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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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Gazebo crashes when inserting the iCubGazeboV* models #183

Open S-Dafarra opened 1 year ago

S-Dafarra commented 1 year ago

As soon as I try to insert iCubGazeboV2_5, Gazebo crashes badly, with no error messages. It happens the same also with iCubGazeboV3

Here the output

``` sdafarra@iiticublap260:~$ gazebo -slibgazebo_yarp_clock.so [INFO] GazeboYarpClock loaded. Clock port will be /clock [INFO] |yarp.os.Port|/clock| Port /clock active at tcp://192.168.1.129:10002/ [INFO] |yarp.os.Port|/clock/rpc| Port /clock/rpc active at tcp://192.168.1.129:10003/ Resetting YARP clock to default [DEBUG] |yarp.dev.PolyDriver|multipleanalogsensorsserver| Parameters are WRAPPER (device multipleanalogsensorsserver) (name "/icubSim/head/inertials") (period 10) [INFO] |yarp.dev.PolyDriver|multipleanalogsensorsserver| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [DEBUG] |yarp.dev.PolyDriver|inertial| Parameters are ADDITIONAL_WRAPPER (device inertial) (name "/icubSim/inertial") (period 0.0100000000000000002082) [WARNING] |yarp.devices.ServerInertial| The 'inertial' device is deprecated in favour of 'multipleanalogsensorsremapper' + 'multipleanalogsensorsserver' + 'IMURosPublisher'. [WARNING] |yarp.devices.ServerInertial| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.ServerInertial| Please update your scripts. [INFO] |yarp.devices.ServerInertial| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/inertial| Port /icubSim/inertial active at tcp://192.168.1.129:10004/ [INFO] |yarp.devices.ServerInertial| Server Inertial : no ROS initialization required [INFO] |yarp.dev.PolyDriver|inertial| Created wrapper . See C++ class ServerInertial for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (sensorScopedName "default::iCub::head::head_imu_acc_1x1") (sensor_name head_imu_acc_1x1) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class GazeboYarpIMUDriver for documentation. [INFO] |yarp.os.Port|/icubSim/head/inertials/measures:o| Port /icubSim/head/inertials/measures:o active at tcp://192.168.1.129:10005/ [INFO] |yarp.os.Port|/icubSim/head/inertials/rpc:o| Port /icubSim/head/inertials/rpc:o active at tcp://192.168.1.129:10006/ [INFO] |yarp.devices.ServerInertial| Starting server Inertial thread [INFO] Registered YARP device with instance name: default::iCub::head::head_imu_acc_1x1::dummy [DEBUG] |yarp.devices.ServerInertial| Writing an Inertial measurement. [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are (device analogServer) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName l_leg_ft_sensor) (name "/icubSim/left_leg/analog:o") (period 10) [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/left_leg/analog:o/rpc:i| Port /icubSim/left_leg/analog:o/rpc:i active at tcp://192.168.1.129:10007/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName l_leg_ft_sensor) (name "/icubSim/left_leg/analog:o") (period 10) (sensorScopedName "default::iCub::l_leg_ft_sensor::l_leg_ft_sensor") (sensor_name l_leg_ft_sensor) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] |yarp.os.Port|/icubSim/left_leg/analog:o| Port /icubSim/left_leg/analog:o active at tcp://192.168.1.129:10008/ [INFO] Registered YARP device with instance name: default::iCub::l_leg_ft_sensor::l_leg_ft_sensor::dummy [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are (device analogServer) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName l_foot_ft_sensor) (name "/icubSim/left_foot/analog:o") (period 10) [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/left_foot/analog:o/rpc:i| Port /icubSim/left_foot/analog:o/rpc:i active at tcp://192.168.1.129:10009/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName l_foot_ft_sensor) (name "/icubSim/left_foot/analog:o") (period 10) (sensorScopedName "default::iCub::l_foot_ft_sensor::l_foot_ft_sensor") (sensor_name l_foot_ft_sensor) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] |yarp.os.Port|/icubSim/left_foot/analog:o| Port /icubSim/left_foot/analog:o active at tcp://192.168.1.129:10010/ [INFO] Registered YARP device with instance name: default::iCub::l_foot_ft_sensor::l_foot_ft_sensor::dummy [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are (device analogServer) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName r_leg_ft_sensor) (name "/icubSim/right_leg/analog:o") (period 10) [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/right_leg/analog:o/rpc:i| Port /icubSim/right_leg/analog:o/rpc:i active at tcp://192.168.1.129:10011/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName r_leg_ft_sensor) (name "/icubSim/right_leg/analog:o") (period 10) (sensorScopedName "default::iCub::r_leg_ft_sensor::r_leg_ft_sensor") (sensor_name r_leg_ft_sensor) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] |yarp.os.Port|/icubSim/right_leg/analog:o| Port /icubSim/right_leg/analog:o active at tcp://192.168.1.129:10012/ [INFO] Registered YARP device with instance name: default::iCub::r_leg_ft_sensor::r_leg_ft_sensor::dummy [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are (device analogServer) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName r_foot_ft_sensor) (name "/icubSim/right_foot/analog:o") (period 10) [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/right_foot/analog:o/rpc:i| Port /icubSim/right_foot/analog:o/rpc:i active at tcp://192.168.1.129:10013/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName r_foot_ft_sensor) (name "/icubSim/right_foot/analog:o") (period 10) (sensorScopedName "default::iCub::r_foot_ft_sensor::r_foot_ft_sensor") (sensor_name r_foot_ft_sensor) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] |yarp.os.Port|/icubSim/right_foot/analog:o| Port /icubSim/right_foot/analog:o active at tcp://192.168.1.129:10014/ [INFO] Registered YARP device with instance name: default::iCub::r_foot_ft_sensor::r_foot_ft_sensor::dummy [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are (device analogServer) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName l_arm_ft_sensor) (name "/icubSim/left_arm/analog:o") (period 10) [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/left_arm/analog:o/rpc:i| Port /icubSim/left_arm/analog:o/rpc:i active at tcp://192.168.1.129:10015/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName l_arm_ft_sensor) (name "/icubSim/left_arm/analog:o") (period 10) (sensorScopedName "default::iCub::l_arm_ft_sensor::l_arm_ft_sensor") (sensor_name l_arm_ft_sensor) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] |yarp.os.Port|/icubSim/left_arm/analog:o| Port /icubSim/left_arm/analog:o active at tcp://192.168.1.129:10016/ [INFO] Registered YARP device with instance name: default::iCub::l_arm_ft_sensor::l_arm_ft_sensor::dummy [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are (device analogServer) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName r_arm_ft_sensor) (name "/icubSim/right_arm/analog:o") (period 10) [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/right_arm/analog:o/rpc:i| Port /icubSim/right_arm/analog:o/rpc:i active at tcp://192.168.1.129:10017/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (gazeboYarpPluginsRobotName icubSim) (gazeboYarpPluginsSensorName r_arm_ft_sensor) (name "/icubSim/right_arm/analog:o") (period 10) (sensorScopedName "default::iCub::r_arm_ft_sensor::r_arm_ft_sensor") (sensor_name r_arm_ft_sensor) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] |yarp.os.Port|/icubSim/right_arm/analog:o| Port /icubSim/right_arm/analog:o active at tcp://192.168.1.129:10018/ [INFO] Registered YARP device with instance name: default::iCub::r_arm_ft_sensor::r_arm_ft_sensor::dummy [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are WRAPPER (device analogServer) (period 10) (name "/icubSim/left_leg/inertialMTB") [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/left_leg/inertialMTB/rpc:i| Port /icubSim/left_leg/inertialMTB/rpc:i active at tcp://192.168.1.129:10019/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_inertialMTB| Parameters are PART_DRIVER (device gazebo_inertialMTB) (robotPart left_leg) (enabledSensors ("iCub::l_upper_leg::l_upper_leg_mtb_acc_10b1" "iCub::l_upper_leg::l_upper_leg_mtb_acc_10b2" "iCub::l_upper_leg::l_upper_leg_mtb_acc_10b3" "iCub::l_upper_leg::l_upper_leg_mtb_acc_10b4" "iCub::l_upper_leg::l_upper_leg_mtb_acc_10b5" "iCub::l_upper_leg::l_upper_leg_mtb_acc_10b6" "iCub::l_upper_leg::l_upper_leg_mtb_acc_10b7" "iCub::l_lower_leg::l_lower_leg_mtb_acc_10b8" "iCub::l_lower_leg::l_lower_leg_mtb_acc_10b9" "iCub::l_lower_leg::l_lower_leg_mtb_acc_10b10" "iCub::l_lower_leg::l_lower_leg_mtb_acc_10b11" "iCub::l_foot::l_foot_mtb_acc_10b12" "iCub::l_foot::l_foot_mtb_acc_10b13")) (ModelScopedName "default::iCub") [INFO] |yarp.dev.PolyDriver|gazebo_inertialMTB| Created device . See C++ class GazeboYarpInertialMTBPartDriver for documentation. [INFO] |yarp.os.Port|/icubSim/left_leg/inertialMTB| Port /icubSim/left_leg/inertialMTB active at tcp://192.168.1.129:10020/ [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are WRAPPER (device analogServer) (period 10) (name "/icubSim/right_leg/inertialMTB") [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/right_leg/inertialMTB/rpc:i| Port /icubSim/right_leg/inertialMTB/rpc:i active at tcp://192.168.1.129:10021/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_inertialMTB| Parameters are PART_DRIVER (device gazebo_inertialMTB) (robotPart right_leg) (enabledSensors ("iCub::r_upper_leg::r_upper_leg_mtb_acc_11b1" "iCub::r_upper_leg::r_upper_leg_mtb_acc_11b2" "iCub::r_upper_leg::r_upper_leg_mtb_acc_11b3" "iCub::r_upper_leg::r_upper_leg_mtb_acc_11b4" "iCub::r_upper_leg::r_upper_leg_mtb_acc_11b5" "iCub::r_upper_leg::r_upper_leg_mtb_acc_11b6" "iCub::r_upper_leg::r_upper_leg_mtb_acc_11b7" "iCub::r_lower_leg::r_lower_leg_mtb_acc_11b8" "iCub::r_lower_leg::r_lower_leg_mtb_acc_11b9" "iCub::r_lower_leg::r_lower_leg_mtb_acc_11b10" "iCub::r_lower_leg::r_lower_leg_mtb_acc_11b11" "iCub::r_foot::r_foot_mtb_acc_11b12" "iCub::r_foot::r_foot_mtb_acc_11b13")) (ModelScopedName "default::iCub") [INFO] |yarp.dev.PolyDriver|gazebo_inertialMTB| Created device . See C++ class GazeboYarpInertialMTBPartDriver for documentation. [INFO] |yarp.os.Port|/icubSim/right_leg/inertialMTB| Port /icubSim/right_leg/inertialMTB active at tcp://192.168.1.129:10022/ [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are WRAPPER (device analogServer) (period 10) (name "/icubSim/left_hand/inertialMTB") [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/left_hand/inertialMTB/rpc:i| Port /icubSim/left_hand/inertialMTB/rpc:i active at tcp://192.168.1.129:10023/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_inertialMTB| Parameters are PART_DRIVER (device gazebo_inertialMTB) (robotPart left_arm) (enabledSensors ("iCub::l_upper_arm::l_upper_arm_mtb_acc_1b10" "iCub::l_upper_arm::l_upper_arm_mtb_acc_1b11" "iCub::l_upper_arm::l_upper_arm_mtb_acc_1b12" "iCub::l_upper_arm::l_upper_arm_mtb_acc_1b13" "iCub::l_forearm::l_forearm_mtb_acc_1b8" "iCub::l_forearm::l_forearm_mtb_acc_1b9" "iCub::l_forearm::l_forearm_mtb_acc_1b7")) (ModelScopedName "default::iCub") [INFO] |yarp.dev.PolyDriver|gazebo_inertialMTB| Created device . See C++ class GazeboYarpInertialMTBPartDriver for documentation. [INFO] |yarp.os.Port|/icubSim/left_hand/inertialMTB| Port /icubSim/left_hand/inertialMTB active at tcp://192.168.1.129:10024/ [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are WRAPPER (device analogServer) (period 10) (name "/icubSim/right_hand/inertialMTB") [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/right_hand/inertialMTB/rpc:i| Port /icubSim/right_hand/inertialMTB/rpc:i active at tcp://192.168.1.129:10025/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_inertialMTB| Parameters are PART_DRIVER (device gazebo_inertialMTB) (robotPart right_arm) (enabledSensors ("iCub::r_upper_arm::r_upper_arm_mtb_acc_2b10" "iCub::r_upper_arm::r_upper_arm_mtb_acc_2b11" "iCub::r_upper_arm::r_upper_arm_mtb_acc_2b12" "iCub::r_upper_arm::r_upper_arm_mtb_acc_2b13" "iCub::r_forearm::r_forearm_mtb_acc_2b8" "iCub::r_forearm::r_forearm_mtb_acc_2b9" "iCub::r_forearm::r_forearm_mtb_acc_2b7")) (ModelScopedName "default::iCub") [INFO] |yarp.dev.PolyDriver|gazebo_inertialMTB| Created device . See C++ class GazeboYarpInertialMTBPartDriver for documentation. [INFO] |yarp.os.Port|/icubSim/right_hand/inertialMTB| Port /icubSim/right_hand/inertialMTB active at tcp://192.168.1.129:10026/ [DEBUG] |yarp.dev.PolyDriver|analogServer| Parameters are WRAPPER (device analogServer) (period 10) (name "/icubSim/torso/inertialMTB") [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization. [INFO] |yarp.os.Port|/icubSim/torso/inertialMTB/rpc:i| Port /icubSim/torso/inertialMTB/rpc:i active at tcp://192.168.1.129:10027/ [INFO] |yarp.devices.AnalogWrapper| : no ROS initialization required [INFO] |yarp.dev.PolyDriver|analogServer| Created wrapper . See C++ class AnalogWrapper for documentation. [DEBUG] |yarp.dev.PolyDriver|gazebo_inertialMTB| Parameters are PART_DRIVER (device gazebo_inertialMTB) (robotPart torso) (enabledSensors ("iCub::chest::chest_mtb_acc_0b7" "iCub::chest::chest_mtb_acc_0b8" "iCub::chest::chest_mtb_acc_0b9" "iCub::chest::chest_mtb_acc_0b10")) (ModelScopedName "default::iCub") [INFO] |yarp.dev.PolyDriver|gazebo_inertialMTB| Created device . See C++ class GazeboYarpInertialMTBPartDriver for documentation. [INFO] |yarp.os.Port|/icubSim/torso/inertialMTB| Port /icubSim/torso/inertialMTB active at tcp://192.168.1.129:10028/ ```

I first tried with the latest releases of YARP, Gazebo Yarp Plugins and icub-models, but the same issue occurs. Then, I tried to go back one release, but it is still occurring.

Here the robotology-superbuild status on Ubuntu 20.04:

``` sdafarra@iiticublap260:~/Software/robotology-superbuild (master)$ bash scripts/robotologyGitStatus.sh -------------------------------------------- /home/sdafarra/Software/robotology-superbuild: master 6 days ago|Merge pull request #1318 from robotology/bumpcasadi|bc87406438dbf36360b0c62139d5086eb9fcd365 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/bipedal-locomotion-framework/: master 3 months ago|Update CMakeLists.txt CHANGELOG.md and main-page.dox after the release|7250c57e98b0c6cedb781ffe4536a823f0bd1a1b ## master...origin.20221214113627/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/BlockFactory/: master 1 year, 7 months ago|Merge pull request #64 from robotology/update-mantainer|4632ea663de8229adfa16fb94decfc0711e4ab26 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/casadi/: support_osqp_0.6.2 1 year, 8 months ago|Merge tag '3.5.5' into support_osqp_0.6.2|07e196b4f35cfaec28e2fd42c29dbda459b0a56c ## support_osqp_0.6.2...origin/support_osqp_0.6.2 ?? CMakeLists.txt.user -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/casadi-matlab-bindings/: main 1 year, 7 months ago|Update CMakeLists.txt|9be101fa43da61d66b25d35099959427a8caabbf ## main...origin/main -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/CppAD/: HEAD 1 year, 11 months ago|stable/20210000: copy fix to abs_normal_fun from master.|fc6189a4306ad7f0351b6c2bc32827ab6368c943 ## HEAD (no branch) -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/forcetorque-yarp-devices/: master 6 days ago|Merge pull request #1318 from robotology/bumpcasadi|bc87406438dbf36360b0c62139d5086eb9fcd365 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/funny-things/: master 8 months ago|Merge pull request #25 from robotology/fix/24|0752a0eb5ee0373ae4a0e4ff72a09fe32303911b ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/GazeboYARPPlugins/: HEAD 4 months ago|Release v4.5.1 (#634)|46ddbda29b98c1985f79c5966ea0f964bec68c02 ## HEAD (no branch) -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/HumanDynamicsEstimation/: RiminiDemo 6 months ago|edit the script to work with openxr|4fc975afd5127c8dbfa315de61e26f98550830fe ## RiminiDemo -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/human-gazebo/: master 4 months ago|Bump version to v1.1.0|021f91a31bd30df3c2ade8b223e6135120162d4e ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/ICUB/: HEAD 8 days ago|Fixed version v2.0.2|a9737f33b6db4d04c3e5d465be87546db5ac6dae ## HEAD (no branch) -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/icub-basic-demos/: master 1 year, 1 month ago|Fix conda Linux compilation by switching to cos7 cdt packages (#36)|a01faf665c33baf8bfe0364c210bcb6fbf24927c ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/ICUBcontrib/: master 2 years, 6 months ago|added official maintainer|cd6352688c64aadc0a044925532d08fbcb688886 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/icub-models/: HEAD 4 months ago|Release v1.25.0 (#168)|74cbcda6e87534afa236187db52f2192e9a7e3f4 ## HEAD (no branch) -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/iDynTree/: devel 10 months ago|Fix crash caused by Visualizer::close on Windows by switching used Irrlicht Device on Windows to `irr::EIDT_SDL` (#976)|4aabb8525e95af161e916a8dfb85fbf994bb7aeb ## devel...origin/devel M src/yarp/include/iDynTree/yarp/YARPConfigurationsLoaderImplementation.h diff --git a/src/yarp/include/iDynTree/yarp/YARPConfigurationsLoaderImplementation.h b/src/yarp/include/iDynTree/yarp/YARPConfigurationsLoaderImplementation.h index 5c62847cc..8f37a61c1 100644 --- a/src/yarp/include/iDynTree/yarp/YARPConfigurationsLoaderImplementation.h +++ b/src/yarp/include/iDynTree/yarp/YARPConfigurationsLoaderImplementation.h @@ -39,7 +39,7 @@ inline bool iDynTree::parseRotationMatrix(const yarp::os::Searchable& rf, const } for (int column = 0; column < innerList->size(); ++column) { - rotation.setVal(row, column, innerList->get(column).asDouble()); + rotation.setVal(row, column, innerList->get(column).asFloat64()); } } return true; -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/idyntree-yarp-tools/: commonSources 9 weeks ago|Added possibility to specify joint offsets.|4e0ebd7e8a64060f8c947e10d292ebeb56383bd2 ## commonSources...origin/commonSources -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/LieGroupControllers/: master 1 year, 5 months ago|Bump project version from 0.0.1 to 0.1.1|44babb966eeb0f54e2ceea75df4bad07f7b39fee ## master...origin.20221214113542/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/manif/: HEAD 1 year, 6 months ago|bump version to 0.0.4|496717aa792c1ff4b99049034e53f9fa0ac676a3 ## HEAD (no branch) -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/matioCpp/: master 5 weeks ago|Merge pull request #61 from mserkantan/patch-1|e951ef357224501bc3ea77761d1b8900e4862cfa ## master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/matlab-whole-body-simulator/: master 1 year, 6 months ago|Merge pull request #50 from dic-iit/update_viz|70c8f49ee3f75ab624949f487359dfccbf235678 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/meshcat-python/: master 9 months ago|Merge pull request #111 from Arpafaucon/stashed_text2d|0f25add30ad88ab9a1275cb9260a51225ea16398 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/OpenVR/: fix_upstream 9 months ago|Merge pull request #1 from prashanthr05/prashanthr05/patch|249d1336783a55cd7de295e2d9776c96456449f6 ## fix_upstream...origin/fix_upstream M bin/linux64/libopenvr_api.so diff --git a/bin/linux64/libopenvr_api.so b/bin/linux64/libopenvr_api.so index 906f06d..3abff41 100755 Binary files a/bin/linux64/libopenvr_api.so and b/bin/linux64/libopenvr_api.so differ -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/OpenXR/: main 7 months ago|OpenXR SDK 1.0.23 (2022-05-27)|885a90f8934d84121344ba8e4aa5159d5b496e08 ## main...origin/main -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/osqp/: HEAD 1 year, 11 months ago|Allow vectors l and u to be NULL. This fixes the issue introduced in #215 that makes the matlab tests not pass. https://github.com/oxfordcontrol/osqp-matlab/pull/32|f9fc23d3436e4b17dd2cb95f70cfa1f37d122c24 ## HEAD (no branch) ?? CMakeLists.txt.user -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/OsqpEigen/: master 11 months ago|Merge pull request #113 from robotology/release/0.7.0|83812bd0a56bbb656cac7016b307845e4a0ed11e ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/osqp-matlab/: main 1 year, 9 months ago|Fix overlinking of MATLAB bindings to MatlabEngine (#2)|55e36fec9f1c0b6281dec0faba1c8c093f955712 ## main...origin/main -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/pyqtconsole/: master 4 weeks ago|Merge pull request #75 from Liametc/master|8d1a22066d7ea8a86b16cefbbbe3fb492962e699 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/qhull/: HEAD 2 years, 4 months ago|Qhull 2020.2 2020/08/31 (8.0.2)|613debeaea72ee66626dace9ba1a2eff11b5d37d ## HEAD (no branch) -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/qpOASES/: master 2 years, 11 months ago|Merge pull request #13 from robotology-dependencies/fix-matlab-2019b|90390fff9d9f111cb693deea42714237894fe1dc ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/robometry/: master 4 months ago|Remove unused YarpInstallBasicPackageFiles.cmake file|449a3ee9bddfee865f73a63b86f2044630eb0197 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/robot-log-visualizer/: main 5 weeks ago|🚀 Bump v0.3.0|82aa5ba1c92599672365b5393d520a049e28a3ac ## main...origin/main -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/robots-configuration/: devel_iCubGenova09 3 months ago|Fixed left pinky calibation.|d325f01c9285c0dc5c50e85d05074be9191da80b ## devel_iCubGenova09...ami-iit/devel_iCubGenova09 -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/robots-configuration-copy/: devel_iCubGenova09nws 11 months ago|[iCubGenova09] Update the right thumb pid gains and current limits after the maintenance|13c5fb477185fa142eb58879214afa3697f9d9fc ## devel_iCubGenova09nws...origin/devel_iCubGenova09nws -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/speech/: master 8 months ago|Merge pull request #33 from randaz81/gs_external_stream|a014da999f530c4fbe00f256fa651424654ecfe0 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/UnicyclePlanner/: master 3 months ago|Merge pull request #56 from robotology/dcm/domain|5bfad0376d341269520ea561280dd48f966ae7b3 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/walking-controllers/: ft_rotated_for_ines 2 months ago|Added possibility to change the timeout behaviors to get feedback|d0a6fc0f28ba45bf3b53e012fdad0a570f8e537f ## ft_rotated_for_ines...origin/ft_rotated_for_ines -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/walking-teleoperation/: usability_improvements 5 days ago|Making sure that a feature is active before setting it to auto.|5afb5e676f93f3025af604d5fef39c89126db95f ## usability_improvements...origin/usability_improvements -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/WBToolbox/: master 1 year, 5 months ago|Merge pull request #223 from robotology/fix/website_generation|6ae1a37662e0f8520e7276c6d1555aada9801908 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/wearables/: master 5 months ago|Bump ycm version to 0.14.0|57460c273e9012f07af9ec955758f243a7092c4f ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/whole-body-controllers/: master 3 months ago|Update README.md|ac7df853405f0d99e203e93f815ff9c08703fa69 ## master...origin/master M utilities/plotRobotFrames.m diff --git a/utilities/plotRobotFrames.m b/utilities/plotRobotFrames.m index 7df3a3a..87de2cb 100644 --- a/utilities/plotRobotFrames.m +++ b/utilities/plotRobotFrames.m @@ -1,8 +1,8 @@ %% Settings -robotName='iCubGenova04'; %% Name of the robot +robotName='iCubGenova09'; %% Name of the robot -testFrames = {'l_hand', 'r_hand', 'head'}; %% The frames to display +testFrames = {'l_hand', 'r_hand', 'head', 'root_link'}; %% The frames to display meshFilePrefix = [getenv('ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX') '/share']; %% Path to the model meshes -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/whole-body-estimators/: master 3 months ago|Implement VirtualAnalogRemapper::getAxes to fix compilation with YARP 3.8 (#160)|c46c1852974776038a75b7c0e542ccb2917d7c7f ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/YARP/: HEAD 6 months ago|YARP 3.7.2|e845b1de554f4bf67c262de9794ebbc2bf9ca29f ## HEAD (no branch) -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/yarp-device-openxrheadset/: finals_rebased 13 days ago|Added possibility to hide the window from parameter.|39f57e4325237594a0aa3e1d0adaa523db6e0ecd ## finals_rebased -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/yarp-devices-forcetorque/: master 6 months ago|Remove classes deprecated since Yarp 3.3 (#34)|9f3be410258b71d4d324c57af61aebd23a0e797d ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/yarp-matlab-bindings/: master 7 months ago|Merge pull request #88 from robotology/regenerate-matlab-bindings-master|fe6a754828b58dc52e0f170fe673a16a056e5805 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/yarp-openvr-trackers/: master 7 months ago|Merge pull request #9 from HosameldinMohamed/updateDoc|e6694adeb30d18f279fabd06fd867d76b44b3415 ## master...origin/master -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/YARP_telemetry/: HEAD 8 months ago|Update CMakeLists.txt|fe8e77b08ebea2e282a047e53de631fbef8a70ec ## HEAD (no branch) -------------------------------------------- /home/sdafarra/Software/robotology-superbuild/src/YCM/: ycm-0.14 5 months ago|Merge pull request #416 from diegoferigo/patch-2|c609e375bfec8afbf2f0413c0f162df930a88cd8 ## ycm-0.14...origin/ycm-0.14 -------------------------------------------- ```
traversaro commented 1 year ago

Just to double check, can you try without -slibgazebo_yarp_clock.so ?

S-Dafarra commented 1 year ago

Just to double check, can you try without -slibgazebo_yarp_clock.so ?

Still crashing

S-Dafarra commented 1 year ago

I have reinstalled the whole superbuild and the problem disappeared. Before I just tried to remove the Gazebo yarp plugins and icub-models build folder and the whole install folder. I guess there were other build folders I had to delete

S-Dafarra commented 1 year ago

Actually, with iCubGazeboV3, it crashed after about one minute. Here the output

``` sdafarra@iiticublap260:~$ gazebo -slibgazebo_yarp_clock.so [INFO] GazeboYarpClock loaded. Clock port will be /clock [INFO] |yarp.os.Port|/clock| Port /clock active at tcp://192.168.1.129:10002/ [INFO] |yarp.os.Port|/clock/rpc| Port /clock/rpc active at tcp://192.168.1.129:10003/ Resetting YARP clock to default [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpDepthCamera| CC: m_driverParameters: (CAMERA_PARAM (focalLengthX 570.34222412109375) (focalLengthY 570.34222412109375) (tangentialPointX 0.0) (tangentialPointY 0.0)) (device gazebo_depthCamera) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName realsense_chest_depth) (sensorScopedName "default::iCub::chest::realsense_chest_depth") (yarpDeviceName icub_depth_camera) [DEBUG] |yarp.dev.PolyDriver|gazebo_depthCamera| Parameters are (CAMERA_PARAM (focalLengthX 570.34222412109375) (focalLengthY 570.34222412109375) (tangentialPointX 0.0) (tangentialPointY 0.0)) (device gazebo_depthCamera) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName realsense_chest_depth) (sensorScopedName "default::iCub::chest::realsense_chest_depth") (yarpDeviceName icub_depth_camera) [INFO] |yarp.dev.PolyDriver|gazebo_depthCamera| Created device . See C++ class GazeboYarpDepthCameraDriver for documentation. [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpDepthCamera| Registered YARP device with instance name: default::iCub::chest::realsense_chest_depth::icub_depth_camera [DEBUG] GazeboYarpCamera Plugin: sensor scoped name is default::iCub::chest::realsense_chest_rgb [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (disableImplicitNetworkWrapper) (framerate 30) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName realsense_chest_rgb) (sensorScopedName "default::iCub::chest::realsense_chest_rgb") (stamp 1) (yarpDeviceName icub_rgb_camera) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class GazeboYarpCameraDriver for documentation. [INFO] Loaded GazeboYarpCamera Plugin correctly [INFO] GazeboYarpCamera: Register YARP device with instance name: default::iCub::chest::realsense_chest_rgb::icub_rgb_camera [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (sensorScopedName "default::iCub::chest::chest_imu_acc_1x1") (sensor_name chest_imu_acc_1x1) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class GazeboYarpIMUDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::chest::chest_imu_acc_1x1::chest_inertial_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (sensorScopedName "default::iCub::head::head_imu_acc_1x1") (sensor_name head_imu_acc_1x1) [INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device . See C++ class GazeboYarpIMUDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::head::head_imu_acc_1x1::head_inertial_hardware_device [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName l_leg_ft_sensor) (sensorScopedName "default::iCub::l_leg_ft_sensor::l_leg_ft_sensor") (sensor_name l_leg_ft_sensor) (yarpDeviceName icub_left_leg_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::l_leg_ft_sensor::l_leg_ft_sensor::icub_left_leg_ft [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName l_foot_front_ft_sensor) (sensorScopedName "default::iCub::l_foot_front_ft_sensor::l_foot_front_ft_sensor") (sensor_name l_foot_front_ft_sensor) (yarpDeviceName icub_left_foot_front_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::l_foot_front_ft_sensor::l_foot_front_ft_sensor::icub_left_foot_front_ft [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName l_foot_rear_ft_sensor) (sensorScopedName "default::iCub::l_foot_rear_ft_sensor::l_foot_rear_ft_sensor") (sensor_name l_foot_rear_ft_sensor) (yarpDeviceName icub_left_foot_rear_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::l_foot_rear_ft_sensor::l_foot_rear_ft_sensor::icub_left_foot_rear_ft [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName r_leg_ft_sensor) (sensorScopedName "default::iCub::r_leg_ft_sensor::r_leg_ft_sensor") (sensor_name r_leg_ft_sensor) (yarpDeviceName icub_right_leg_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::r_leg_ft_sensor::r_leg_ft_sensor::icub_right_leg_ft [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName r_foot_front_ft_sensor) (sensorScopedName "default::iCub::r_foot_front_ft_sensor::r_foot_front_ft_sensor") (sensor_name r_foot_front_ft_sensor) (yarpDeviceName icub_right_foot_front_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::r_foot_front_ft_sensor::r_foot_front_ft_sensor::icub_right_foot_front_ft [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName r_foot_rear_ft_sensor) (sensorScopedName "default::iCub::r_foot_rear_ft_sensor::r_foot_rear_ft_sensor") (sensor_name r_foot_rear_ft_sensor) (yarpDeviceName icub_right_foot_rear_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::r_foot_rear_ft_sensor::r_foot_rear_ft_sensor::icub_right_foot_rear_ft [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName l_arm_ft_sensor) (sensorScopedName "default::iCub::l_arm_ft_sensor::l_arm_ft_sensor") (sensor_name l_arm_ft_sensor) (yarpDeviceName icub_left_arm_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::l_arm_ft_sensor::l_arm_ft_sensor::icub_left_arm_ft [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (gazeboYarpPluginsSensorName r_arm_ft_sensor) (sensorScopedName "default::iCub::r_arm_ft_sensor::r_arm_ft_sensor") (sensor_name r_arm_ft_sensor) (yarpDeviceName icub_right_arm_ft) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class GazeboYarpForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: default::iCub::r_arm_ft_sensor::r_arm_ft_sensor::icub_right_arm_ft [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| m_parameters: (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (jointNames torso_yaw torso_pitch torso_roll) (max_damping 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0) (min_damping 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0) (name "iCub::torso_hardware_device") (robotScopedName iCub) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (jointNames torso_yaw torso_pitch torso_roll) (max_damping 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0) (min_damping 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0) (name "iCub::torso_hardware_device") (robotScopedName iCub) (yarpDeviceName torso_hardware_device) [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: torso_yaw torso_yaw [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: torso_pitch torso_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: torso_roll torso_roll [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| trajectory_type: minimum_jerk [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Trajectory successfully generated. [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refSpeed: [ 10.000000 10.000000 10.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refAcceleration: [ 10.000000 10.000000 10.000000 ] [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceLinear value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceRevolute value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No max torques value found in ini file, default one will be used! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_torques: [ 2000.000000 2000.000000 2000.000000 ] [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping param found! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness: [ 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness: [ 1000.000000 1000.000000 1000.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping: [ 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping: [ 100.000000 100.000000 100.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class GazeboYarpControlBoardDriver for documentation. [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Registered YARP device with instance name: iCub::torso_hardware_device [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| m_parameters: (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 115.0 112.0 80.0 5.0 45.0 25.0) (jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (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) (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) (name "iCub::left_leg_hardware_device") (robotScopedName iCub) (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 115.0 112.0 80.0 5.0 45.0 25.0) (jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (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) (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) (name "iCub::left_leg_hardware_device") (robotScopedName iCub) (yarpDeviceName left_leg_hardware_device) [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_hip_pitch l_hip_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_hip_roll l_hip_roll [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_hip_yaw l_hip_yaw [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_knee l_knee [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_ankle_pitch l_ankle_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_ankle_roll l_ankle_roll [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| trajectory_type: minimum_jerk [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Trajectory successfully generated. [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refSpeed: [ 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refAcceleration: [ 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 ] [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceLinear value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceRevolute value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No max torques value found in ini file, default one will be used! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_torques: [ 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 ] [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping param found! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness: [ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness: [ 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping: [ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping: [ 100.000000 100.000000 100.000000 100.000000 100.000000 100.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class GazeboYarpControlBoardDriver for documentation. [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Registered YARP device with instance name: iCub::left_leg_hardware_device [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| m_parameters: (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 115.0 112.0 80.0 5.0 45.0 25.0) (jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (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) (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) (name "iCub::right_leg_hardware_device") (robotScopedName iCub) (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 115.0 112.0 80.0 5.0 45.0 25.0) (jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (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) (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) (name "iCub::right_leg_hardware_device") (robotScopedName iCub) (yarpDeviceName right_leg_hardware_device) [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_hip_pitch r_hip_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_hip_roll r_hip_roll [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_hip_yaw r_hip_yaw [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_knee r_knee [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_ankle_pitch r_ankle_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_ankle_roll r_ankle_roll [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| trajectory_type: minimum_jerk [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Trajectory successfully generated. [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refSpeed: [ 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refAcceleration: [ 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 ] [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceLinear value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceRevolute value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No max torques value found in ini file, default one will be used! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_torques: [ 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 ] [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping param found! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness: [ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness: [ 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping: [ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping: [ 100.000000 100.000000 100.000000 100.000000 100.000000 100.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class GazeboYarpControlBoardDriver for documentation. [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Registered YARP device with instance name: iCub::right_leg_hardware_device [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| m_parameters: (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 17.0 20.0 45.0) (jntPosMin -30.0 -20.0 -45.0) (jntVelMax 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.121999999999999997335 0.121999999999999997335 0.121999999999999997335) (ki 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (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)) (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 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (jointNames neck_pitch neck_roll neck_yaw) (max_damping 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0) (min_damping 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0) (name "iCub::head_hardware_device") (robotScopedName iCub) (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) (damping 0.0 0.0 0.0)) (LIMITS (jntPosMax 17.0 20.0 45.0) (jntPosMin -30.0 -20.0 -45.0) (jntVelMax 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.121999999999999997335 0.121999999999999997335 0.121999999999999997335) (ki 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (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)) (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 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (jointNames neck_pitch neck_roll neck_yaw) (max_damping 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0) (min_damping 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0) (name "iCub::head_hardware_device") (robotScopedName iCub) (yarpDeviceName head_hardware_device) [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: neck_pitch neck_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: neck_roll neck_roll [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: neck_yaw neck_yaw [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Missing trajectory_type param. Assuming minimum_jerk [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Trajectory successfully generated. [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refSpeed: [ 10.000000 10.000000 10.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refAcceleration: [ 10.000000 10.000000 10.000000 ] [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceLinear value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceRevolute value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No max torques value found in ini file, default one will be used! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_torques: [ 2000.000000 2000.000000 2000.000000 ] [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping param found! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness: [ 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness: [ 1000.000000 1000.000000 1000.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping: [ 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping: [ 100.000000 100.000000 100.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class GazeboYarpControlBoardDriver for documentation. [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Registered YARP device with instance name: iCub::head_hardware_device [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| m_parameters: (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 88.0 25.0 35.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -88.0 -70.0 -15.0) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw) (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) (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) (name "iCub::left_arm_hardware_device") (robotScopedName iCub) (yarpDeviceName left_arm_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 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 88.0 25.0 35.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -88.0 -70.0 -15.0) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (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_prosup l_wrist_pitch l_wrist_yaw) (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) (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) (name "iCub::left_arm_hardware_device") (robotScopedName iCub) (yarpDeviceName left_arm_hardware_device) [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_shoulder_pitch l_shoulder_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_shoulder_roll l_shoulder_roll [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_shoulder_yaw l_shoulder_yaw [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_elbow l_elbow [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_wrist_prosup l_wrist_prosup [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_wrist_pitch l_wrist_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: l_wrist_yaw l_wrist_yaw [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| trajectory_type: minimum_jerk [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Trajectory successfully generated. [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refSpeed: [ 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refAcceleration: [ 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 ] [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceLinear value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceRevolute value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No max torques value found in ini file, default one will be used! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_torques: [ 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 ] [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping param found! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness: [ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness: [ 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping: [ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping: [ 100.000000 100.000000 100.000000 100.000000 100.000000 100.000000 100.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| INITIAL CONFIGURATION IS: -0.520000 0.520000 0.000000 0.785000 0.000000 0.000000 0.000000 [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with default values [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class GazeboYarpControlBoardDriver for documentation. [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Registered YARP device with instance name: iCub::left_arm_hardware_device [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| m_parameters: (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 88.0 25.0 35.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -88.0 -70.0 -15.0) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw) (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) (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) (name "iCub::right_arm_hardware_device") (robotScopedName iCub) (yarpDeviceName right_arm_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 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 88.0 25.0 35.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -88.0 -70.0 -15.0) (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)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (gazeboYarpPluginsRobotName iCub) (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_prosup r_wrist_pitch r_wrist_yaw) (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) (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) (name "iCub::right_arm_hardware_device") (robotScopedName iCub) (yarpDeviceName right_arm_hardware_device) [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_shoulder_pitch r_shoulder_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_shoulder_roll r_shoulder_roll [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_shoulder_yaw r_shoulder_yaw [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_elbow r_elbow [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_wrist_prosup r_wrist_prosup [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_wrist_pitch r_wrist_pitch [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| found: r_wrist_yaw r_wrist_yaw [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| trajectory_type: minimum_jerk [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Trajectory successfully generated. [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refSpeed: [ 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| refAcceleration: [ 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 10.000000 ] [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceLinear value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No positionToleranceRevolute value found in ini file, default one will be used! [WARNING] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| No max torques value found in ini file, default one will be used! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_torques: [ 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 2000.000000 ] [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping param found! [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping param found! [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_stiffness: [ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_stiffness: [ 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 1000.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| min_damping: [ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| max_damping: [ 100.000000 100.000000 100.000000 100.000000 100.000000 100.000000 100.000000 ] [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| INITIAL CONFIGURATION IS: -0.520000 0.520000 0.000000 0.785000 0.000000 0.000000 0.000000 [DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with default values [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class GazeboYarpControlBoardDriver for documentation. [INFO] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Registered YARP device with instance name: iCub::right_arm_hardware_device [DEBUG] Reading file /home/sdafarra/Software/robotology-superbuild/build/install/share/iCub/conf_icub3/icub.xml [DEBUG] yarprobotinterface: using xml parser for DTD v3.x [DEBUG] Reading file /home/sdafarra/Software/robotology-superbuild/build/install/share/iCub/conf_icub3/icub.xml [DEBUG] Preprocessor complete in: 0.000703812 s [INFO] startup phase starting... [INFO] Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "/icubSim"), ("name" = "/icubSim/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 "/icubSim/left_arm") (period 0.0100000000000000002082) (robotName "/icubSim") [INFO] |yarp.os.Port|/icubSim/left_arm/rpc:i| Port /icubSim/left_arm/rpc:i active at tcp://192.168.1.129:10004/ [INFO] |yarp.os.Port|/icubSim/left_arm/command:i| Port /icubSim/left_arm/command:i active at tcp://192.168.1.129:10005/ [INFO] |yarp.os.Port|/icubSim/left_arm/state:o| Port /icubSim/left_arm/state:o active at tcp://192.168.1.129:10006/ [INFO] |yarp.os.Port|/icubSim/left_arm/stateExt:o| Port /icubSim/left_arm/stateExt:o active at tcp://192.168.1.129:10007/ [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" = "/icubSim"), ("name" = "/icubSim/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 "/icubSim/right_arm") (period 0.0100000000000000002082) (robotName "/icubSim") [INFO] |yarp.os.Port|/icubSim/right_arm/rpc:i| Port /icubSim/right_arm/rpc:i active at tcp://192.168.1.129:10008/ [INFO] |yarp.os.Port|/icubSim/right_arm/command:i| Port /icubSim/right_arm/command:i active at tcp://192.168.1.129:10009/ [INFO] |yarp.os.Port|/icubSim/right_arm/state:o| Port /icubSim/right_arm/state:o active at tcp://192.168.1.129:10010/ [INFO] |yarp.os.Port|/icubSim/right_arm/stateExt:o| Port /icubSim/right_arm/stateExt:o active at tcp://192.168.1.129:10011/ [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" = "/icubSim"), ("name" = "/icubSim/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 "/icubSim/left_leg") (period 0.0100000000000000002082) (robotName "/icubSim") [INFO] |yarp.os.Port|/icubSim/left_leg/rpc:i| Port /icubSim/left_leg/rpc:i active at tcp://192.168.1.129:10012/ [INFO] |yarp.os.Port|/icubSim/left_leg/command:i| Port /icubSim/left_leg/command:i active at tcp://192.168.1.129:10013/ [INFO] |yarp.os.Port|/icubSim/left_leg/state:o| Port /icubSim/left_leg/state:o active at tcp://192.168.1.129:10014/ [INFO] |yarp.os.Port|/icubSim/left_leg/stateExt:o| Port /icubSim/left_leg/stateExt:o active at tcp://192.168.1.129:10015/ [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" = "/icubSim"), ("name" = "/icubSim/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 "/icubSim/right_leg") (period 0.0100000000000000002082) (robotName "/icubSim") [INFO] |yarp.os.Port|/icubSim/right_leg/rpc:i| Port /icubSim/right_leg/rpc:i active at tcp://192.168.1.129:10016/ [INFO] |yarp.os.Port|/icubSim/right_leg/command:i| Port /icubSim/right_leg/command:i active at tcp://192.168.1.129:10017/ [INFO] |yarp.os.Port|/icubSim/right_leg/state:o| Port /icubSim/right_leg/state:o active at tcp://192.168.1.129:10018/ [INFO] |yarp.os.Port|/icubSim/right_leg/stateExt:o| Port /icubSim/right_leg/stateExt:o active at tcp://192.168.1.129:10019/ [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" = "/icubSim"), ("name" = "/icubSim/head")] [DEBUG] |yarp.dev.PolyDriver|head-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/icubSim/head") (robotName "/icubSim") [DEBUG] |yarp.devices.controlBoard_nws_yarp| 'period' parameter missing, using default thread period = 0.02s [INFO] |yarp.os.Port|/icubSim/head/rpc:i| Port /icubSim/head/rpc:i active at tcp://192.168.1.129:10020/ [INFO] |yarp.os.Port|/icubSim/head/command:i| Port /icubSim/head/command:i active at tcp://192.168.1.129:10021/ [INFO] |yarp.os.Port|/icubSim/head/state:o| Port /icubSim/head/state:o active at tcp://192.168.1.129:10022/ [INFO] |yarp.os.Port|/icubSim/head/stateExt:o| Port /icubSim/head/stateExt:o active at tcp://192.168.1.129:10023/ [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" = "/icubSim"), ("name" = "/icubSim/torso"), ("period" = "0.01")] [DEBUG] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/icubSim/torso") (period 0.0100000000000000002082) (robotName "/icubSim") [INFO] |yarp.os.Port|/icubSim/torso/rpc:i| Port /icubSim/torso/rpc:i active at tcp://192.168.1.129:10024/ [INFO] |yarp.os.Port|/icubSim/torso/command:i| Port /icubSim/torso/command:i active at tcp://192.168.1.129:10025/ [INFO] |yarp.os.Port|/icubSim/torso/state:o| Port /icubSim/torso/state:o active at tcp://192.168.1.129:10026/ [INFO] |yarp.os.Port|/icubSim/torso/stateExt:o| Port /icubSim/torso/stateExt:o active at tcp://192.168.1.129:10027/ [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" = "/icubSim"), ("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 "/icubSim") [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" = "/icubSim"), ("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 "/icubSim") [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" = "/icubSim"), ("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 "/icubSim") [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" = "/icubSim"), ("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 "/icubSim") [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" = "/icubSim"), ("networks" = "(head_joints1)"), ("head_joints1" = "( 0 2 0 2 )"), ("joints" = "3")] [DEBUG] |yarp.dev.PolyDriver|head-mc_remapper| Parameters are (device controlboardremapper) (head_joints1 (0 2 0 2)) (id head-mc_remapper) (joints 3) (networks (head_joints1)) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|head-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device torso-mc_remapper with parameters [("robotName" = "/icubSim"), ("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 "/icubSim") (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_foot-FT_remapper with parameters [("robotName" = "/icubSim"), ("SixAxisForceTorqueSensorsNames" = "(l_foot_rear_ft_sensor l_foot_front_ft_sensor)")] [DEBUG] |yarp.dev.PolyDriver|left_foot-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (l_foot_rear_ft_sensor l_foot_front_ft_sensor)) (device multipleanalogsensorsremapper) (id left_foot-FT_remapper) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|left_foot-FT_remapper| Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. [INFO] Opening device right_foot-FT_remapper with parameters [("robotName" = "/icubSim"), ("SixAxisForceTorqueSensorsNames" = "(r_foot_rear_ft_sensor r_foot_front_ft_sensor)")] [DEBUG] |yarp.dev.PolyDriver|right_foot-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (r_foot_rear_ft_sensor r_foot_front_ft_sensor)) (device multipleanalogsensorsremapper) (id right_foot-FT_remapper) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|right_foot-FT_remapper| Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. [INFO] Opening device left_foot-FT_wrapper with parameters [("robotName" = "/icubSim"), ("period" = "10"), ("name" = "/icubSim/left_foot_heel_tiptoe")] [DEBUG] |yarp.dev.PolyDriver|left_foot-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_foot-FT_wrapper) (name "/icubSim/left_foot_heel_tiptoe") (period 10) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|left_foot-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device right_foot-FT_wrapper with parameters [("robotName" = "/icubSim"), ("period" = "10"), ("name" = "/icubSim/right_foot_heel_tiptoe")] [DEBUG] |yarp.dev.PolyDriver|right_foot-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_foot-FT_wrapper) (name "/icubSim/right_foot_heel_tiptoe") (period 10) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|right_foot-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device left_arm-FT_wrapper with parameters [("robotName" = "/icubSim"), ("period" = "10"), ("name" = "/icubSim/left_arm")] [DEBUG] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/icubSim/left_arm") (period 10) (robotName "/icubSim") [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" = "/icubSim"), ("period" = "10"), ("name" = "/icubSim/right_arm")] [DEBUG] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_arm-FT_wrapper) (name "/icubSim/right_arm") (period 10) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device right_leg_hip-FT_wrapper with parameters [("robotName" = "/icubSim"), ("period" = "10"), ("name" = "/icubSim/right_leg_hip")] [DEBUG] |yarp.dev.PolyDriver|right_leg_hip-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_leg_hip-FT_wrapper) (name "/icubSim/right_leg_hip") (period 10) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|right_leg_hip-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device left_leg_hip-FT_wrapper with parameters [("robotName" = "/icubSim"), ("period" = "10"), ("name" = "/icubSim/left_leg_hip")] [DEBUG] |yarp.dev.PolyDriver|left_leg_hip-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_leg_hip-FT_wrapper) (name "/icubSim/left_leg_hip") (period 10) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|left_leg_hip-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device head-inertials_wrapper with parameters [("robotName" = "/icubSim"), ("period" = "10"), ("name" = "/icubSim/head/inertials")] [DEBUG] |yarp.dev.PolyDriver|head-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/icubSim/head/inertials") (period 10) (robotName "/icubSim") [INFO] |yarp.dev.PolyDriver|head-inertials_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer 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_foot-FT_remapper with parameters [("networks" = "(FirstStrain SecondStrain)"), ("FirstStrain" = "icub_left_foot_rear_ft"), ("SecondStrain" = "icub_left_foot_front_ft")] [INFO] Executing attach action, level 5 on device right_foot-FT_remapper with parameters [("networks" = "(FirstStrain SecondStrain)"), ("FirstStrain" = "icub_right_foot_rear_ft"), ("SecondStrain" = "icub_right_foot_front_ft")] [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_foot-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "left_foot-FT_remapper")] [INFO] left_foot-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icubSim/left_foot_heel_tiptoe/measures:o| Port /icubSim/left_foot_heel_tiptoe/measures:o active at tcp://192.168.1.129:10028/ [INFO] |yarp.os.Port|/icubSim/left_foot_heel_tiptoe/rpc:o| Port /icubSim/left_foot_heel_tiptoe/rpc:o active at tcp://192.168.1.129:10029/ [INFO] Executing attach action, level 10 on device right_foot-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "right_foot-FT_remapper")] [INFO] right_foot-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icubSim/right_foot_heel_tiptoe/measures:o| Port /icubSim/right_foot_heel_tiptoe/measures:o active at tcp://192.168.1.129:10030/ [INFO] |yarp.os.Port|/icubSim/right_foot_heel_tiptoe/rpc:o| Port /icubSim/right_foot_heel_tiptoe/rpc:o active at tcp://192.168.1.129:10031/ [INFO] Executing attach action, level 10 on device left_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "icub_left_arm_ft")] [INFO] left_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icubSim/left_arm/measures:o| Port /icubSim/left_arm/measures:o active at tcp://192.168.1.129:10032/ [INFO] |yarp.os.Port|/icubSim/left_arm/rpc:o| Port /icubSim/left_arm/rpc:o active at tcp://192.168.1.129:10033/ [INFO] Executing attach action, level 10 on device right_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "icub_right_arm_ft")] [INFO] right_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icubSim/right_arm/measures:o| Port /icubSim/right_arm/measures:o active at tcp://192.168.1.129:10034/ [INFO] |yarp.os.Port|/icubSim/right_arm/rpc:o| Port /icubSim/right_arm/rpc:o active at tcp://192.168.1.129:10035/ [INFO] Executing attach action, level 10 on device right_leg_hip-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "icub_right_leg_ft")] [INFO] right_leg_hip-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icubSim/right_leg_hip/measures:o| Port /icubSim/right_leg_hip/measures:o active at tcp://192.168.1.129:10036/ [INFO] |yarp.os.Port|/icubSim/right_leg_hip/rpc:o| Port /icubSim/right_leg_hip/rpc:o active at tcp://192.168.1.129:10037/ [INFO] Executing attach action, level 10 on device left_leg_hip-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "icub_left_leg_ft")] [INFO] left_leg_hip-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icubSim/left_leg_hip/measures:o| Port /icubSim/left_leg_hip/measures:o active at tcp://192.168.1.129:10038/ [INFO] |yarp.os.Port|/icubSim/left_leg_hip/rpc:o| Port /icubSim/left_leg_hip/rpc:o active at tcp://192.168.1.129:10039/ [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|/icubSim/head/inertials/measures:o| Port /icubSim/head/inertials/measures:o active at tcp://192.168.1.129:10040/ [INFO] |yarp.os.Port|/icubSim/head/inertials/rpc:o| Port /icubSim/head/inertials/rpc:o active at tcp://192.168.1.129:10041/ [INFO] All actions for action level 10 of startup phase started. Waiting for unfinished actions. [INFO] All actions for action level 10 of startup phase finished. [INFO] startup phase finished. terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc [INFO] interrupt1 phase starting... [INFO] interrupt1 phase finished. [INFO] shutdown phase starting... [INFO] Entering action level 15 of phase shutdown [INFO] Executing detach action, level 15 on device left_arm-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device right_arm-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device left_leg-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device right_leg-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device head-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device torso-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device left_foot-FT_wrapper with parameters [] [INFO] Executing detach action, level 15 on device right_foot-FT_wrapper with parameters [] [INFO] Executing detach action, level 15 on device left_arm-FT_wrapper with parameters [] [INFO] Executing detach action, level 15 on device right_arm-FT_wrapper with parameters [] [INFO] Executing detach action, level 15 on device right_leg_hip-FT_wrapper with parameters [] [INFO] Executing detach action, level 15 on device left_leg_hip-FT_wrapper with parameters [] [INFO] Executing detach action, level 15 on device head-inertials_wrapper with parameters [] [INFO] All actions for action level 15 of shutdown phase started. Waiting for unfinished actions. [INFO] All actions for action level 15 of shutdown phase finished. [INFO] Entering action level 20 of phase shutdown [INFO] Executing detach action, level 20 on device left_arm-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device right_arm-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device left_leg-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device right_leg-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device head-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device torso-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device left_foot-FT_remapper with parameters [] [INFO] Executing detach action, level 20 on device right_foot-FT_remapper with parameters [] [INFO] All actions for action level 20 of shutdown phase started. Waiting for unfinished actions. [INFO] All actions for action level 20 of shutdown phase finished. [INFO] Closing device head-inertials_wrapper [INFO] Closing device left_leg_hip-FT_wrapper [INFO] Closing device right_leg_hip-FT_wrapper [INFO] Closing device right_arm-FT_wrapper [INFO] Closing device left_arm-FT_wrapper [INFO] Closing device right_foot-FT_wrapper [INFO] Closing device left_foot-FT_wrapper [INFO] Closing device right_foot-FT_remapper [INFO] Closing device left_foot-FT_remapper [INFO] Closing device torso-mc_remapper [INFO] Closing device head-mc_remapper [INFO] Closing device right_leg-mc_remapper [INFO] Closing device left_leg-mc_remapper [INFO] Closing device right_arm-mc_remapper [INFO] Closing device left_arm-mc_remapper [INFO] Closing device torso-mc_nws_yarp [INFO] Closing device head-mc_nws_yarp [INFO] Closing device right_leg-mc_nws_yarp [INFO] Closing device left_leg-mc_nws_yarp [INFO] Closing device right_arm-mc_nws_yarp [INFO] Closing device left_arm-mc_nws_yarp [INFO] shutdown phase finished. corrupted size vs. prev_size in fastbins ```
S-Dafarra commented 1 year ago

Actually, with iCubGazeboV3, it crashed after about one minute. Here the output

This happened after I switched only icub-models to master