 2.42.12 hb9ae30d_0 conda-forge geos 3.12.1 h59595ed_0 conda-forge geotiff 1.7.1 h6b2125f_15 conda-forge gettext 0.22.5 h59595ed_2 conda-forge gettext-tools 0.22.5 h59595ed_2 conda-forge gfortran 12.4.0 h236703b_0 conda-forge gfortran_impl_linux-64 12.4.0 hc568b83_0 conda-forge gfortran_linux-64 12.4.0 hd748a6a_0 conda-forge giflib 5.2.2 hd590300_0 conda-forge gl2ps 1.4.2 hae5d5c5_1 conda-forge glew 2.1.0 h9c3ff4c_2 conda-forge glfw 3.4 hd590300_0 conda-forge glib 2.80.2 hf974151_0 conda-forge glib-networking 2.80.0 h2ef3c98_0 conda-forge glib-tools 2.80.2 hb6ce0ca_0 conda-forge glm 0.9.9.8 h00ab1b0_0 conda-forge gmp 6.3.0 hac33072_2 conda-forge gnutls 3.7.9 hb077bed_0 conda-forge graphite2 1.3.13 h59595ed_1003 conda-forge graphviz 11.0.0 hc68bbd7_0 conda-forge gsl 2.7 he838d99_0 conda-forge gst-plugins-bad 1.24.4 h8a6294b_0 conda-forge gst-plugins-base 1.24.4 h9ad1361_0 conda-forge gst-plugins-good 1.24.4 h1ec2d69_0 conda-forge gstreamer 1.24.4 haf2f30d_0 conda-forge gtk2 2.24.33 h280cfa0_4 conda-forge gts 0.7.6 h977cf35_4 conda-forge gxx 12.4.0 h236703b_0 conda-forge gxx_impl_linux-64 12.4.0 h557a472_0 conda-forge gxx_linux-64 12.4.0 h8489865_0 conda-forge gz-sim8 8.3.0 ha770c72_0 conda-forge gz-sim8-python 8.3.0 py310h64a2142_0 conda-forge h5py 3.11.0 nompi_py310hf054cd7_102 conda-forge harfbuzz 8.5.0 hfac3d4d_0 conda-forge hdf4 4.2.15 h2a13503_7 conda-forge hdf5 1.14.3 nompi_hdf9ad27_105 conda-forge icu 73.2 h59595ed_0 conda-forge idna 3.7 pyhd8ed1ab_0 conda-forge imath 3.1.11 hfc55251_0 conda-forge ipopt 3.14.16 h3696c94_4 conda-forge ipython 8.26.0 pyh707e725_0 conda-forge irrlicht 1.8.5 h2a6caf8_4 conda-forge jack 1.9.22 h7c63dc7_2 conda-forge jasper 4.2.4 h536e39c_0 conda-forge jedi 0.19.1 pyhd8ed1ab_0 conda-forge json-c 0.17 h1220068_1 conda-forge jsoncpp 1.9.5 h4bd325d_1 conda-forge jxrlib 1.1 hd590300_3 conda-forge kealib 1.5.3 hee9dde6_1 conda-forge kernel-headers_linux-64 3.10.0 h4a8ded7_16 conda-forge keyutils 1.6.1 h166bdaf_0 conda-forge kiwisolver 1.4.5 py310hd41b1e2_1 conda-forge krb5 1.21.3 h659f571_0 conda-forge lame 3.100 h166bdaf_1003 conda-forge lcms2 2.16 hb7c19ff_0 conda-forge ld_impl_linux-64 2.40 hf3520f5_7 conda-forge lerc 4.0.0 h27087fc_0 conda-forge libabseil 20240116.2 cxx17_he02047a_1 conda-forge libaec 1.1.3 h59595ed_0 conda-forge libarchive 3.7.4 hfca40fe_0 conda-forge libasprintf 0.22.5 h661eb56_2 conda-forge libasprintf-devel 0.22.5 h661eb56_2 conda-forge libass 0.17.1 h8fe9dca_1 conda-forge libblas 3.9.0 23_linux64_openblas conda-forge libboost 1.84.0 hba137d9_3 conda-forge libboost-devel 1.84.0 h00ab1b0_3 conda-forge libboost-headers 1.84.0 ha770c72_3 conda-forge libboost-python 1.84.0 py310he6ccd79_3 conda-forge libboost-python-devel 1.84.0 py310hb7f781d_3 conda-forge libbrotlicommon 1.1.0 hd590300_1 conda-forge libbrotlidec 1.1.0 hd590300_1 conda-forge libbrotlienc 1.1.0 hd590300_1 conda-forge libcap 2.69 h0f662aa_0 conda-forge libcblas 3.9.0 23_linux64_openblas conda-forge libccd-double 2.1 h59595ed_3 conda-forge libclang-cpp15 15.0.7 default_h127d8a8_5 conda-forge libclang-cpp18.1 18.1.8 default_hf981a13_1 conda-forge libclang13 18.1.8 default_h9def88c_1 conda-forge libcrc32c 1.1.2 h9c3ff4c_0 conda-forge libcups 2.3.3 h4637d8d_4 conda-forge libcurl 8.9.1 hdb1bdb2_0 conda-forge libdb 6.2.32 h9c3ff4c_0 conda-forge libdc1394 2.2.7 h59595ed_1 conda-forge libdeflate 1.20 hd590300_0 conda-forge libdrm 2.4.122 h4ab18f5_0 conda-forge libdrm-cos7-x86_64 2.4.97 h9b0a68f_1105 conda-forge libedit 3.1.20191231 he28a2e2_2 conda-forge libev 4.33 hd590300_2 conda-forge libevent 2.1.12 hf998b51_1 conda-forge libexpat 2.6.2 h59595ed_0 conda-forge libffi 3.4.2 h7f98852_5 conda-forge libflac 1.4.3 h59595ed_0 conda-forge libgcc-devel_linux-64 12.4.0 ha4f9413_100 conda-forge libgcc-ng 14.1.0 h77fa898_0 conda-forge libgcrypt 1.11.0 h4ab18f5_1 conda-forge libgd 2.3.3 h119a65a_9 conda-forge libgdal 3.8.4 h7c88fdf_5 conda-forge libgettextpo 0.22.5 h59595ed_2 conda-forge libgettextpo-devel 0.22.5 h59595ed_2 conda-forge libgfortran-ng 14.1.0 h69a702a_0 conda-forge libgfortran5 14.1.0 hc5f4f2c_0 conda-forge libglib 2.80.2 hf974151_0 conda-forge libglu 9.0.0 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traversaro commented 3 months ago

Interesting, perhaps there is a different between the latest released version and the latest master version of ergocub-software? Anyhow, I guess that downgrading ergocub-software to a version before https://github.com/icub-tech-iit/ergocub-software/pull/232 should also be a valid workaround for the problem.

xela-95 commented 3 months ago

I thought I was able to launch correctly gz sim, but I it worked only because I didn't launched yarp server before. Launching it I get the same segfault exception of @LoreMoretti.

traversaro commented 3 months ago

By the way, the fact that is crashing instead of printing errors may be another thing we may want to address eventually.

xela-95 commented 3 months ago

Anyhow, I guess that downgrading ergocub-software to a version before icub-tech-iit/ergocub-software#232 should also be a valid workaround for the problem.

I checked out the ergocub-software package to commit 49402203de8f1ef3bfd324f6b6f9ac55a1cebf1f, compiled and installed and I was able to launch the world file as in the tutorial.

I had a look at the PR https://github.com/icub-tech-iit/ergocub-software/pull/236 and I'm trying to understand where to make the necessary adjustments. In the meantime using the version suggested above can unlock @LoreMoretti in performing his tests.

P.S.: Sorry for the delay in the response but I had to refresh how to handle this stuff 😅

xela-95 commented 3 months ago

@LoreMoretti now that https://github.com/icub-tech-iit/ergocub-software/pull/250 has been merged you should be able to complete the tutorial 🤞🏻

LoreMoretti commented 3 months ago

I pulled and recompiled,

Then, I started yarpserver and run gz sim ergocubGazevoV1_1_gz_sim_world.sdf, what I get is the following:

image

So there is no more a crash, but the gz-sim window remains black, and this line [INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ... is repeatedly printed on the terminal.

Is there anything I should do related to the clock port, before launching gz-sim?

LoreMoretti commented 3 months ago

My bad, I was also exporting $YARP_CLOCK env variable (like export YARP_CLOCK=/clock), as I was used to do it for the old gazebo.

Is this not needed anymore for gz-sim?

xela-95 commented 3 months ago

So there is no more a crash, but the gz-sim window remains black, and this line [INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ... is repeatedly printed on the terminal.

Is there anything I should do related to the clock port, before launching gz-sim?

Uhm, that's strange; in theory, if you just want to launch the simulation, you don't need to set that environment variable, so Gazebo should open normally.

However, if you want to launch some controllers to interact with the simulation, as it is done in https://github.com/ami-iit/walking-controllers#computer-how-to-run-the-simulation (that I tested with modern Gazebo and gz-sim-yarp-plugins in https://github.com/robotology/gz-sim-yarp-plugins/issues/122) you have to export that variable as you do with Classic Gazebo.

traversaro commented 3 months ago

YARP_CLOCK is required to make sure that the YARP's network wrapper server indeed publish with a frequency coherent with the simulation time. Are you including the gz-sim-yarp-clock plugin in the world?

LoreMoretti commented 3 months ago

YARP_CLOCK is required to make sure that the YARP's network wrapper server indeed publish with a frequency coherent with the simulation time.

Clear, thanks!

Are you including the gz-sim-yarp-clock plugin in the world?

I see the following lines in the world file:

        <!-- YARP CLOCK -->
        <plugin
            filename="gz-sim-yarp-clock-system"
            name="gzyarp::Clock">
        </plugin>

So I think yes.

LoreMoretti commented 3 months ago

Closing this issue since the crash has been fixed.

Continuing the discussion of the clock issue in a separate issue.