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start-jsk / rtmros_choreonoid

using chreonoid for simulator with hrpsys and other ros system
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18.04 #323

Open ishiguroJSK opened 4 years ago

ishiguroJSK commented 4 years ago

試してみたら半分くらいしか機能していない．環境は，

- git:
    local-name: hrpsys
    uri: https://github.com/fkanehiro/hrpsys-base.git
- git:
    local-name: openhrp3
    uri: https://github.com/fkanehiro/openhrp3.git
- git:
    local-name: rtmros_choreonoid
    uri: https://github.com/start-jsk/rtmros_choreonoid.git
- git:
    local-name: rtmros_common
    uri: https://github.com/start-jsk/rtmros_common.git
- git:
    local-name: rtmros_hrp2
    uri: git@github.com:start-jsk/rtmros_hrp2.git
- git:
    local-name: rtmros_tutorials
    uri: https://github.com/start-jsk/rtmros_tutorials.git
- git:
    local-name: trans_system
    uri: git@github.com:jsk-ros-pkg/trans_system.git
- hg:
    local-name: multisense_ros
    uri: https://bitbucket.org/crl/multisense_ros
    version: 3.4.9

choreonoidはrelease-1.7で./misc/script/install-requisites-ubuntu-18.04.sh を走らせて，.bashrcは以下

export CNOID_INSTALL_DIR=/usr/local/choreonoid
export CNOID_RTM_DIR=/opt/ros/${ROS_DISTRO}
export PKG_CONFIG_PATH=${CNOID_INSTALL_DIR}/lib/pkgconfig:$PKG_CONFIG_PATH
export PATH=${CNOID_INSTALL_DIR}/bin:$PATH

で cmake .. -DCMAKE_INSTALL_PREFIX=${CNOID_INSTALL_DIR} -DOPENRTM_DIR=${CNOID_RTM_DIR} -DENABLE_INSTALL_RPATH=ON -DENABLE_CORBA=ON -DBUILD_CORBA_PLUGIN=ON -DBUILD_OPENRTM_PLUGIN=ON -DBUILD_HELLO_WORLD_SAMPLE=ON -DBUILD_SPRING_MODEL_SAMPLE=ON -DUSE_PYTHON3=OFF -DUSE_PYBIND11=OFF -DUSE_BUILTIN_CAMERA_IMAGE_IDL=ON でmake

jsk-footstep-controllerが18.04だとリリースされていないのか，launch内コメントアウトしつつ reset; pkill -9 choreonoid; rtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launch USE_VISION:=Falseとかで起動するとRTMのポート繋げません的なエラーが出ている(全ログ後述)

[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/JAXON_RED(Robot)0.rtc:q , /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle ): CORBA.MARSHAL(omniORB.MARSHAL_InvalidEnumValue, CORBA.COMPLETED_YES) [rtmlaunch] Could not Activate ( localhost:15005/HrpsysSeqStateROSBridge0.rtc ) : CORBA.MARSHAL(omniORB.MARSHAL_InvalidEnumValue, CORBA.COMPLETED_YES) The model was successfully loaded !

ROSBridgeが落ちているが，hcfからgoPosとかいじれる．STがバグっている気もするが．

18.04ではRTMは1.1.2 (16.04までは1.1.0)

 $ dpkg -l *rtm*
要望=(U)不明/(I)インストール/(R)削除/(P)完全削除/(H)保持
| 状態=(N)無/(I)インストール済/(C)設定/(U)展開/(F)設定失敗/(H)半インストール/(W)トリガ待ち/(T)トリガ保留
|/ エラー?=(空欄)無/(R)要再インストール (状態,エラーの大文字=異常)
||/ 名前                                        バージョン                 アーキテクチャ             説明
+++-===========================================-==========================-==========================-============================================================================================
un  librtmp-dev                                 <なし>                     <なし>                     (説明 (description) がありません)
ii  librtmp1:amd64                              2.4+20151223.gitfa8646d.1- amd64                      toolkit for RTMP streams (shared library)
ii  ros-melodic-openrtm-aist                    1.1.2-3bionic.20200303.062 amd64                      This package represents OpenRTM-aist that's built within ROS eco system.
ii  ros-melodic-openrtm-aist-python             1.1.0-0bionic.20190531.231 amd64                      Python binding of OpenRTM-AIST (see openrtm_aist for further information).

USE_ROBOTHARDWAREなrtmlaunch hrpsys_choreonoid_tutorials chidori_choreonoid.launchだと以下．表記は違うが似たようなものな気がする．

[rtmlaunch] Could not start rtmlaunch.py, Caught exception ( CORBA.MARSHAL(omniORB.MARSHAL_InvalidEnumValue, CORBA.COMPLETED_YES) )
[rtmlaunch] .. Could not connect to NameServer at  localhost:15005 , Caught exception ( CORBA.MARSHAL(omniORB.MARSHAL_InvalidEnumValue, CORBA.COMPLETED_YES) )
[rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/`
[rtmlaunch] .. You can check with `rtls localhost:15005/`
[rtmlaunch_hrpsys_ros_bridge-12] process has finished cleanly
log file: /home/leus/.ros/log/92f211f0-69cd-11ea-b8b5-7c7a914eb678/rtmlaunch_hrpsys_ros_bridge-12*.log
[rtmlaunch] starting...  /home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/launch/chidori_vision_connect.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 
[rtmlaunch] SIMULATOR_NAME Simulator 
[rtm.py] trying to findRTCManager on port2810
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for CHIDORI(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f65aed735a0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware_choreonoid0 : <hrpsys.rtm.RTcomponent instance at 0x7f65aed735a0> isActive? = False 
[rtmlaunch] Could not start rtmlaunch.py, Caught exception ( CORBA.MARSHAL(omniORB.MARSHAL_InvalidEnumValue, CORBA.COMPLETED_YES) )
[rtmlaunch] .. Could not connect to NameServer at  localhost:15005 , Caught exception ( CORBA.MARSHAL(omniORB.MARSHAL_InvalidEnumValue, CORBA.COMPLETED_YES) )
[rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/`
[rtmlaunch] .. You can check with `rtls localhost:15005/`

rtmlaunch hrpsys_ros_bridge_tutorials samplerobot.launchは概ね問題ないように見えるので，rtmros_choreonoidのiobとかRobotHardwareまわりにRTMのバージョンに依存する何かあるのかなぁと思っていますが，心当たりあったら教えて欲しいです．

以下，jaxon_red_choreonoid.launchログ全文

[rtmlaunch] default corbaport:= 15005 will be used
[rtmlaunch] Start omniNames at port 15005 
omniNames: (0) 2020-03-19 19:16:52.755090: Data file: '/tmp/omninames-W540.dat'.
omniNames: (0) 2020-03-19 19:16:52.756271: Read data file '/tmp/omninames-W540.dat' successfully.
omniNames: (0) 2020-03-19 19:16:52.756292: Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000e0000003139322e3136382e39372e3339009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000009f44735e01004613
omniNames: (0) 2020-03-19 19:16:52.756311: Checkpointing Phase 1: Prepare.
omniNames: (0) 2020-03-19 19:16:52.756715: Checkpointing Phase 2: Commit.
omniNames: (0) 2020-03-19 19:16:52.756804: Checkpointing completed.
... logging to /home/leus/.ros/log/2689293e-69ca-11ea-b8b5-7c7a914eb678/roslaunch-W540-22786.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://W540:32831/

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /controller_configuration: [{'group_name': '...
 * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
 * /diagnostic_aggregator/analyzers/computers/path: Computers
 * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
 * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
 * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
 * /diagnostic_aggregator/analyzers/motor/path: Motor
 * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.4
 * /use_sim_time: True

NODES
  /
    AutoBalancerServiceROSBridge (hrpsys_ros_bridge/AutoBalancerServiceROSBridgeComp)
    DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
    EmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp)
    ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
    HardEmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp)
    HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
    HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
    ImpedanceControllerServiceROSBridge (hrpsys_ros_bridge/ImpedanceControllerServiceROSBridgeComp)
    KalmanFilterServiceROSBridge (hrpsys_ros_bridge/KalmanFilterServiceROSBridgeComp)
    ObjectContactTurnaroundDetectorServiceROSBridge (hrpsys_ros_bridge/ObjectContactTurnaroundDetectorServiceROSBridgeComp)
    ReferenceForceUpdaterServiceROSBridge (hrpsys_ros_bridge/ReferenceForceUpdaterServiceROSBridgeComp)
    RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    StabilizerServiceROSBridge (hrpsys_ros_bridge/StabilizerServiceROSBridgeComp)
    StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
    choreonoid (hrpsys_choreonoid/run_choreonoid.sh)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (hrpsys_choreonoid_tutorials/jaxon_red_setup.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    modelloader (openhrp3/openhrp-model-loader)
    rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
    sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
    tf2_buffer_server (tf2_ros/buffer_server)

WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
ROS_MASTER_URI=http://localhost:11311

process[modelloader-1]: started with pid [22807]
ready
process[choreonoid-2]: started with pid [22812]
process[hrpsys_py-3]: started with pid [22816]
choreonoid will run with rtc.conf file of /tmp/rtc.conf.choreonoid
contents of /tmp/rtc.conf.choreonoid are listed below
<BEGIN: rtc.conf>
manager.is_master:YES
corba.master_manager:localhost:2810
corba.nameservers:localhost:15005
naming.formats:%n.rtc
logger.file_name:/tmp/rtc%p.log
manager.shutdown_onrtcs:NO
manager.modules.load_path:/home/leus/catkin_ws/master/devel/share/hrpsys/lib
manager.modules.preload:
manager.components.precreate:
example.SequencePlayer.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.ForwardKinematics.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.ImpedanceController.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.AutoBalancer.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.StateHolder.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.TorqueFilter.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.TorqueController.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.ThermoEstimator.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.ThermoLimiter.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.VirtualForceSensor.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.AbsoluteForceSensor.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.RemoveForceSensorLinkOffset.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.KalmanFilter.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.Stabilizer.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.CollisionDetector.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.SoftErrorLimiter.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.HGcontroller.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.PDcontroller.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.EmergencyStopper.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.ReferenceForceUpdater.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.ObjectContactTurnaroundDetector.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.RobotHardware.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
example.RobotHardware_choreonoid.config_file:/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf
<END: rtc.conf>
process[HrpsysSeqStateROSBridge-4]: started with pid [22822]
process[HrpsysJointTrajectoryBridge-5]: started with pid [22825]
process[hrpsys_state_publisher-6]: started with pid [22828]
process[hrpsys_ros_diagnostics-7]: started with pid [22854]
[ WARN] [1584613014.652707206]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
process[diagnostic_aggregator-8]: started with pid [22858]
loading file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[ WARN] [1584613014.665489181]: The root link BODY has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
choreonoid will be executed by the command below
$ (cd /tmp; choreonoid   /home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/config/JAXON_RED_FLAT.cnoid --start-simulation)
process[hrpsys_profile-9]: started with pid [22866]
process[sensor_ros_bridge_connect-10]: started with pid [22872]
process[rtmlaunch_hrpsys_ros_bridge-11]: started with pid [22875]
process[SequencePlayerServiceROSBridge-12]: started with pid [22878]
[rtm.py] configuration ORB with localhost:15005
[rtm.py] configuration RTCManager with localhost:2810
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
process[DataLoggerServiceROSBridge-13]: started with pid [22890]
process[ForwardKinematicsServiceROSBridge-14]: started with pid [22900]
process[StateHolderServiceROSBridge-15]: started with pid [22918]
process[AutoBalancerServiceROSBridge-16]: started with pid [22939]
[sensor_ros_bridge_connect.py]  start
[rtm.py] configuration ORB with localhost:15005
[rtm.py] configuration RTCManager with localhost:2810
[sensor_ros_bridge_connect.py]  initSensorRosBridgeConnection
[sensor_ros_bridge_connect.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
process[StabilizerServiceROSBridge-17]: started with pid [22959]
process[KalmanFilterServiceROSBridge-18]: started with pid [22977]
process[ImpedanceControllerServiceROSBridge-19]: started with pid [23006]
process[RemoveForceSensorLinkOffsetServiceROSBridge-20]: started with pid [23025]
process[EmergencyStopperServiceROSBridge-21]: started with pid [23031]
process[HardEmergencyStopperServiceROSBridge-22]: started with pid [23050]
[ WARN] [1584613015.158637330]: [HrpsysSeqStateROSBridge] use_hrpsys_time
process[ReferenceForceUpdaterServiceROSBridge-23]: started with pid [23069]
process[ObjectContactTurnaroundDetectorServiceROSBridge-24]: started with pid [23093]
process[tf2_buffer_server-25]: started with pid [23130]
[ INFO] [1584613015.235662268]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
loading file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[rtmlaunch] starting...  /home/leus/catkin_ws/master/src/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 
[rtmlaunch] SIMULATOR_NAME JAXON_RED(Robot)0 
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:15005/JAXON_RED(Robot)0.rtc:q   0 /30
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        VisionSensorCHEST_CAMERA
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
            VisionSensorHEAD_LEFT_CAMERA
            VisionSensorHEAD_RIGHT_CAMERA
            Joint node motor_joint
              Segment node RANGE_LINK
              RangeSensorHEAD_RANGE
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
                        VisionSensorLARM_CAMERA
                        VisionSensorLARM_CAMERA_N
                        Joint node LARM_F_JOINT0
                          Segment node LARM_FINGER0
                        Joint node LARM_F_JOINT1
                          Segment node LARM_FINGER1
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
                        VisionSensorRARM_CAMERA
                        VisionSensorRARM_CAMERA_N
                        Joint node RARM_F_JOINT0
                          Segment node RARM_FINGER0
                        Joint node RARM_F_JOINT1
                          Segment node RARM_FINGER1
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
[rtm.py] trying to findRTCManager on port2810
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for JAXON_RED(Robot)0 : None ( timeout 0 < 10)
[rtm.py] trying to findRTCManager on port2810
[sensor_ros_bridge_connect.py] wait for RTCmanager : W540
[sensor_ros_bridge_connect.py] wait for JAXON_RED(Robot)0 : None ( timeout 0 < 10)
create customizer : JAXON_JVRC
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        VisionSensorCHEST_CAMERA
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
            VisionSensorHEAD_LEFT_CAMERA
            VisionSensorHEAD_RIGHT_CAMERA
            Joint node motor_joint
              Segment node RANGE_LINK
              RangeSensorHEAD_RANGE
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
                        VisionSensorLARM_CAMERA
                        VisionSensorLARM_CAMERA_N
                        Joint node LARM_F_JOINT0
                          Segment node LARM_FINGER0
                        Joint node LARM_F_JOINT1
                          Segment node LARM_FINGER1
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
                        VisionSensorRARM_CAMERA
                        VisionSensorRARM_CAMERA_N
                        Joint node RARM_F_JOINT0
                          Segment node RARM_FINGER0
                        Joint node RARM_F_JOINT1
                          Segment node RARM_FINGER1
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
PDcontroller0: onInitialize() 
The model was successfully loaded ! 
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 5, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 6, name = LARM_CAMERA_N)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 4, name = RARM_CAMERA_N)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
[ INFO] [1584613016.373720239]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
create customizer : JAXON_JVRC
PDcontroller0: on Activated 
[PDcontroller0] Gain file [/home/leus/catkin_ws/master/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat] opened
[rtmlaunch] Wait for  /localhost:15005/JAXON_RED(Robot)0.rtc:q   1 /30
[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/JAXON_RED(Robot)0.rtc:q , /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle ):  CORBA.MARSHAL(omniORB.MARSHAL_InvalidEnumValue, CORBA.COMPLETED_YES) 
[rtmlaunch] Could not Activate ( localhost:15005/HrpsysSeqStateROSBridge0.rtc ) :  CORBA.MARSHAL(omniORB.MARSHAL_InvalidEnumValue, CORBA.COMPLETED_YES) 
The model was successfully loaded ! 
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 5, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 6, name = LARM_CAMERA_N)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 4, name = RARM_CAMERA_N)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
0 physical force sensor : rfsensor
1 physical force sensor : lfsensor
2 physical force sensor : rhsensor
3 physical force sensor : lhsensor
0 acceleration sensor : gsensor
0 rate sensor : gyrometer
[HrpsysSeqStateROSBridge0] End Effector [rleg]RLEG_JOINT5 WAIST
[HrpsysSeqStateROSBridge0]   target = RLEG_LINK5, sensor_name = rfsensor
[HrpsysSeqStateROSBridge0]   localPos =     [   0,     0,  -0.1][m]
[HrpsysSeqStateROSBridge0] End Effector [lleg]LLEG_JOINT5 WAIST
[HrpsysSeqStateROSBridge0]   target = LLEG_LINK5, sensor_name = lfsensor
[HrpsysSeqStateROSBridge0]   localPos =     [   0,     0,  -0.1][m]
[HrpsysSeqStateROSBridge0] End Effector [rarm]RARM_JOINT7 CHEST_JOINT2
[HrpsysSeqStateROSBridge0]   target = RARM_LINK7, sensor_name = rhsensor
[HrpsysSeqStateROSBridge0]   localPos =     [     0,   0.055,  -0.217][m]
[HrpsysSeqStateROSBridge0] End Effector [larm]LARM_JOINT7 CHEST_JOINT2
[HrpsysSeqStateROSBridge0]   target = LARM_LINK7, sensor_name = lhsensor
[HrpsysSeqStateROSBridge0]   localPos =     [     0,  -0.055,  -0.217][m]
[ INFO] [1584613016.744880603]: [HrpsysSeqStateROSBridge] Loaded JAXON_JVRC
[ INFO] [1584613016.745418847]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[hrpsys.py] wait for JAXON_RED(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f57a3be05f0> ( timeout 1 < 10)
[hrpsys.py] findComps -> JAXON_RED(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f57a3be05f0> isActive? = True 
[hrpsys.py] simulation_mode : True
[hrpsys.py]   bodyinfo URL = file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
SequencePlayer::onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bd960> (315.15.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService object at 0x7f57a3bf15d0>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[sh] onInitialize()
StateHolder: dt = 0.002
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bdb90> (315.15.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService object at 0x7f57a3393290>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[fk] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[sensor_ros_bridge_connect.py] wait for JAXON_RED(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f142730dfa0> ( timeout 1 < 10)
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bbc30> (315.15.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService object at 0x7f57a3be7c10>
[hrpsys.py]   eval : [self.tf, self.tf_svc, self.tf_version] = self.createComp("TorqueFilter","tf")
[tf] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[sensor_ros_bridge_connect.py] findComps -> JAXON_RED(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f142730dfa0> isActive? = True 
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[sensor_ros_bridge_connect.py] simulation_mode : True
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
This IIRFilter constructure is obsolated method.
[hrpsys.py] create Comp -> TorqueFilter : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bbeb0> (315.15.0)
("can't find a service named", 'service0')
[hrpsys.py]   eval : [self.kf, self.kf_svc, self.kf_version] = self.createComp("KalmanFilter","kf")
[kf] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[kf]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[hrpsys.py] create Comp -> KalmanFilter : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bb730> (315.15.0)
[hrpsys.py] create CompSvc -> KalmanFilter Service : <OpenHRP._objref_KalmanFilterService object at 0x7f57a3c08a50>
[hrpsys.py]   eval : [self.vs, self.vs_svc, self.vs_version] = self.createComp("VirtualForceSensor","vs")
[vs] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[hrpsys.py] create Comp -> VirtualForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bdb40> (315.15.0)
[hrpsys.py] create CompSvc -> VirtualForceSensor Service : <OpenHRP._objref_VirtualForceSensorService object at 0x7f57a3bfc650>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo")
[rmfo] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bbc80> (315.15.0)
[hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService object at 0x7f57a33931d0>
[hrpsys.py]   eval : [self.es, self.es_svc, self.es_version] = self.createComp("EmergencyStopper","es")
[es] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bd370> (315.15.0)
[hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService object at 0x7f57a33b08d0>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[ic] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[ic] force sensor ports
[ic]   name = rfsensor
[ic]   name = lfsensor
[ic]   name = rhsensor
[ic]   name = lhsensor
[ic] End Effector [rleg]RLEG_JOINT5 WAIST
[ic]   target = RLEG_JOINT5, base = WAIST
[ic]   localPos =     [   0,     0,  -0.1][m]
[ic]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic] End Effector [lleg]LLEG_JOINT5 WAIST
[ic]   target = LLEG_JOINT5, base = WAIST
[ic]   localPos =     [   0,     0,  -0.1][m]
[ic]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic] End Effector [rarm]RARM_JOINT7 CHEST_JOINT2
[ic]   target = RARM_JOINT7, base = CHEST_JOINT2
[ic]   localPos =     [     0,   0.055,  -0.217][m]
[ic]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[ic] End Effector [larm]LARM_JOINT7 CHEST_JOINT2
[ic]   target = LARM_JOINT7, base = CHEST_JOINT2
[ic]   localPos =     [     0,  -0.055,  -0.217][m]
[ic]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[ic] Add impedance params
[ic]   sensor = rfsensor, sensor-link = RLEG_JOINT5, ee_name = rleg, ee-link = RLEG_JOINT5
[ic]   sensor = lfsensor, sensor-link = LLEG_JOINT5, ee_name = lleg, ee-link = LLEG_JOINT5
[ic]   sensor = rhsensor, sensor-link = RARM_JOINT7, ee_name = rarm, ee-link = RARM_JOINT7
[ic]   sensor = lhsensor, sensor-link = LARM_JOINT7, ee_name = larm, ee-link = LARM_JOINT7
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bd4b0> (315.15.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService object at 0x7f57a33a1410>
[hrpsys.py]   eval : [self.abc, self.abc_svc, self.abc_version] = self.createComp("AutoBalancer","abc")
[abc] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[abc] End Effector [rleg]
[abc]   target = RLEG_JOINT5, base = WAIST
[abc]   offset_pos =     [   0,     0,  -0.1][m]
[abc]   has_toe_joint = false
[abc] End Effector [lleg]
[abc]   target = LLEG_JOINT5, base = WAIST
[abc]   offset_pos =     [   0,     0,  -0.1][m]
[abc]   has_toe_joint = false
[abc] End Effector [rarm]
[abc]   target = RARM_JOINT7, base = CHEST_JOINT2
[abc]   offset_pos =     [     0,   0.055,  -0.217][m]
[abc]   has_toe_joint = false
[abc] End Effector [larm]
[abc]   target = LARM_JOINT7, base = CHEST_JOINT2
[abc]   offset_pos =     [     0,  -0.055,  -0.217][m]
[abc]   has_toe_joint = false
[abc] abc_leg_offset =     [  0,  0.1,    0][m]
[abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m]
GaitGenerator swing_foot_rot_interpolator rleg
GaitGenerator swing_foot_rot_interpolator lleg
GaitGenerator swing_foot_rot_interpolator rarm
GaitGenerator swing_foot_rot_interpolator larm
[abc] force sensor ports (4)
[abc]   name = ref_rfsensor
[abc]   name = ref_lfsensor
[abc]   name = ref_rhsensor
[abc]   name = ref_lhsensor
[abc]   name = rfsensor
[abc]   name = lfsensor
[abc]   name = rhsensor
[abc]   name = lhsensor
[abc] limbCOPOffset ports (4)
[abc]   name = limbCOPOffset_rfsensor
[abc]   name = limbCOPOffset_lfsensor
[abc]   name = limbCOPOffset_rhsensor
[abc]   name = limbCOPOffset_lhsensor
[hrpsys.py] create Comp -> AutoBalancer : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bdbe0> (315.15.0)
[hrpsys.py] create CompSvc -> AutoBalancer Service : <OpenHRP._objref_AutoBalancerService object at 0x7f57a293ed90>
[hrpsys.py]   eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st")
[st] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[st] force sensor ports (4)
[st]   name = rfsensor
[st]   name = lfsensor
[st]   name = rhsensor
[st]   name = lhsensor
[st] limbCOPOffset ports (4)
[st]   name = limbCOPOffset_rfsensor
[st]   name = limbCOPOffset_lfsensor
[st]   name = limbCOPOffset_rhsensor
[st]   name = limbCOPOffset_lhsensor
[st] End Effector [rleg]
[st]   target = RLEG_JOINT5, base = WAIST, sensor_name = rfsensor
[st]   offset_pos =     [   0,     0,  -0.1][m]
[st] End Effector [lleg]
[st]   target = LLEG_JOINT5, base = WAIST, sensor_name = lfsensor
[st]   offset_pos =     [   0,     0,  -0.1][m]
[st] End Effector [rarm]
[st]   target = RARM_JOINT7, base = CHEST_JOINT2, sensor_name = rhsensor
[st]   offset_pos =     [     0,   0.055,  -0.217][m]
[st] End Effector [larm]
[st]   target = LARM_JOINT7, base = CHEST_JOINT2, sensor_name = lhsensor
[st]   offset_pos =     [     0,  -0.055,  -0.217][m]
[hrpsys.py] create Comp -> Stabilizer : <hrpsys.rtm.RTcomponent instance at 0x7f57a33bd410> (315.15.0)
[hrpsys.py] create CompSvc -> Stabilizer Service : <OpenHRP._objref_StabilizerService object at 0x7f57a2943750>
[hrpsys.py]   eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co")
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[co] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[Vclip] build finished, vcliip mesh of WAIST, 397 -> 397
[Vclip] build finished, vcliip mesh of CHEST_JOINT0, 23 -> 23
[Vclip] build finished, vcliip mesh of CHEST_JOINT1, 555 -> 555
[Vclip] build finished, vcliip mesh of CHEST_JOINT2, 275 -> 275
[Vclip] build finished, vcliip mesh of HEAD_JOINT0, 467 -> 467
[Vclip] build finished, vcliip mesh of HEAD_JOINT1, 424 -> 424
[Vclip] build finished, vcliip mesh of motor_joint, 216 -> 216
[Vclip] build finished, vcliip mesh of LARM_JOINT0, 751 -> 751
[Vclip] build finished, vcliip mesh of LARM_JOINT1, 270 -> 270
[Vclip] build finished, vcliip mesh of LARM_JOINT2, 352 -> 352
[Vclip] build finished, vcliip mesh of LARM_JOINT3, 762 -> 762
[Vclip] build finished, vcliip mesh of LARM_JOINT4, 908 -> 908
[Vclip] build finished, vcliip mesh of LARM_JOINT5, 598 -> 598
[Vclip] build finished, vcliip mesh of LARM_JOINT6, 580 -> 580
[Vclip] build finished, vcliip mesh of LARM_JOINT7, 398 -> 398
[Vclip] build finished, vcliip mesh of LARM_F_JOINT0, 38 -> 38
[Vclip] build finished, vcliip mesh of LARM_F_JOINT1, 38 -> 38
[Vclip] build finished, vcliip mesh of RARM_JOINT0, 751 -> 751
[Vclip] build finished, vcliip mesh of RARM_JOINT1, 270 -> 270
[Vclip] build finished, vcliip mesh of RARM_JOINT2, 352 -> 352
[Vclip] build finished, vcliip mesh of RARM_JOINT3, 762 -> 762
[Vclip] build finished, vcliip mesh of RARM_JOINT4, 908 -> 908
[Vclip] build finished, vcliip mesh of RARM_JOINT5, 598 -> 598
[Vclip] build finished, vcliip mesh of RARM_JOINT6, 580 -> 580
[Vclip] build finished, vcliip mesh of RARM_JOINT7, 398 -> 398
[Vclip] build finished, vcliip mesh of RARM_F_JOINT0, 38 -> 38
[Vclip] build finished, vcliip mesh of RARM_F_JOINT1, 38 -> 38
[Vclip] build finished, vcliip mesh of LLEG_JOINT0, 660 -> 660
[Vclip] build finished, vcliip mesh of LLEG_JOINT1, 16 -> 16
[Vclip] build finished, vcliip mesh of LLEG_JOINT2, 528 -> 528
[Vclip] build finished, vcliip mesh of LLEG_JOINT3, 471 -> 471
[Vclip] build finished, vcliip mesh of LLEG_JOINT4, 554 -> 554
[Vclip] build finished, vcliip mesh of LLEG_JOINT5, 290 -> 290
[Vclip] build finished, vcliip mesh of RLEG_JOINT0, 660 -> 660
[Vclip] build finished, vcliip mesh of RLEG_JOINT1, 16 -> 16
[Vclip] build finished, vcliip mesh of RLEG_JOINT2, 528 -> 528
[Vclip] build finished, vcliip mesh of RLEG_JOINT3, 471 -> 471
[Vclip] build finished, vcliip mesh of RLEG_JOINT4, 554 -> 554
[Vclip] build finished, vcliip mesh of RLEG_JOINT5, 290 -> 290
[co] prop[collision_pair] ->RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST RLEG_JOINT2:LARM_JOINT7 RLEG_JOINT3:LARM_JOINT7 RLEG_JOINT5:LARM_JOINT7 LLEG_JOINT2:LARM_JOINT7 LLEG_JOINT3:LARM_JOINT7 LLEG_JOINT5:LARM_JOINT7 CHEST_JOINT1:LARM_JOINT7 HEAD_JOINT1:LARM_JOINT7 RARM_JOINT0:LARM_JOINT7 RARM_JOINT2:LARM_JOINT7 RARM_JOINT3:LARM_JOINT7 RARM_JOINT4:LARM_JOINT7 RARM_JOINT5:LARM_JOINT7 RARM_JOINT7:LARM_JOINT7 LARM_JOINT7:WAIST RLEG_JOINT2:RARM_JOINT7 RLEG_JOINT3:RARM_JOINT7 RLEG_JOINT5:RARM_JOINT7 LLEG_JOINT2:RARM_JOINT7 LLEG_JOINT3:RARM_JOINT7 LLEG_JOINT5:RARM_JOINT7 CHEST_JOINT1:RARM_JOINT7 HEAD_JOINT1:RARM_JOINT7 RARM_JOINT7:LARM_JOINT0 RARM_JOINT7:LARM_JOINT2 RARM_JOINT7:LARM_JOINT3 RARM_JOINT7:LARM_JOINT4 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:RARM_JOINT7 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT7 CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2
[co] check collisions between RLEG_JOINT2 and LLEG_JOINT2
[co] check collisions between RLEG_JOINT2 and LLEG_JOINT3
[co] check collisions between RLEG_JOINT2 and LLEG_JOINT5
[co] check collisions between RLEG_JOINT2 and RARM_JOINT3
[co] check collisions between RLEG_JOINT2 and RARM_JOINT4
[co] check collisions between RLEG_JOINT2 and RARM_JOINT5
[co] check collisions between RLEG_JOINT2 and RARM_JOINT6
[co] check collisions between RLEG_JOINT2 and LARM_JOINT3
[co] check collisions between RLEG_JOINT2 and LARM_JOINT4
[co] check collisions between RLEG_JOINT2 and LARM_JOINT5
[co] check collisions between RLEG_JOINT2 and LARM_JOINT6
[co] check collisions between RLEG_JOINT3 and LLEG_JOINT2
[co] check collisions between RLEG_JOINT3 and LLEG_JOINT3
[co] check collisions between RLEG_JOINT3 and LLEG_JOINT5
[co] check collisions between RLEG_JOINT3 and RARM_JOINT3
[co] check collisions between RLEG_JOINT3 and RARM_JOINT4
[co] check collisions between RLEG_JOINT3 and RARM_JOINT5
[co] check collisions between RLEG_JOINT3 and RARM_JOINT6
[co] check collisions between RLEG_JOINT3 and LARM_JOINT3
[co] check collisions between RLEG_JOINT3 and LARM_JOINT4
[co] check collisions between RLEG_JOINT3 and LARM_JOINT5
[co] check collisions between RLEG_JOINT3 and LARM_JOINT6
[co] check collisions between RLEG_JOINT5 and LLEG_JOINT2
[co] check collisions between RLEG_JOINT5 and LLEG_JOINT3
[co] check collisions between RLEG_JOINT5 and LLEG_JOINT5
[co] check collisions between RLEG_JOINT5 and RARM_JOINT3
[co] check collisions between RLEG_JOINT5 and RARM_JOINT4
[co] check collisions between RLEG_JOINT5 and RARM_JOINT5
[co] check collisions between RLEG_JOINT5 and RARM_JOINT6
[co] check collisions between RLEG_JOINT5 and LARM_JOINT3
[co] check collisions between RLEG_JOINT5 and LARM_JOINT4
[co] check collisions between RLEG_JOINT5 and LARM_JOINT5
[co] check collisions between RLEG_JOINT5 and LARM_JOINT6
[co] check collisions between LLEG_JOINT2 and RARM_JOINT3
[co] check collisions between LLEG_JOINT2 and RARM_JOINT4
[co] check collisions between LLEG_JOINT2 and RARM_JOINT5
[co] check collisions between LLEG_JOINT2 and RARM_JOINT6
[co] check collisions between LLEG_JOINT2 and LARM_JOINT3
[co] check collisions between LLEG_JOINT2 and LARM_JOINT4
[co] check collisions between LLEG_JOINT2 and LARM_JOINT5
[co] check collisions between LLEG_JOINT2 and LARM_JOINT6
[co] check collisions between LLEG_JOINT3 and RARM_JOINT3
[co] check collisions between LLEG_JOINT3 and RARM_JOINT4
[co] check collisions between LLEG_JOINT3 and RARM_JOINT5
[co] check collisions between LLEG_JOINT3 and RARM_JOINT6
[co] check collisions between LLEG_JOINT3 and LARM_JOINT3
[co] check collisions between LLEG_JOINT3 and LARM_JOINT4
[co] check collisions between LLEG_JOINT3 and LARM_JOINT5
[co] check collisions between LLEG_JOINT3 and LARM_JOINT6
[co] check collisions between LLEG_JOINT5 and RARM_JOINT3
[co] check collisions between LLEG_JOINT5 and RARM_JOINT4
[co] check collisions between LLEG_JOINT5 and RARM_JOINT5
[co] check collisions between LLEG_JOINT5 and RARM_JOINT6
[co] check collisions between LLEG_JOINT5 and LARM_JOINT3
[co] check collisions between LLEG_JOINT5 and LARM_JOINT4
[co] check collisions between LLEG_JOINT5 and LARM_JOINT5
[co] check collisions between LLEG_JOINT5 and LARM_JOINT6
[co] check collisions between CHEST_JOINT1 and RARM_JOINT2
[co] check collisions between CHEST_JOINT1 and RARM_JOINT3
[co] check collisions between CHEST_JOINT1 and RARM_JOINT4
[co] check collisions between CHEST_JOINT1 and RARM_JOINT5
[co] check collisions between CHEST_JOINT1 and RARM_JOINT6
[co] check collisions between CHEST_JOINT1 and LARM_JOINT2
[co] check collisions between CHEST_JOINT1 and LARM_JOINT3
[co] check collisions between CHEST_JOINT1 and LARM_JOINT4
[co] check collisions between CHEST_JOINT1 and LARM_JOINT5
[co] check collisions between CHEST_JOINT1 and LARM_JOINT6
[co] check collisions between HEAD_JOINT1 and RARM_JOINT3
[co] check collisions between HEAD_JOINT1 and RARM_JOINT4
[co] check collisions between HEAD_JOINT1 and RARM_JOINT5
[co] check collisions between HEAD_JOINT1 and RARM_JOINT6
[co] check collisions between HEAD_JOINT1 and LARM_JOINT3
[co] check collisions between HEAD_JOINT1 and LARM_JOINT4
[co] check collisions between HEAD_JOINT1 and LARM_JOINT5
[co] check collisions between HEAD_JOINT1 and LARM_JOINT6
[co] check collisions between RARM_JOINT0 and LARM_JOINT4
[co] check collisions between RARM_JOINT0 and LARM_JOINT5
[co] check collisions between RARM_JOINT0 and LARM_JOINT6
[co] check collisions between RARM_JOINT2 and LARM_JOINT4
[co] check collisions between RARM_JOINT2 and LARM_JOINT5
[co] check collisions between RARM_JOINT2 and LARM_JOINT6
[co] check collisions between RARM_JOINT2 and WAIST
[co] check collisions between RARM_JOINT3 and LARM_JOINT3
[co] check collisions between RARM_JOINT3 and LARM_JOINT4
[co] check collisions between RARM_JOINT3 and LARM_JOINT5
[co] check collisions between RARM_JOINT3 and LARM_JOINT6
[co] check collisions between RARM_JOINT3 and WAIST
[co] check collisions between RARM_JOINT4 and LARM_JOINT0
[co] check collisions between RARM_JOINT4 and LARM_JOINT2
[co] check collisions between RARM_JOINT4 and LARM_JOINT3
[co] check collisions between RARM_JOINT4 and LARM_JOINT4
[co] check collisions between RARM_JOINT4 and LARM_JOINT5
[co] check collisions between RARM_JOINT4 and LARM_JOINT6
[co] check collisions between RARM_JOINT4 and WAIST
[co] check collisions between RARM_JOINT5 and LARM_JOINT0
[co] check collisions between RARM_JOINT5 and LARM_JOINT2
[co] check collisions between RARM_JOINT5 and LARM_JOINT3
[co] check collisions between RARM_JOINT5 and LARM_JOINT4
[co] check collisions between RARM_JOINT5 and LARM_JOINT5
[co] check collisions between RARM_JOINT5 and LARM_JOINT6
[co] check collisions between RARM_JOINT5 and WAIST
[co] check collisions between RARM_JOINT6 and LARM_JOINT0
[co] check collisions between RARM_JOINT6 and LARM_JOINT2
[co] check collisions between RARM_JOINT6 and LARM_JOINT3
[co] check collisions between RARM_JOINT6 and LARM_JOINT4
[co] check collisions between RARM_JOINT6 and LARM_JOINT5
[co] check collisions between RARM_JOINT6 and LARM_JOINT6
[co] check collisions between RARM_JOINT6 and WAIST
[co] check collisions between LARM_JOINT2 and WAIST
[co] check collisions between LARM_JOINT3 and WAIST
[co] check collisions between LARM_JOINT4 and WAIST
[co] check collisions between LARM_JOINT5 and WAIST
[co] check collisions between LARM_JOINT6 and WAIST
[co] check collisions between RLEG_JOINT2 and LARM_JOINT7
[co] check collisions between RLEG_JOINT3 and LARM_JOINT7
[co] check collisions between RLEG_JOINT5 and LARM_JOINT7
[co] check collisions between LLEG_JOINT2 and LARM_JOINT7
[co] check collisions between LLEG_JOINT3 and LARM_JOINT7
[co] check collisions between LLEG_JOINT5 and LARM_JOINT7
[co] check collisions between CHEST_JOINT1 and LARM_JOINT7
[co] check collisions between HEAD_JOINT1 and LARM_JOINT7
[co] check collisions between RARM_JOINT0 and LARM_JOINT7
[co] check collisions between RARM_JOINT2 and LARM_JOINT7
[co] check collisions between RARM_JOINT3 and LARM_JOINT7
[co] check collisions between RARM_JOINT4 and LARM_JOINT7
[co] check collisions between RARM_JOINT5 and LARM_JOINT7
[co] check collisions between RARM_JOINT7 and LARM_JOINT7
[co] check collisions between LARM_JOINT7 and WAIST
[co] check collisions between RLEG_JOINT2 and RARM_JOINT7
[co] check collisions between RLEG_JOINT3 and RARM_JOINT7
[co] check collisions between RLEG_JOINT5 and RARM_JOINT7
[co] check collisions between LLEG_JOINT2 and RARM_JOINT7
[co] check collisions between LLEG_JOINT3 and RARM_JOINT7
[co] check collisions between LLEG_JOINT5 and RARM_JOINT7
[co] check collisions between CHEST_JOINT1 and RARM_JOINT7
[co] check collisions between HEAD_JOINT1 and RARM_JOINT7
[co] check collisions between RARM_JOINT7 and LARM_JOINT0
[co] check collisions between RARM_JOINT7 and LARM_JOINT2
[co] check collisions between RARM_JOINT7 and LARM_JOINT3
[co] check collisions between RARM_JOINT7 and LARM_JOINT4
[co] check collisions between RARM_JOINT7 and LARM_JOINT5
[co] check collisions between RARM_JOINT7 and WAIST
[co] check collisions between CHEST_JOINT2 and RARM_JOINT3
[co] check collisions between CHEST_JOINT2 and RARM_JOINT4
[co] check collisions between CHEST_JOINT2 and RARM_JOINT5
[co] check collisions between CHEST_JOINT2 and RARM_JOINT6
[co] check collisions between CHEST_JOINT2 and RARM_JOINT7
[co] check collisions between CHEST_JOINT2 and LARM_JOINT3
[co] check collisions between CHEST_JOINT2 and LARM_JOINT4
[co] check collisions between CHEST_JOINT2 and LARM_JOINT5
[co] check collisions between CHEST_JOINT2 and LARM_JOINT6
[co] check collisions between CHEST_JOINT2 and LARM_JOINT7
[co] check collisions between CHEST_JOINT2 and LARM_JOINT2
[co] check collisions between CHEST_JOINT2 and RARM_JOINT2
[hrpsys.py] create Comp -> CollisionDetector : <hrpsys.rtm.RTcomponent instance at 0x7f57a3bf0c80> (315.15.0)
[hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService object at 0x7f57a33b0590>
[hrpsys.py]   eval : [self.rfu, self.rfu_svc, self.rfu_version] = self.createComp("ReferenceForceUpdater","rfu")
[rfu] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[rfu] create force sensor ports
[rfu]   name = rfsensor
[rfu]   name = rfsensor
[rfu]   name = lfsensor
[rfu]   name = lfsensor
[rfu]   name = rhsensor
[rfu]   name = rhsensor
[rfu]   name = lhsensor
[rfu]   name = lhsensor
[rfu] End Effector [rleg]RLEG_JOINT5 WAIST
[rfu]   target = RLEG_JOINT5, base = WAIST, sensor_name = rfsensor
[rfu]   localPos =     [   0,     0,  -0.1][m]
[rfu]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[rfu] End Effector [lleg]LLEG_JOINT5 WAIST
[rfu]   target = LLEG_JOINT5, base = WAIST, sensor_name = lfsensor
[rfu]   localPos =     [   0,     0,  -0.1][m]
[rfu]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[rfu] End Effector [rarm]RARM_JOINT7 CHEST_JOINT2
[rfu]   target = RARM_JOINT7, base = CHEST_JOINT2, sensor_name = rhsensor
[rfu]   localPos =     [     0,   0.055,  -0.217][m]
[rfu]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[rfu] End Effector [larm]LARM_JOINT7 CHEST_JOINT2
[rfu]   target = LARM_JOINT7, base = CHEST_JOINT2, sensor_name = lhsensor
[rfu]   localPos =     [     0,  -0.055,  -0.217][m]
[rfu]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[hrpsys.py] create Comp -> ReferenceForceUpdater : <hrpsys.rtm.RTcomponent instance at 0x7f57a3bf0f00> (315.15.0)
[hrpsys.py] create CompSvc -> ReferenceForceUpdater Service : <OpenHRP._objref_ReferenceForceUpdaterService object at 0x7f57a33cb750>
[hrpsys.py]   eval : [self.octd, self.octd_svc, self.octd_version] = self.createComp("ObjectContactTurnaroundDetector","octd")
[octd] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[octd] force sensor ports
[octd]   name = rfsensor
[octd]   name = lfsensor
[octd]   name = rhsensor
[octd]   name = lhsensor
[octd] End Effector [rleg]RLEG_JOINT5 WAIST
[octd]   target = RLEG_JOINT5, base = WAIST
[octd]   localPos =     [   0,     0,  -0.1][m]
[octd]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[octd] End Effector [lleg]LLEG_JOINT5 WAIST
[octd]   target = LLEG_JOINT5, base = WAIST
[octd]   localPos =     [   0,     0,  -0.1][m]
[octd]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[octd] End Effector [rarm]RARM_JOINT7 CHEST_JOINT2
[octd]   target = RARM_JOINT7, base = CHEST_JOINT2
[octd]   localPos =     [     0,   0.055,  -0.217][m]
[octd]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[octd] End Effector [larm]LARM_JOINT7 CHEST_JOINT2
[octd]   target = LARM_JOINT7, base = CHEST_JOINT2
[octd]   localPos =     [     0,  -0.055,  -0.217][m]
[octd]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[octd] Add sensor_names
[octd]   sensor = rfsensor, sensor-link = RLEG_JOINT5, ee_name = rleg, ee-link = RLEG_JOINT5
[octd]   sensor = lfsensor, sensor-link = LLEG_JOINT5, ee_name = lleg, ee-link = LLEG_JOINT5
[octd]   sensor = rhsensor, sensor-link = RARM_JOINT7, ee_name = rarm, ee-link = RARM_JOINT7
[octd]   sensor = lhsensor, sensor-link = LARM_JOINT7, ee_name = larm, ee-link = LARM_JOINT7
[hrpsys.py] create Comp -> ObjectContactTurnaroundDetector : <hrpsys.rtm.RTcomponent instance at 0x7f57a3bf00f0> (315.15.0)
[hrpsys.py] create CompSvc -> ObjectContactTurnaroundDetector Service : <OpenHRP._objref_ObjectContactTurnaroundDetectorService object at 0x7f57a293ed10>
[hrpsys.py]   eval : [self.hes, self.hes_svc, self.hes_version] = self.createComp("EmergencyStopper","hes")
[hes] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7f57a3bf0140> (315.15.0)
[hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService object at 0x7f57a33c6690>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[el] onInitialize()
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
Warning:  Joint ID is not given to joint motor_joint of model JAXON_JVRC.
[el] dof = 37
[el] Load joint limit table [8]
[el] CHEST_JOINT0:CHEST_JOINT1(13)
[el]   target_llimit_angle -2[deg], target_ulimit_angle 35[deg]
[el]   llimit_table[deg] -9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9
[el]   ulimit_table[deg] 9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9
[el] CHEST_JOINT1:CHEST_JOINT0(12)
[el]   target_llimit_angle -11[deg], target_ulimit_angle 11[deg]
[el]   llimit_table[deg] 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
[el]   ulimit_table[deg] 33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33
[el] HEAD_JOINT0:HEAD_JOINT1(16)
[el]   target_llimit_angle -21[deg], target_ulimit_angle 48[deg]
[el]   llimit_table[deg] -8,-17,-26,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-61,-60,-60,-60,-60,-60,-60,-60,-35,-33,-33,-32,-32,-31,-31,-30,-30,-30,-30,-29,-29,-29,-29,-29,-28,-28,-28,-28,-27,-27,-26,-26,-26,-25,-24,-23,-22,-21,-20,-18,-17,-16,-14,-13,-12,-10,-10,-9,-8
[el]   ulimit_table[deg] 8,17,26,61,61,61,61,61,61,61,61,61,61,61,61,61,61,61,61,61,61,61,60,60,60,60,60,60,60,35,33,33,32,32,31,31,30,30,30,30,29,29,29,29,29,28,28,28,28,27,27,26,26,26,25,24,23,22,21,20,18,17,16,14,13,12,10,10,9,8
[el] HEAD_JOINT1:HEAD_JOINT0(15)
[el]   target_llimit_angle -61[deg], target_ulimit_angle 61[deg]
[el]   llimit_table[deg] -18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-19,-19,-19,-19,-19,-19,-19,-19,-19,-20,-20,-20,-20,-20,-20,-20,-20,-20,-21,-21,-21,-21,-21,-21,-21,-21,-21,-21,-21,-21,-21,-21,-21,-21,-21,-20,-20,-20,-20,-20,-20,-20,-20,-20,-19,-19,-19,-19,-19,-19,-19,-19,-19,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18,-18
[el]   ulimit_table[deg] 0,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,8,8,10,12,14,18,23,27,29,32,33,34,35,36,37,38,38,39,40,41,41,42,43,44,44,46,47,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,47,46,44,44,43,42,41,41,40,39,38,38,37,36,35,34,33,32,29,27,23,18,14,12,10,8,8,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,0
[el] RARM_JOINT6:RARM_JOINT7(24)
[el]   target_llimit_angle -81[deg], target_ulimit_angle 60[deg]
[el]   llimit_table[deg] -61,-60,-60,-60,-62,-63,-64,-65,-67,-68,-69,-70,-72,-73,-75,-77,-80,-85,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89
[el]   ulimit_table[deg] 61,60,60,60,62,63,64,65,67,68,69,70,72,73,75,77,80,85,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87
[el] RARM_JOINT7:RARM_JOINT6(23)
[el]   target_llimit_angle -90[deg], target_ulimit_angle 88[deg]
[el]   llimit_table[deg] -62,-62,-62,-62,-63,-63,-63,-63,-63,-64,-64,-64,-65,-65,-66,-66,-67,-68,-68,-69,-70,-71,-72,-72,-73,-74,-75,-76,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-76,-75,-74,-73,-72,-72,-71,-70,-69,-68,-68,-67,-66,-66,-65,-65,-64,-64,-64,-63,-63,-63,-63,-63,-62,-62
[el]   ulimit_table[deg] 59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59
[el] LARM_JOINT6:LARM_JOINT7(32)
[el]   target_llimit_angle -81[deg], target_ulimit_angle 60[deg]
[el]   llimit_table[deg] -61,-60,-60,-60,-62,-63,-64,-65,-67,-68,-69,-70,-72,-73,-75,-77,-80,-85,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87
[el]   ulimit_table[deg] 61,60,60,60,62,63,64,65,67,68,69,70,72,73,75,77,80,85,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89
[el] LARM_JOINT7:LARM_JOINT6(31)
[el]   target_llimit_angle -88[deg], target_ulimit_angle 90[deg]
[el]   llimit_table[deg] -62,-62,-63,-63,-63,-63,-63,-64,-64,-64,-65,-65,-66,-66,-67,-68,-68,-69,-70,-71,-72,-72,-73,-74,-75,-76,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-76,-75,-74,-73,-72,-72,-71,-70,-69,-68,-68,-67,-66,-66,-65,-65,-64,-64,-64,-63,-63,-63,-63,-63,-62,-62,-62,-62
[el]   ulimit_table[deg] 59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f57a3bf0d20> (315.15.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService object at 0x7f57a33b0e90>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
[log] onInitialize()
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7f57a3bf0280> (315.15.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService object at 0x7f57a2943490>
[hrpsys.py] connecting components
[rtm.py]    Connect sh.qOut - es.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.q - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect ic.q - abc.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.q - st.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.q - co.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect co.q - hes.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect hes.q - el.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect el.q - PDcontroller0.angleRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.gsensor - kf.acc (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.gyrometer - kf.rate (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - kf.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.optionalData - sh.optionalDataIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.zmpOut - seq.zmpRefInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.lhsensorRef - sh.lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.rhsensorRef - sh.rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.lfsensorRef - sh.lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.rfsensorRef - sh.rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect kf.rpy - st.rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.zmpOut - abc.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - abc.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - abc.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.optionalDataOut - abc.optionalData (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.zmpOut - st.zmpRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.baseRpyOut - st.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.basePosOut - st.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.accRef - kf.accRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.contactStates - st.contactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.controlSwingSupportTime - st.controlSwingSupportTime (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - st.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.qRef - st.qRefSeq (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.walkingStates - st.walkingStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.sbpCogOffset - st.sbpCogOffset (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.toeheelRatio - st.toeheelRatio (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.emergencySignal - es.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.emergencySignal - abc.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.diffCapturePoint - abc.diffCapturePoint (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.actContactStates - abc.actContactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.diffFootOriginExtMoment - rfu.diffFootOriginExtMoment (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.refFootOriginExtMoment - abc.refFootOriginExtMoment (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.refFootOriginExtMomentIsHoldValue - abc.refFootOriginExtMomentIsHoldValue (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.contactStates - octd.contactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.lhsensor - st.lhsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.limbCOPOffset_lhsensor - st.limbCOPOffset_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.ref_lhsensorOut - ic.ref_lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.ref_lhsensorOut - abc.ref_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.lhsensorOut - es.lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.lhsensorOut - rfu.ref_lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.rhsensor - st.rhsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.limbCOPOffset_rhsensor - st.limbCOPOffset_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.ref_rhsensorOut - ic.ref_rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.ref_rhsensorOut - abc.ref_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.rhsensorOut - es.rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.rhsensorOut - rfu.ref_rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.lfsensor - st.lfsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.limbCOPOffset_lfsensor - st.limbCOPOffset_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.ref_lfsensorOut - ic.ref_lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.ref_lfsensorOut - abc.ref_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.lfsensorOut - es.lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.lfsensorOut - rfu.ref_lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.rfsensor - st.rfsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.limbCOPOffset_rfsensor - st.limbCOPOffset_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.ref_rfsensorOut - ic.ref_rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rfu.ref_rfsensorOut - abc.ref_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.rfsensorOut - es.rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.rfsensorOut - rfu.ref_rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect kf.rpy - rmfo.rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - rmfo.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.lhsensor - rmfo.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lhsensor - ic.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lhsensor - rfu.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lhsensor - st.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.rhsensor - rmfo.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rhsensor - ic.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rhsensor - rfu.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rhsensor - st.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.lfsensor - rmfo.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lfsensor - ic.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lfsensor - rfu.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lfsensor - st.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.rfsensor - rmfo.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rfsensor - ic.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rfsensor - rfu.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rfsensor - st.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - ic.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - ic.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.q - rfu.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - rfu.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - rfu.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.tau - tf.tauIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - tf.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - vs.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect tf.tauOut - vs.tauIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - co.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Failed to connect None to ['co.servoStateIn']([<RTC._objref_PortService object at 0x7f57a3bfc310>])
[rtm.py]    Connect JAXON_RED(Robot)0.q - octd.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect kf.rpy - octd.rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lhsensor - octd.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rhsensor - octd.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lfsensor - octd.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rfsensor - octd.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect JAXON_RED(Robot)0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Failed to connect None to ['es.servoStateIn']([<RTC._objref_PortService object at 0x7f57a33ae4d0>])
[hrpsys.py] activating components
SequencePlayer::onActivated(1000)
[fk] onActivated(1000)
[tf] onActivated(1000)
[kf] onActivated(1000)
[vs] onActivated(1000)
[rmfo] onActivated(1000)
[es] onActivated(1000)
[ic] onActivated(1000)
[abc] onActivated(1000)
[st] onActivated(1000)
[co] onActivated(1000)
[sensor_ros_bridge_connect.py]  connecSensorRosBridgePort( /home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl , JAXON_RED(Robot)0 )
[sensor_ros_bridge_connect.py]   bodyinfo URL = file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
cache found for file:///home/leus/catkin_ws/master/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[co] [2.382000] set safe posture
[sensor_ros_bridge_connect.py]  sensor(name:  gsensor , type: Acceleration )
[sensor_ros_bridge_connect.py]  rh.port( gsensor ) =  <RTC._objref_PortService object at 0x7f1427307c90>
[sensor_ros_bridge_connect.py]  connect  gsensor JAXON_RED(Robot)0.gsensor HrpsysSeqStateROSBridge0.gsensor
[rtm.py]    Connect JAXON_RED(Robot)0.gsensor - HrpsysSeqStateROSBridge0.gsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  sensor(name:  gyrometer , type: RateGyro )
[sensor_ros_bridge_connect.py]  rh.port( gyrometer ) =  <RTC._objref_PortService object at 0x7f1427307cd0>
[sensor_ros_bridge_connect.py]  connect  gyrometer JAXON_RED(Robot)0.gyrometer HrpsysSeqStateROSBridge0.gyrometer
[rtm.py]    Connect JAXON_RED(Robot)0.gyrometer - HrpsysSeqStateROSBridge0.gyrometer (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  sensor(name:  CHEST_CAMERA , type: Vision )
[sensor_ros_bridge_connect.py]  sensor(name:  HEAD_LEFT_CAMERA , type: Vision )
[sensor_ros_bridge_connect.py]  sensor(name:  HEAD_RIGHT_CAMERA , type: Vision )
[sensor_ros_bridge_connect.py]  sensor(name:  HEAD_RANGE , type: Range )
[sensor_ros_bridge_connect.py]  sensor(name:  lhsensor , type: Force )
[sensor_ros_bridge_connect.py]  rh.port( lhsensor ) =  <RTC._objref_PortService object at 0x7f1427307d90>
[sensor_ros_bridge_connect.py]  connect  lhsensor JAXON_RED(Robot)0.lhsensor HrpsysSeqStateROSBridge0.lhsensor
[rtm.py]    Connect JAXON_RED(Robot)0.lhsensor - HrpsysSeqStateROSBridge0.lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[rfu] onActivated(1000)
[sensor_ros_bridge_connect.py]  connect  lhsensor rmfo.off_lhsensor HrpsysSeqStateROSBridge0.off_lhsensor
[rtm.py]    Connect rmfo.off_lhsensor - HrpsysSeqStateROSBridge0.off_lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  connect  lhsensor rfu.ref_lhsensorOut HrpsysSeqStateROSBridge0.ref_lhsensor
[rtm.py]    Connect rfu.ref_lhsensorOut - HrpsysSeqStateROSBridge0.ref_lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  sensor(name:  LARM_CAMERA , type: Vision )
[sensor_ros_bridge_connect.py]  sensor(name:  LARM_CAMERA_N , type: Vision )
[sensor_ros_bridge_connect.py]  sensor(name:  rhsensor , type: Force )
[sensor_ros_bridge_connect.py]  rh.port( rhsensor ) =  <RTC._objref_PortService object at 0x7f1427307e50>
[sensor_ros_bridge_connect.py]  connect  rhsensor JAXON_RED(Robot)0.rhsensor HrpsysSeqStateROSBridge0.rhsensor
[rtm.py]    Connect JAXON_RED(Robot)0.rhsensor - HrpsysSeqStateROSBridge0.rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  connect  rhsensor rmfo.off_rhsensor HrpsysSeqStateROSBridge0.off_rhsensor
[rtm.py]    Connect rmfo.off_rhsensor - HrpsysSeqStateROSBridge0.off_rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  connect  rhsensor rfu.ref_rhsensorOut HrpsysSeqStateROSBridge0.ref_rhsensor
[rtm.py]    Connect rfu.ref_rhsensorOut - HrpsysSeqStateROSBridge0.ref_rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  sensor(name:  RARM_CAMERA , type: Vision )
[sensor_ros_bridge_connect.py]  sensor(name:  RARM_CAMERA_N , type: Vision )
[sensor_ros_bridge_connect.py]  sensor(name:  lfsensor , type: Force )
[sensor_ros_bridge_connect.py]  rh.port( lfsensor ) =  <RTC._objref_PortService object at 0x7f1427307d50>
[sensor_ros_bridge_connect.py]  connect  lfsensor JAXON_RED(Robot)0.lfsensor HrpsysSeqStateROSBridge0.lfsensor
[rtm.py]    Connect JAXON_RED(Robot)0.lfsensor - HrpsysSeqStateROSBridge0.lfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  connect  lfsensor rmfo.off_lfsensor HrpsysSeqStateROSBridge0.off_lfsensor
[rtm.py]    Connect rmfo.off_lfsensor - HrpsysSeqStateROSBridge0.off_lfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  connect  lfsensor rfu.ref_lfsensorOut HrpsysSeqStateROSBridge0.ref_lfsensor
[rtm.py]    Connect rfu.ref_lfsensorOut - HrpsysSeqStateROSBridge0.ref_lfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  sensor(name:  rfsensor , type: Force )
[sensor_ros_bridge_connect.py]  rh.port( rfsensor ) =  <RTC._objref_PortService object at 0x7f1427307e10>
[sensor_ros_bridge_connect.py]  connect  rfsensor JAXON_RED(Robot)0.rfsensor HrpsysSeqStateROSBridge0.rfsensor
[rtm.py]    Connect JAXON_RED(Robot)0.rfsensor - HrpsysSeqStateROSBridge0.rfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  connect  rfsensor rmfo.off_rfsensor HrpsysSeqStateROSBridge0.off_rfsensor
[rtm.py]    Connect rmfo.off_rfsensor - HrpsysSeqStateROSBridge0.off_rfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py]  connect  rfsensor rfu.ref_rfsensorOut HrpsysSeqStateROSBridge0.ref_rfsensor
[rtm.py]    Connect rfu.ref_rfsensorOut - HrpsysSeqStateROSBridge0.ref_rfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[octd] onActivated(1000)
[hes] onActivated(1000)
[el] onActivated(1000)
[sensor_ros_bridge_connect-10] process has finished cleanly
log file: /home/leus/.ros/log/2689293e-69ca-11ea-b8b5-7c7a914eb678/sensor_ros_bridge_connect-10*.log
[hrpsys.py] setup logger
[log] Log max length is set to 15000
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to JAXON_RED(Robot)0_q
[rtm.py]    Connect JAXON_RED(Robot)0.q - log.JAXON_RED(Robot)0_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = dq to JAXON_RED(Robot)0_dq
[rtm.py]    Connect JAXON_RED(Robot)0.dq - log.JAXON_RED(Robot)0_dq (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tau to JAXON_RED(Robot)0_tau
[rtm.py]    Connect JAXON_RED(Robot)0.tau - log.JAXON_RED(Robot)0_tau (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] sensor names for DataLogger
[hrpsys.py]   setupLogger : record type = TimedAcceleration3D, name = gsensor to JAXON_RED(Robot)0_gsensor
[rtm.py]    Connect JAXON_RED(Robot)0.gsensor - log.JAXON_RED(Robot)0_gsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedAngularVelocity3D, name = gyrometer to JAXON_RED(Robot)0_gyrometer
[rtm.py]    Connect JAXON_RED(Robot)0.gyrometer - log.JAXON_RED(Robot)0_gyrometer (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = HEAD_LEFT_CAMERA to JAXON_RED(Robot)0_HEAD_LEFT_CAMERA
DataLogger: unsupported data type(TimedCameraImage)
[rtm.py]    Failed to connect JAXON_RED(Robot)0.HEAD_LEFT_CAMERA to None([None])
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = HEAD_RIGHT_CAMERA to JAXON_RED(Robot)0_HEAD_RIGHT_CAMERA
DataLogger: unsupported data type(TimedCameraImage)
[rtm.py]    Failed to connect JAXON_RED(Robot)0.HEAD_RIGHT_CAMERA to None([None])
[hrpsys.py]   setupLogger : record type = RangeData, name = HEAD_RANGE to JAXON_RED(Robot)0_HEAD_RANGE
DataLogger: unsupported data type(RangeData)
[rtm.py]    Failed to connect JAXON_RED(Robot)0.HEAD_RANGE to None([None])
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lhsensor to JAXON_RED(Robot)0_lhsensor
[el] [2.616000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[rtm.py]    Connect JAXON_RED(Robot)0.lhsensor - log.JAXON_RED(Robot)0_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rhsensor to JAXON_RED(Robot)0_rhsensor
[rtm.py]    Connect JAXON_RED(Robot)0.rhsensor - log.JAXON_RED(Robot)0_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lfsensor to JAXON_RED(Robot)0_lfsensor
[rtm.py]    Connect JAXON_RED(Robot)0.lfsensor - log.JAXON_RED(Robot)0_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rfsensor to JAXON_RED(Robot)0_rfsensor
[rtm.py]    Connect JAXON_RED(Robot)0.rfsensor - log.JAXON_RED(Robot)0_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = rpy to kf_rpy
[rtm.py]    Connect kf.rpy - log.kf_rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut
[rtm.py]    Connect sh.qOut - log.sh_qOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut
[rtm.py]    Connect sh.tqOut - log.sh_tqOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[el] [2.816000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut
[rtm.py]    Connect sh.basePosOut - log.sh_basePosOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut
[rtm.py]    Connect sh.baseRpyOut - log.sh_baseRpyOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmpOut to sh_zmpOut
[rtm.py]    Connect sh.zmpOut - log.sh_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to ic_q
[rtm.py]    Connect ic.q - log.ic_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmpOut to abc_zmpOut
[rtm.py]    Connect abc.zmpOut - log.abc_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = baseTformOut to abc_baseTformOut
[rtm.py]    Connect abc.baseTformOut - log.abc_baseTformOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to abc_q
[rtm.py]    Connect abc.q - log.abc_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedBooleanSeq, name = contactStates to abc_contactStates
[rtm.py]    Connect abc.contactStates - log.abc_contactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = controlSwingSupportTime to abc_controlSwingSupportTime
[rtm.py]    Connect abc.controlSwingSupportTime - log.abc_controlSwingSupportTime (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[el] [3.016000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = cogOut to abc_cogOut
[rtm.py]    Connect abc.cogOut - log.abc_cogOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmp to st_zmp
[rtm.py]    Connect st.zmp - log.st_zmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originRefZmp to st_originRefZmp
[rtm.py]    Connect st.originRefZmp - log.st_originRefZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originRefCog to st_originRefCog
[rtm.py]    Connect st.originRefCog - log.st_originRefCog (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originRefCogVel to st_originRefCogVel
[rtm.py]    Connect st.originRefCogVel - log.st_originRefCogVel (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originNewZmp to st_originNewZmp
[rtm.py]    Connect st.originNewZmp - log.st_originNewZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originActZmp to st_originActZmp
[rtm.py]    Connect st.originActZmp - log.st_originActZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[el] [3.216000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originActCog to st_originActCog
[rtm.py]    Connect st.originActCog - log.st_originActCog (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originActCogVel to st_originActCogVel
[rtm.py]    Connect st.originActCogVel - log.st_originActCogVel (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = allRefWrench to st_allRefWrench
[rtm.py]    Connect st.allRefWrench - log.st_allRefWrench (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = allEEComp to st_allEEComp
[rtm.py]    Connect st.allEEComp - log.st_allEEComp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to st_q
[rtm.py]    Connect st.q - log.st_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = actBaseRpy to st_actBaseRpy
[rtm.py]    Connect st.actBaseRpy - log.st_actBaseRpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = currentBasePos to st_currentBasePos
[rtm.py]    Connect st.currentBasePos - log.st_currentBasePos (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[el] [3.416000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = currentBaseRpy to st_currentBaseRpy
[rtm.py]    Connect st.currentBaseRpy - log.st_currentBaseRpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = debugData to st_debugData
[rtm.py]    Connect st.debugData - log.st_debugData (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to el_q
[rtm.py]    Connect el.q - log.el_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = WAIST to JAXON_RED(Robot)0_WAIST
[rtm.py]    Connect JAXON_RED(Robot)0.WAIST - log.JAXON_RED(Robot)0_WAIST (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lhsensorOut to sh_lhsensorOut
[rtm.py]    Connect sh.lhsensorOut - log.sh_lhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rhsensorOut to sh_rhsensorOut
[rtm.py]    Connect sh.rhsensorOut - log.sh_rhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lfsensorOut to sh_lfsensorOut
[el] [3.616000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[rtm.py]    Connect sh.lfsensorOut - log.sh_lfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rfsensorOut to sh_rfsensorOut
[rtm.py]    Connect sh.rfsensorOut - log.sh_rfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_lhsensor to rmfo_off_lhsensor
[rtm.py]    Connect rmfo.off_lhsensor - log.rmfo_off_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_rhsensor to rmfo_off_rhsensor
[rtm.py]    Connect rmfo.off_rhsensor - log.rmfo_off_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_lfsensor to rmfo_off_lfsensor
[rtm.py]    Connect rmfo.off_lfsensor - log.rmfo_off_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_rfsensor to rmfo_off_rfsensor
[rtm.py]    Connect rmfo.off_rfsensor - log.rmfo_off_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = ref_lhsensorOut to rfu_ref_lhsensorOut
[rtm.py]    Connect rfu.ref_lhsensorOut - log.rfu_ref_lhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = ref_rhsensorOut to rfu_ref_rhsensorOut
[rtm.py]    Connect rfu.ref_rhsensorOut - log.rfu_ref_rhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[el] [3.816000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = ref_lfsensorOut to rfu_ref_lfsensorOut
[rtm.py]    Connect rfu.ref_lfsensorOut - log.rfu_ref_lfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = ref_rfsensorOut to rfu_ref_rfsensorOut
[rtm.py]    Connect rfu.ref_rfsensorOut - log.rfu_ref_rfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = octdData to octd_octdData
[rtm.py]    Connect octd.octdData - log.octd_octdData (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[log] Log cleared
[hrpsys.py]   setupLogger : WAIST arleady exists in DataLogger
[rtm.py]      JAXON_RED(Robot)0.WAIST and log.JAXON_RED(Robot)0_WAIST are already connected
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rfsensor to abc_rfsensor
[rtm.py]    Connect abc.rfsensor - log.abc_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lfsensor to abc_lfsensor
[rtm.py]    Connect abc.lfsensor - log.abc_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setup joint groups
[addJointGroup] group name = rarm
[addJointGroup] group name = larm
[addJointGroup] group name = rleg
[addJointGroup] group name = lleg
[addJointGroup] group name = head
[addJointGroup] group name = torso
[addJointGroup] group name = rhand
[addJointGroup] group name = lhand
[addJointGroup] group name = range
[el] [4.016000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[hrpsys.py] initialized successfully
[abc] setAutoBalancerParam
[abc]   leg_names cannot be set because interpolating.
[abc]   is_hand_fix_mode = 0
[abc] Ref force balancing
[abc]   Link name for additional_force_applied_link_name = WAIST, additional_force_applied_point_offset =     [0,  0,  0][m]
[abc] End Effector [larm]
[abc]   localpos =     [     0,  -0.055,  -0.217][m]
[abc]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[abc] End Effector [lleg]
[abc]   localpos =     [   0,     0,  -0.1][m]
[abc]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc] End Effector [rarm]
[abc]   localpos =     [     0,   0.055,  -0.217][m]
[abc]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[abc] End Effector [rleg]
[abc]   localpos =     [   0,     0,  -0.1][m]
[abc]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc]   default_zmp_offsets = 0 0.01 0 0 -0.01 0 0 0 0 0 0 0 
[abc]   use_force_mode = MODE_REF_FORCE
[abc]   graspless_manip_mode = 0
[abc]   graspless_manip_arm = arms
[abc]   graspless_manip_p_gain =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_pos =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_rot =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc]   transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s]
[abc]   leg_names [rleg]
[abc]   leg_names [lleg]
[abc]   default_gait_type = 0
[abc]   move_base_gain = 0.8
[abc]   pos_ik_thre = 0.0005[m], rot_ik_thre = 0.000174533[rad]
[abc]  IK limb parameters
[abc]   ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 1 1 ][1 1 1 1 1 1 1 1 ]
[abc]   sr_gains = [1, 1, 1, 1, ]
[abc]   avoid_gains = [0.001, 0.001, 0.001, 0.001, ]
[abc]   reference_gains = [0.01, 0.01, 0.01, 0.01, ]
[abc]   manipulability_limits = [0.1, 0.1, 0.1, 0.1, ]
[kf] setKalmanFilterParam
[kf]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[kf]   kf_algorithm=RPYKalmanFilter
[kf]   acc_offset =     [0,  0,  0]
[kf]   sensorRPY_offset =     [ 0,  -0,   0]
[st] getParameter
[st] setParameter
[st]  TPCC
[st]   k_tpcc_p  = [0.2, 0.2], k_tpcc_x  = [4, 4], k_brot_p  = [0, 0], k_brot_tc = [1000, 1000]
[st]  EEFM
[st]   eefm_support_polygon_vertices_sequence set
[st]     vs = [0.12 0.05] [0.12 -0.05] [-0.09 -0.05] [-0.09 0.05] [m], vs = [0.12 0.05] [0.12 -0.05] [-0.09 -0.05] [-0.09 0.05] [m], vs = [0.12 0.05] [0.12 -0.05] [-0.09 -0.05] [-0.09 0.05] [m], vs = [0.12 0.05] [0.12 -0.05] [-0.09 -0.05] [-0.09 0.05] [m]
[st]   is_ik_enable is [1][1][0][0](set = [1][1][0][0], prev = [1][1][0][0])
[st]   is_feedback_control_enable is [1][1][0][0](set = [1][1][0][0], prev = [1][1][0][0])
[st]   is_zmp_calc_enable is [1][1][0][0](set = [1][1][0][0], prev = [1][1][0][0])
[st]  End Effector [rleg]
[st]   localpos =     [   0,     0,  -0.1][m]
[st]   localR =     [1, 0, 0]    [0, 1, 0]    [0, 0, 1]
[st]  End Effector [lleg]
[st]   localpos =     [   0,     0,  -0.1][m]
[st]   localR =     [1, 0, 0]    [0, 1, 0]    [0, 0, 1]
[st]  End Effector [rarm]
[st]   localpos =     [     0,   0.055,  -0.217][m]
[st]   localR =     [-3.67321e-06,            0,            1]    [           0,            1,            0]    [          -1,            0, -3.67321e-06]
[st]  End Effector [larm]
[st]   localpos =     [     0,  -0.055,  -0.217][m]
[st]   localR =     [-3.67321e-06,            0,            1]    [           0,            1,            0]    [          -1,            0, -3.67321e-06]
[st]   foot_origin_offset is     [0,  0,  0]    [0,  0,  0][m]
[st]   eefm_k1  = [-1.48412, -1.48412], eefm_k2  = [-0.486727, -0.486727], eefm_k3  = [-0.198033, -0.198033]
[st]   eefm_zmp_delay_time_const  = [0.055, 0.055][s], eefm_ref_zmp_aux  = [0, 0][m]
[st]   eefm_body_attitude_control_gain  = [0.5, 0.5], eefm_body_attitude_control_time_const  = [1000, 1000][s]
[st]   [rleg] eefm_rot_damping_gain =     [  52.8,    52.8,  100000], eefm_rot_time_const =     [1.36364,  1.36364,  1.36364][s]
[st]   [rleg] eefm_pos_damping_gain =     [33600,  33600,   9240], eefm_pos_time_const_support =     [2.72727,  2.72727,  1.36364][s]
[st]   [rleg] eefm_pos_compensation_limit = 0.025[m], eefm_rot_compensation_limit = 0.174533[rad], eefm_ee_moment_limit =     [   90,     90,  10000][Nm]
[st]   [rleg] eefm_swing_pos_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [rleg] eefm_ee_forcemoment_distribution_weight =     [   1,     1,     1,  0.01,  0.01,  0.01]
[st]   [lleg] eefm_rot_damping_gain =     [  52.8,    52.8,  100000], eefm_rot_time_const =     [1.36364,  1.36364,  1.36364][s]
[st]   [lleg] eefm_pos_damping_gain =     [33600,  33600,   9240], eefm_pos_time_const_support =     [2.72727,  2.72727,  1.36364][s]
[st]   [lleg] eefm_pos_compensation_limit = 0.025[m], eefm_rot_compensation_limit = 0.174533[rad], eefm_ee_moment_limit =     [   90,     90,  10000][Nm]
[st]   [lleg] eefm_swing_pos_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [lleg] eefm_ee_forcemoment_distribution_weight =     [   1,     1,     1,  0.01,  0.01,  0.01]
[st]   [rarm] eefm_rot_damping_gain =     [ 63.36,   63.36,  100000], eefm_rot_time_const =     [1.36364,  1.36364,  1.36364][s]
[st]   [rarm] eefm_pos_damping_gain =     [26880,  26880,   7392], eefm_pos_time_const_support =     [2.72727,  2.72727,  1.36364][s]
[st]   [rarm] eefm_pos_compensation_limit = 0.05[m], eefm_rot_compensation_limit = 0.174533[rad], eefm_ee_moment_limit =     [10000,  10000,  10000][Nm]
[st]   [rarm] eefm_swing_pos_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [rarm] eefm_ee_forcemoment_distribution_weight =     [0,  0,  0,  0,  0,  0]
[st]   [larm] eefm_rot_damping_gain =     [ 63.36,   63.36,  100000], eefm_rot_time_const =     [1.36364,  1.36364,  1.36364][s]
[st]   [larm] eefm_pos_damping_gain =     [26880,  26880,   7392], eefm_pos_time_const_support =     [2.72727,  2.72727,  1.36364][s]
[st]   [larm] eefm_pos_compensation_limit = 0.05[m], eefm_rot_compensation_limit = 0.174533[rad], eefm_ee_moment_limit =     [10000,  10000,  10000][Nm]
[st]   [larm] eefm_swing_pos_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [larm] eefm_ee_forcemoment_distribution_weight =     [0,  0,  0,  0,  0,  0]
[st]   eefm_pos_transition_time = 0.01[s], eefm_pos_margin_time = 0.02[s] eefm_pos_time_const_swing = 0.06[s]
[st]   cogvel_cutoff_freq = 4[Hz]
[st]   leg_inside_margin = 0.05[m], leg_outside_margin = 0.05[m], leg_front_margin = 0.12[m], leg_rear_margin = 0.09[m]
[st]   wrench_alpha_blending = 0.7, alpha_cutoff_freq = 1e+07[Hz]
[st]   eefm_gravitational_acceleration = 9.80665[m/s^2], eefm_use_force_difference_control = true, eefm_use_swing_damping = true
[st]   eefm_ee_error_cutoff_freq = 20[Hz]
[st]  COMMON
[st]   st_algorithm changed to [EEFMQPCOP]
[st]   emergency_check_mode changed to [CP]
[st]   transition_time = 2[s]
[st]   cop_check_margin = 0.02[m], cp_check_margin = [0.05, 0.045, 0, 0.095] [m], tilt_margin = [0.523599, 0.523599] [rad]
[st]   contact_decision_threshold = 50[N], detection_time_to_air = 0[s]
[st]   root_rot_compensation_limit = [1.5708 1.5708][rad]
[st]  IK limb parameters
[st]   ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 1 1 ][1 1 1 1 1 1 1 1 ]
[st]   sr_gains = [1, 1, 1, 1, ]
[st]   avoid_gains = [0.001, 0.001, 0.001, 0.001, ]
[st]   reference_gains = [0.01, 0.01, 0.01, 0.01, ]
[st]   manipulability_limits = [0.1, 0.1, 0.1, 0.1, ]
[st]   ik_loop_count = [3, 3, 3, 3, ]
[abc] setGaitGeneratorParam
[abc]   toe_heel_phase_ratio is successfully set.
toe_heel_phase_ratio is successfully set.
[abc]   stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m], 0.025[m], 5[deg]
[abc]   leg_default_translate_pos =     [  -0,  -0.1,    -0]    [  0,  0.1,    0]    [0,  0,  0]    [0,  0,  0]
[abc]   default_step_time = 1.2[s]
[abc]   default_step_height = 0.065[m]
[abc]   default_double_support_ratio_before = 0.175, default_double_support_ratio_before = 0.175, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.175, default_double_support_static_ratio_swing_after = 0.175
[abc]   default_orbit_type = CYCLOIDDELAY
[abc]   swing_trajectory_delay_time_offset = 0.15[s], swing_trajectory_final_distance_weight = 3, swing_trajectory_time_offset_xy2z = 0
[abc]   stair_trajectory_way_point_offset =     [0.03,     0,     0][m]
[abc]   cycloid_delay_kick_point_offset =     [-0.1,     0,     0][m]
[abc]   gravitational_acceleration = 9.80665[m/s^2]
[abc]   toe_pos_offset_x = 0.117338[mm], heel_pos_offset_x = -0.116342[mm]
[abc]   toe_zmp_offset_x = 0.117338[mm], heel_zmp_offset_x = -0.116342[mm]
[abc]   toe_angle = 0[deg]
[abc]   heel_angle = 0[deg]
[abc]   use_toe_joint = false, use_toe_heel_transition = false, use_toe_heel_auto_set = false
[abc]   toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ]
[abc]   optional_go_pos_finalize_footstep_num = 1, overwritable_footstep_index_offset = 1
[abc]   default_stride_limitation_type = SQUARE
[abc]   toe_check_thre = 0, heel_check_thre = 0
[ic] Update impedance parameters
[ic] set parameters
[ic]             name : rarm
[ic]    M, D, K (pos) : 10 600 400
[ic]    M, D, K (rot) : 5 200 200
[ic]       force_gain :     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic]      moment_gain :     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic]      manip_limit : 0.1
[ic]          sr_gain : 1
[ic]       avoid_gain : 0.001
[ic]   reference_gain : 0.01
[ic]   use_sh_base_pos_rpy : false
[ic] Update impedance parameters
[ic] set parameters
[ic]             name : larm
[ic]    M, D, K (pos) : 10 600 400
[ic]    M, D, K (rot) : 5 200 200
[ic]       force_gain :     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic]      moment_gain :     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic]      manip_limit : 0.1
[ic]          sr_gain : 1
[ic]       avoid_gain : 0.001
[ic]   reference_gain : 0.01
[ic]   use_sh_base_pos_rpy : false
[es] getEmergencyStopperParam
[es] setEmergencyStopperParam
[es]   default_recover_time = 10[s], default_retrieve_time = 1[s]
[rmfo] loadForceMomentOffsetParams
[rmfo]   lfsensor
[rmfo]   force_offset = [0,  0,  0][N]
[rmfo]   moment_offset = [0,  0,  0][Nm]
[rmfo]   link_offset_centroid = [0,  0,  0][m]
[rmfo]   link_offset_mass = 0[kg]
[rmfo]   lhsensor
[rmfo]   force_offset = [2.76654e-05,  1.65493e-05,  2.08911e-05][N]
[rmfo]   moment_offset = [-3.26638e-07,    3.9904e-07,   1.07864e-07][Nm]
[rmfo]   link_offset_centroid = [-3.97945e-08,  -7.90751e-09,         0.016][m]
[rmfo]   link_offset_mass = 2.257[kg]
[rmfo]   rfsensor
[rmfo]   force_offset = [0,  0,  0][N]
[rmfo]   moment_offset = [0,  0,  0][Nm]
[rmfo]   link_offset_centroid = [0,  0,  0][m]
[rmfo]   link_offset_mass = 0[kg]
[rmfo]   rhsensor
[rmfo]   force_offset = [ 2.93217e-05,   2.29238e-06,  -4.61839e-06][N]
[rmfo]   moment_offset = [-1.02905e-07,   4.55826e-07,   3.31576e-08][Nm]
[rmfo]   link_offset_centroid = [-3.3943e-08,  2.30603e-08,        0.016][m]
[rmfo]   link_offset_mass = 2.257[kg]
[el] setServoErrorLimit 1.79769e+308[rad] for motor_joint
[el] setServoErrorLimit 1.79769e+308[rad] for RARM_F_JOINT0
[el] setServoErrorLimit 1.79769e+308[rad] for RARM_F_JOINT1
[el] setServoErrorLimit 1.79769e+308[rad] for LARM_F_JOINT0
[el] setServoErrorLimit 1.79769e+308[rad] for LARM_F_JOINT1
[abc] start auto balancer mode
[abc]   limb [rleg]
[abc]   limb [lleg]
[abc]   limb [rarm]
[abc]   limb [larm]
[el] [4.216000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [4.416000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [4.616000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [4.816000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [5.016000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
omniORB: (13) 2020-03-19 19:17:04.830697: Assertion failed.  This indicates a bug in the application
using omniORB, or maybe in omniORB itself.
 file: ../../../../../src/lib/omniORB/dynamic/any.cc
 line: 293
 info: kind == CORBA::tk_void || kind == CORBA::tk_null
omniORB: (13) 2020-03-19 19:17:04.831058: Warning: method 'get_component_profile' raised an unexpected exception (not a CORBA exception).
omniORB: (13) 2020-03-19 19:17:04.831085: To endpoint: giop:tcp:[::ffff:192.168.97.39]:59520. System exception UNKNOWN(YES,UNKNOWN_UserException) while (un)marshalling. Send GIOP 1.2 MessageError.
[el] [5.216000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [5.416000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [5.616000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [5.816000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [6.016000] position limit over CHEST_JOINT1(13), qRef=-0.000647386, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[ic] Start impedance control [larm]
[el] [6.216000] position limit over CHEST_JOINT1(13), qRef=-0.000630782, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[rtmlaunch] break from rtmlaunch main loop.
[rtmlaunch] If you check the rtc connection in the while loop, real-time loop becomes slow.
[el] [6.416000] position limit over CHEST_JOINT1(13), qRef=-0.000497146, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[rtmlaunch_hrpsys_ros_bridge-11] process has finished cleanly
log file: /home/leus/.ros/log/2689293e-69ca-11ea-b8b5-7c7a914eb678/rtmlaunch_hrpsys_ros_bridge-11*.log
[el] [6.616000] position limit over CHEST_JOINT1(13), qRef=-0.000265785, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [6.816000] position limit over CHEST_JOINT1(13), qRef=-6.83874e-05, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[el] [7.016000] position limit over CHEST_JOINT1(13), qRef=-8.40752e-07, llimit =0, ulimit =0.575959, servo_state = ON, prev_angle = 0, q(limited) = 0
[ic] Start impedance control [rarm]
[log] Log max length is set to 15000
[log] Log cleared
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[addJointGroup] group name = rleg
[addJointGroup] group name RLEG is already installed
[addJointGroup] group name = lleg
[addJointGroup] group name LLEG is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = rhand
[addJointGroup] group name RHAND is already installed
[addJointGroup] group name = lhand
[addJointGroup] group name LHAND is already installed
[addJointGroup] group name = range
[addJointGroup] group name RANGE is already installed
[abc] setAutoBalancerParam
[abc]   use_force_mode cannot be changed to [1] during MODE_ABC, MODE_SYNC_TO_IDLE or MODE_SYNC_TO_ABC.
[abc]   leg_names cannot be set because interpolating.
[abc]   is_hand_fix_mode = 0
[abc] cannot change end-effectors except during MODE_IDLE
[abc] Ref force balancing
[abc]   Link name for additional_force_applied_link_name = WAIST, additional_force_applied_point_offset =     [0,  0,  0][m]
[abc] End Effector [larm]
[abc]   localpos =     [     0,  -0.055,  -0.217][m]
[abc]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[abc] End Effector [lleg]
[abc]   localpos =     [   0,     0,  -0.1][m]
[abc]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc] End Effector [rarm]
[abc]   localpos =     [     0,   0.055,  -0.217][m]
[abc]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[abc] End Effector [rleg]
[abc]   localpos =     [   0,     0,  -0.1][m]
[abc]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc]   default_zmp_offsets = 0 0.01 0 0 -0.01 0 0 0 0 0 0 0 
[abc]   use_force_mode = MODE_REF_FORCE
[abc]   graspless_manip_mode = 0
[abc]   graspless_manip_arm = arms
[abc]   graspless_manip_p_gain =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_pos =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_rot =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc]   transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s]
[abc]   leg_names [rleg]
[abc]   leg_names [lleg]
[abc]   default_gait_type = 0
[abc]   move_base_gain = 0.8
[abc]   pos_ik_thre = 0.0005[m], rot_ik_thre = 0.000174533[rad]
[abc]  IK limb parameters
[abc]   ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 1 1 ][1 1 1 1 1 1 1 1 ]
[abc]   sr_gains = [1, 1, 1, 1, ]
[abc]   avoid_gains = [0.001, 0.001, 0.001, 0.001, ]
[abc]   reference_gains = [0.01, 0.01, 0.01, 0.01, ]
[abc]   manipulability_limits = [0.1, 0.1, 0.1, 0.1, ]
[kf] setKalmanFilterParam
[kf]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[kf]   kf_algorithm=RPYKalmanFilter
[kf]   acc_offset =     [0,  0,  0]
[kf]   sensorRPY_offset =     [ 0,  -0,   0]
[st] getParameter
[st] setParameter
[st]  TPCC
[st]   k_tpcc_p  = [0.2, 0.2], k_tpcc_x  = [4, 4], k_brot_p  = [0, 0], k_brot_tc = [1000, 1000]
[st]  EEFM
[st]   eefm_support_polygon_vertices_sequence set
[st]     vs = [0.12 0.05] [0.12 -0.05] [-0.09 -0.05] [-0.09 0.05] [m], vs = [0.12 0.05] [0.12 -0.05] [-0.09 -0.05] [-0.09 0.05] [m], vs = [0.12 0.05] [0.12 -0.05] [-0.09 -0.05] [-0.09 0.05] [m], vs = [0.12 0.05] [0.12 -0.05] [-0.09 -0.05] [-0.09 0.05] [m]
[st]   is_ik_enable is [1][1][0][0](set = [1][1][0][0], prev = [1][1][0][0])
[st]   is_feedback_control_enable is [1][1][0][0](set = [1][1][0][0], prev = [1][1][0][0])
[st]   is_zmp_calc_enable is [1][1][0][0](set = [1][1][0][0], prev = [1][1][0][0])
[st]  End Effector [rleg]
[st]   localpos =     [   0,     0,  -0.1][m]
[st]   localR =     [1, 0, 0]    [0, 1, 0]    [0, 0, 1]
[st]  End Effector [lleg]
[st]   localpos =     [   0,     0,  -0.1][m]
[st]   localR =     [1, 0, 0]    [0, 1, 0]    [0, 0, 1]
[st]  End Effector [rarm]
[st]   localpos =     [     0,   0.055,  -0.217][m]
[st]   localR =     [-3.67321e-06,            0,            1]    [           0,            1,            0]    [          -1,            0, -3.67321e-06]
[st]  End Effector [larm]
[st]   localpos =     [     0,  -0.055,  -0.217][m]
[st]   localR =     [-3.67321e-06,            0,            1]    [           0,            1,            0]    [          -1,            0, -3.67321e-06]
[st]   foot_origin_offset is     [0,  0,  0]    [0,  0,  0][m]
[st]   eefm_k1  = [-1.48412, -1.48412], eefm_k2  = [-0.486727, -0.486727], eefm_k3  = [-0.198033, -0.198033]
[st]   eefm_zmp_delay_time_const  = [0.055, 0.055][s], eefm_ref_zmp_aux  = [0, 0][m]
[st]   eefm_body_attitude_control_gain  = [0.5, 0.5], eefm_body_attitude_control_time_const  = [1000, 1000][s]
[st]   [rleg] eefm_rot_damping_gain =     [  52.8,    52.8,  100000], eefm_rot_time_const =     [1.36364,  1.36364,  1.36364][s]
[st]   [rleg] eefm_pos_damping_gain =     [33600,  33600,   9240], eefm_pos_time_const_support =     [2.72727,  2.72727,  1.36364][s]
[st]   [rleg] eefm_pos_compensation_limit = 0.025[m], eefm_rot_compensation_limit = 0.174533[rad], eefm_ee_moment_limit =     [   90,     90,  10000][Nm]
[st]   [rleg] eefm_swing_pos_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [rleg] eefm_ee_forcemoment_distribution_weight =     [   1,     1,     1,  0.01,  0.01,  0.01]
[st]   [lleg] eefm_rot_damping_gain =     [  52.8,    52.8,  100000], eefm_rot_time_const =     [1.36364,  1.36364,  1.36364][s]
[st]   [lleg] eefm_pos_damping_gain =     [33600,  33600,   9240], eefm_pos_time_const_support =     [2.72727,  2.72727,  1.36364][s]
[st]   [lleg] eefm_pos_compensation_limit = 0.025[m], eefm_rot_compensation_limit = 0.174533[rad], eefm_ee_moment_limit =     [   90,     90,  10000][Nm]
[st]   [lleg] eefm_swing_pos_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [lleg] eefm_ee_forcemoment_distribution_weight =     [   1,     1,     1,  0.01,  0.01,  0.01]
[st]   [rarm] eefm_rot_damping_gain =     [ 63.36,   63.36,  100000], eefm_rot_time_const =     [1.36364,  1.36364,  1.36364][s]
[st]   [rarm] eefm_pos_damping_gain =     [26880,  26880,   7392], eefm_pos_time_const_support =     [2.72727,  2.72727,  1.36364][s]
[st]   [rarm] eefm_pos_compensation_limit = 0.05[m], eefm_rot_compensation_limit = 0.174533[rad], eefm_ee_moment_limit =     [10000,  10000,  10000][Nm]
[st]   [rarm] eefm_swing_pos_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [rarm] eefm_ee_forcemoment_distribution_weight =     [0,  0,  0,  0,  0,  0]
[st]   [larm] eefm_rot_damping_gain =     [ 63.36,   63.36,  100000], eefm_rot_time_const =     [1.36364,  1.36364,  1.36364][s]
[st]   [larm] eefm_pos_damping_gain =     [26880,  26880,   7392], eefm_pos_time_const_support =     [2.72727,  2.72727,  1.36364][s]
[st]   [larm] eefm_pos_compensation_limit = 0.05[m], eefm_rot_compensation_limit = 0.174533[rad], eefm_ee_moment_limit =     [10000,  10000,  10000][Nm]
[st]   [larm] eefm_swing_pos_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [1,  1,  1], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [larm] eefm_ee_forcemoment_distribution_weight =     [0,  0,  0,  0,  0,  0]
[st]   eefm_pos_transition_time = 0.01[s], eefm_pos_margin_time = 0.02[s] eefm_pos_time_const_swing = 0.06[s]
[st]   cogvel_cutoff_freq = 4[Hz]
[st]   leg_inside_margin = 0.05[m], leg_outside_margin = 0.05[m], leg_front_margin = 0.12[m], leg_rear_margin = 0.09[m]
[st]   wrench_alpha_blending = 0.7, alpha_cutoff_freq = 1e+07[Hz]
[st]   eefm_gravitational_acceleration = 9.80665[m/s^2], eefm_use_force_difference_control = true, eefm_use_swing_damping = true
[st]   eefm_ee_error_cutoff_freq = 20[Hz]
[st]  COMMON
[st]   st_algorithm changed to [EEFMQPCOP]
[st]   emergency_check_mode changed to [CP]
[st]   transition_time = 2[s]
[st]   cop_check_margin = 0.02[m], cp_check_margin = [0.05, 0.045, 0, 0.095] [m], tilt_margin = [0.523599, 0.523599] [rad]
[st]   contact_decision_threshold = 50[N], detection_time_to_air = 0[s]
[st]   root_rot_compensation_limit = [1.5708 1.5708][rad]
[st]  IK limb parameters
[st]   ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 1 1 ][1 1 1 1 1 1 1 1 ]
[st]   sr_gains = [1, 1, 1, 1, ]
[st]   avoid_gains = [0.001, 0.001, 0.001, 0.001, ]
[st]   reference_gains = [0.01, 0.01, 0.01, 0.01, ]
[st]   manipulability_limits = [0.1, 0.1, 0.1, 0.1, ]
[st]   ik_loop_count = [3, 3, 3, 3, ]
[abc] setGaitGeneratorParam
[abc]   toe_heel_phase_ratio is successfully set.
toe_heel_phase_ratio is successfully set.
[abc]   stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m], 0.025[m], 5[deg]
[abc]   leg_default_translate_pos =     [  -0,  -0.1,    -0]    [  0,  0.1,    0]    [0,  0,  0]    [0,  0,  0]
[abc]   default_step_time = 1.2[s]
[abc]   default_step_height = 0.065[m]
[abc]   default_double_support_ratio_before = 0.175, default_double_support_ratio_before = 0.175, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.175, default_double_support_static_ratio_swing_after = 0.175
[abc]   default_orbit_type = CYCLOIDDELAY
[abc]   swing_trajectory_delay_time_offset = 0.15[s], swing_trajectory_final_distance_weight = 3, swing_trajectory_time_offset_xy2z = 0
[abc]   stair_trajectory_way_point_offset =     [0.03,     0,     0][m]
[abc]   cycloid_delay_kick_point_offset =     [-0.1,     0,     0][m]
[abc]   gravitational_acceleration = 9.80665[m/s^2]
[abc]   toe_pos_offset_x = 0.117338[mm], heel_pos_offset_x = -0.116342[mm]
[abc]   toe_zmp_offset_x = 0.117338[mm], heel_zmp_offset_x = -0.116342[mm]
[abc]   toe_angle = 0[deg]
[abc]   heel_angle = 0[deg]
[abc]   use_toe_joint = false, use_toe_heel_transition = false, use_toe_heel_auto_set = false
[abc]   toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ]
[abc]   optional_go_pos_finalize_footstep_num = 1, overwritable_footstep_index_offset = 1
[abc]   default_stride_limitation_type = SQUARE
[abc]   toe_check_thre = 0, heel_check_thre = 0
[ic] Update impedance parameters
[ic] set parameters
[ic]             name : rarm
[ic]    M, D, K (pos) : 10 600 400
[ic]    M, D, K (rot) : 5 200 200
[ic]       force_gain :     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic]      moment_gain :     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic]      manip_limit : 0.1
[ic]          sr_gain : 1
[ic]       avoid_gain : 0.001
[ic]   reference_gain : 0.01
[ic]   use_sh_base_pos_rpy : false
[ic] Update impedance parameters
[ic] set parameters
[ic]             name : larm
[ic]    M, D, K (pos) : 10 600 400
[ic]    M, D, K (rot) : 5 200 200
[ic]       force_gain :     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic]      moment_gain :     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic]      manip_limit : 0.1
[ic]          sr_gain : 1
[ic]       avoid_gain : 0.001
[ic]   reference_gain : 0.01
[ic]   use_sh_base_pos_rpy : false
[es] getEmergencyStopperParam
[es] setEmergencyStopperParam
[es]   default_recover_time = 10[s], default_retrieve_time = 1[s]
[rmfo] loadForceMomentOffsetParams
[rmfo]   lfsensor
[rmfo]   force_offset = [0,  0,  0][N]
[rmfo]   moment_offset = [0,  0,  0][Nm]
[rmfo]   link_offset_centroid = [0,  0,  0][m]
[rmfo]   link_offset_mass = 0[kg]
[rmfo]   lhsensor
[rmfo]   force_offset = [2.76654e-05,  1.65493e-05,  2.08911e-05][N]
[rmfo]   moment_offset = [-3.26638e-07,    3.9904e-07,   1.07864e-07][Nm]
[rmfo]   link_offset_centroid = [-3.97945e-08,  -7.90751e-09,         0.016][m]
[rmfo]   link_offset_mass = 2.257[kg]
[rmfo]   rfsensor
[rmfo]   force_offset = [0,  0,  0][N]
[rmfo]   moment_offset = [0,  0,  0][Nm]
[rmfo]   link_offset_centroid = [0,  0,  0][m]
[rmfo]   link_offset_mass = 0[kg]
[rmfo]   rhsensor
[rmfo]   force_offset = [ 2.93217e-05,   2.29238e-06,  -4.61839e-06][N]
[rmfo]   moment_offset = [-1.02905e-07,   4.55826e-07,   3.31576e-08][Nm]
[rmfo]   link_offset_centroid = [-3.3943e-08,  2.30603e-08,        0.016][m]
[rmfo]   link_offset_mass = 2.257[kg]
[el] setServoErrorLimit 1.79769e+308[rad] for motor_joint
[el] setServoErrorLimit 1.79769e+308[rad] for RARM_F_JOINT0
[el] setServoErrorLimit 1.79769e+308[rad] for RARM_F_JOINT1
[el] setServoErrorLimit 1.79769e+308[rad] for LARM_F_JOINT0
[el] setServoErrorLimit 1.79769e+308[rad] for LARM_F_JOINT1
[ic] Impedance control [larm] is already started
[ic] Impedance control [rarm] is already started
[st] Start ST
[st] [10.066000] Sync IDLE => ST
[st]   Reset prev_ref_cog for transition (MODE_IDLE=>MODE_ST).
[st,JointPathEx] ERROR nan/inf is found
[st,JointPathEx] ERROR nan/inf is found
[st,JointPathEx] ERROR nan/inf is found
[st,JointPathEx] ERROR nan/inf is found
()
[st,JointPathEx] ERROR nan/inf is found
[st,JointPathEx] ERROR nan/inf is found
[st,JointPathEx] ERROR nan/inf is found
[st,JointPathEx] ERROR nan/inf is found
[st] Stop ST
[st] [13.026000] Sync ST => IDLE
[st] [15.026000] Move to MODE_IDLE
[st] Stop ST DONE
[es] [15.028000] emergencySignal is reset!
start ref coords
  pos =
    [ -0.0579764,  -0.00235964,    0.0462855]
  rot =
    [           1, -7.90588e-06,  7.61933e-18]
    [ 7.90588e-06,            1, -4.33681e-19]
    [-1.11022e-16,  4.33681e-19,            1]
goal ref midcoords
  pos =
    [   0.942024,  -0.00235174,    0.0462855]
  rot =
    [           1, -7.90588e-06,  5.93208e-17]
    [ 7.90588e-06,            1, -4.33446e-19]
    [-5.93208e-17,  4.33915e-19,            1]
[0] footstep
  name = [lleg]
  pos = [-0.0580845,   0.0976336,    0.046294]
  rot = [           1,  2.79335e-05,  0.000299106] [-2.79394e-05,            1,  1.95067e-05] [-0.000299105, -1.95151e-05,            1]
  step_height = 0[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[1] footstep
  name = [rleg]
  pos = [0.0919099,  -0.102371,   0.046253]
  rot = [           1,  2.79335e-05,  0.000299106] [-2.79394e-05,            1,  1.95067e-05] [-0.000299105, -1.95151e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[2] footstep
  name = [lleg]
  pos = [ 0.241912,  0.0976678,  0.0462043]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[3] footstep
  name = [rleg]
  pos = [ 0.391914,  -0.102356,  0.0461633]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[4] footstep
  name = [lleg]
  pos = [ 0.541912,  0.0976451,  0.0461145]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[5] footstep
  name = [rleg]
  pos = [ 0.691913,  -0.102354,  0.0460736]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[6] footstep
  name = [lleg]
  pos = [ 0.841912,  0.0976475,  0.0460248]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[7] footstep
  name = [rleg]
  pos = [ 0.942024,  -0.102352,  0.0459988]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[8] footstep
  name = [lleg]
  pos = [ 0.942023,  0.0976483,  0.0459949]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[9] footstep
  name = [rleg]
  pos = [ 0.942024,  -0.102352,  0.0459988]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0.065[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[10] footstep
  name = [lleg]
  pos = [ 0.942023,  0.0976483,  0.0459949]
  rot = [           1,  -7.9088e-06,  0.000299106] [ 7.90296e-06,            1,  1.95067e-05] [-0.000299106, -1.95044e-05,            1]
  step_height = 0[m], step_time = 1.2[s], toe_angle = 0[deg], heel_angle = 0[deg]
[el] [22.652000] velocity limit over LARM_JOINT4(29), qvel=-4, lvlimit =-3.99982, uvlimit =3.99982, servo_state = ON, q(limited) = -1.39797
[el] [22.708000] velocity limit over LARM_JOINT6(31), qvel=4, lvlimit =-3.99982, uvlimit =3.99982, servo_state = ON, q(limited) = 0.38095
[abc] Too large IK error in larm (vel_p) = [-0.00027651 -0.000444587 -5.12794e-05][m], count = 0
[abc] Too large IK error in larm (vel_r) = [3.3375e-05 -1.82938e-05 0.000186805][rad], count = 0
[co] 44/154 pair: LLEG_JOINT2/LARM_JOINT7(14), distance = -0.000996439
[co] 38/154 pair: LARM_JOINT6/WAIST(10), distance = -0.000989708
[co] 44/154 pair: LLEG_JOINT2/LARM_JOINT7(14), distance = -0.00323839
[el] [22.840000] error limit over LARM_JOINT2(27), qRef=0.430463, qCurrent=0.247272 , Error=0.183191 > 0.18 (limit), servo_state = ON, q(limited) = 0.427272
[el] [22.846000] velocity limit over LARM_JOINT2(27), qvel=5.31557, lvlimit =-3.99982, uvlimit =3.99982, servo_state = ON, q(limited) = 0.427831

[abc] Too large IK error in larm (vel_p) = [-0.00164102 -0.00404957 -0.00245678][m], count = 100
[abc] Too large IK error in larm (vel_r) = [0.00293359 -0.000323249 -0.000189957][rad], count = 100
ishiguroJSK commented 4 years ago

解決した気がします. https://discourse.choreonoid.org/t/rtshell-marshal-invalidenumvalue/97/13 https://choreonoid.org/ja/manuals/latest/openrtm/install.html#id6 OpenRTM1.1.2とChoreonoidの既知のバグで，ヘッダをすげ替えて対処できるとのこと． すげ替えて再ビルドしてgoPosだのRvizだのざっと確認できました．

あとでREADME更新しておきます

YoheiKakiuchi commented 4 years ago

WRSの側ではshared memory経由でchoreonoidとつなぐ感じにしていて、そっちだとchoreonoid側のRTMを気にしなくても良いのと、多分少し速いはず。 あと、最新のchoreonoidはopenrtmを分離している。 https://discourse.choreonoid.org/t/openrtm/363

ishiguroJSK commented 4 years ago

最近は，実機もgazeboもchoreonoidも全部SHMでアクセスすれば，依存も保守も楽になっていいんじゃないかと思い始めました．そもそも実機がSHMですし．

pazeshun commented 4 years ago

@ishiguroJSK

解決した気がします. https://discourse.choreonoid.org/t/rtshell-marshal-invalidenumvalue/97/13 https://choreonoid.org/ja/manuals/latest/openrtm/install.html#id6 OpenRTM1.1.2とChoreonoidの既知のバグで，ヘッダをすげ替えて対処できるとのこと．

これは、OpenRTM1.2では治っているのでしょうか。 もしOpenRTM1.2をテストして動きそうなら、そちらをreleaseしてもらうよう、 https://github.com/tork-a/openrtm_aist-release でお願いするべきかと思います。

ishiguroJSK commented 4 years ago

もしOpenRTM1.2をテストして動きそうなら

これをやろうとして立ち止まってしまったんだけど，思ったより難しい気がする

AIST側のレポジトリにしかないv1.2.0をtork-a側のレポジトリにgit pullしないとROSパッケージとしてOpenRTMv1.2.0を使えないと思いそれっぽくgit pullしてみたけどなんか違う気がする，

$ git pull aist tags/v1.2.0 --allow-unrelated-histories
From https://github.com/OpenRTM/OpenRTM-aist
 * tag                 v1.2.0     -> FETCH_HEAD
Auto-merging win32/OpenRTM-aist/utils/rtc-template/Makefile.am
CONFLICT (add/add): Merge conflict in win32/OpenRTM-aist/utils/rtc-template/Makefile.am
Auto-merging win32/OpenRTM-aist/utils/Makefile.am
CONFLICT (add/add): Merge conflict in win32/OpenRTM-aist/utils/Makefile.am
Auto-merging win32/OpenRTM-aist/rtm_config.vsprops
CONFLICT (add/add): Merge conflict in win32/OpenRTM-aist/rtm_config.vsprops
Auto-merging win32/OpenRTM-aist/rtm_config.props
CONFLICT (add/add): Merge conflict in win32/OpenRTM-aist/rtm_config.props
（略）

ros-melodic-openrtm_aistじゃなくて，openrtm_aistのdebパッケージ拾ってきてdpkg -iしたけども， (今aptレポジトリから落とせないらしいhttp://www1.meijo-u.ac.jp/~kohara/cms/openrtm-aist-1-2-0_install_temp)

https://www.openrtm.org/redmine/issues/3688のdataport.timestamp_policy とか 1.2.0で追加された/usr/include/openrtm-1.2/rtm/Timestamp.hのせいか，

    virtual ReturnCode operator()(ConnectorInfo& info, DataType& data)
    {
      if (info.properties["timestamp_policy"] != m_tstype)
        {
          return NO_CHANGE;
        }
      coil::TimeValue tm(coil::gettimeofday());
      data.tm.sec  = tm.sec();
      data.tm.nsec = tm.usec() * 1000;
      return DATA_CHANGED;
    }

色んな所でタイムスタンプに関するエラーが出る．

make[2]: *** [rtc/VirtualCamera/CMakeFiles/VirtualCameraComp.dir/VirtualCamera.cpp.o] Error 1
make[2]: *** 未完了のジョブを待っています....
In file included from /usr/include/openrtm-1.2/rtm/InPort.h:39:0,
                 from /usr/include/openrtm-1.2/rtm/DataInPort.h:23,
                 from /home/leus/catkin_ws/master/src/hrpsys/rtc/Simulator/Simulator.h:18,
                 from /home/leus/catkin_ws/master/src/hrpsys/rtc/Simulator/Simulator.cpp:12:
/usr/include/openrtm-1.2/rtm/Timestamp.h: In instantiation of ‘RTC::Timestamp<DataType>::ReturnCode RTC::Timestamp<DataType>::operator()(RTC::ConnectorInfo&, DataType&) [with DataType = OpenHRP::SceneState; RTC::Timestamp<DataType>::ReturnCode = RTC::ConnectorListenerStatus::Enum]’:
/home/leus/catkin_ws/master/src/hrpsys/rtc/Simulator/Simulator.cpp:347:2:   required from here
/usr/include/openrtm-1.2/rtm/Timestamp.h:40:12: error: ‘struct OpenHRP::SceneState’ has no member named ‘tm’; did you mean ‘time’?
       data.tm.sec  = tm.sec();
       ~~~~~^~
       time
/usr/include/openrtm-1.2/rtm/Timestamp.h:41:12: error: ‘struct OpenHRP::SceneState’ has no member named ‘tm’; did you mean ‘time’?
       data.tm.nsec = tm.usec() * 1000;

関連するRTCとかをビルド対象から外せばhrpsys自体はビルド完走するけど， hrpsys_ros_bridgeでなんか出る

Errors     << hrpsys_ros_bridge:make /home/leus/catkin_ws/master/logs/hrpsys_ros_bridge/build.make.000.log                                                                                            
/usr/bin/ld: /tmp/ccctgGQg.o: relocation R_X86_64_PC32 against symbol `_ZN7OpenHRP25VirtualForceSensorService4_nilEv' can not be used when making a shared object。 -fPIC を付けて再コンパイルしてください。
/usr/bin/ld: 最終リンクに失敗しました: 不正な値です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/leus/catkin_ws/master/devel/.private/hrpsys_ros_bridge/lib/libVirtualForceSensorServiceStub.so] Error 1
make[1]: *** [CMakeFiles/RTMBUILD_hrpsys_ros_bridge_VirtualForceSensorService_genrpc.dir/all] Error 2
/usr/bin/ld: /tmp/ccu6mJLn.o: relocation make[1]: *** 未完了のジョブを待っています....
R_X86_64_PC32 against symbol `_ZN7OpenHRP19TorqueFilterService4_nilEv' can not be used when making a shared object。 -fPIC を付けて再コンパイルしてください。
/usr/bin/ld: 最終リンクに失敗しました: 不正な値です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/leus/catkin_ws/master/devel/.private/hrpsys_ros_bridge/lib/libTorqueFilterServiceStub.so] Error 1
make[1]: *** [CMakeFiles/RTMBUILD_hrpsys_ros_bridge_TorqueFilterService_genrpc.dir/all] Error 2
/usr/bin/ld: /tmp/ccgATVmg.o: relocation R_X86_64_PC32 against symbol `_ZN7OpenHRP16WavPlayerService4_nilEv' can not be used when making a shared object。 -fPIC を付けて再コンパイルしてください。
/usr/bin/ld: 最終リンクに失敗しました: 不正な値です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/leus/catkin_ws/master/devel/.private/hrpsys_ros_bridge/lib/libWavPlayerServiceStub.so] Error 1
make[1]: *** [CMakeFiles/RTMBUILD_hrpsys_ros_bridge_WavPlayerService_genrpc.dir/all] Error 2
/usr/bin/ld: /tmp/ccFgFQFg.o: relocation R_X86_64_PC32 against symbol `_ZrSjR9cdrStream' can not be used when making a shared object。 -fPIC を付けて再コンパイルしてください。
/usr/bin/ld: 最終リンクに失敗しました: 不正な値です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/leus/catkin_ws/master/devel/.private/hrpsys_ros_bridge/lib/libpointcloudStub.so] Error 1
make[1]: *** [CMakeFiles/RTMBUILD_hrpsys_ros_bridge_pointcloud_genrpc.dir/all] Error 2
make: *** [all] Error 2

わからない

そもそもros-melodic-openrtm-aistをv1.2.0に上げて手元で試す正しい方法ってあるんでしょうか？ tork-aではそれに等しいことをしているはず？

pazeshun commented 4 years ago

1.1.2と1.2.1の差分を明示的に指定してpatchを作り、release/melodic/openrtm_aistに当ててみても、同じようなところでこけますね。

$ git clone https://github.com/OpenRTM/OpenRTM-aist.git
Cloning into 'OpenRTM-aist'...
remote: Enumerating objects: 1, done.
remote: Counting objects: 100% (1/1), done.
remote: Total 47491 (delta 0), reused 0 (delta 0), pack-reused 47490
Receiving objects: 100% (47491/47491), 11.89 MiB | 5.98 MiB/s, done.
Resolving deltas: 100% (35772/35772), done.
$ cd OpenRTM-aist/
$ git diff svn/RELEASE_1_1_2 v1.2.1 > ~/openrtm.patch
$ cd ~/ros/jsk_demo_ws/src/rtm-ros-robotics/
$ git clone https://github.com/tork-a/openrtm_aist-release.git openrtm_aist
Cloning into 'openrtm_aist'...
remote: Enumerating objects: 6587, done.
remote: Total 6587 (delta 0), reused 0 (delta 0), pack-reused 6587
Receiving objects: 100% (6587/6587), 3.27 MiB | 2.89 MiB/s, done.
Resolving deltas: 100% (2493/2493), done.
$ cd openrtm_aist/
$ git checkout release/melodic/openrtm_aist
Branch 'release/melodic/openrtm_aist' set up to track remote branch 'release/melodic/openrtm_aist' from 'origin'.
Switched to a new branch 'release/melodic/openrtm_aist'
$ patch -p1 < ~/openrtm.patch 
patching file COPYRIGHT
patching file INSTALL.jp
patching file Makefile.am
patching file README
patching file README.jp
patching file README.jp.md
patching file README.md
patching file autogen.sh
patching file build/Makefile.am
patching file build/autogen
patching file build/cmakeconfgen.py
patching file build/codegen.py
patching file build/ezt.py
patching file build/makedeffile.py
patching file build/makevcproj.py
patching file build/makewrapper.py
patching file build/makewxs.py
patching file build/pickupprojs.py
patching file build/pkg_install_debian.sh
patching file build/pkg_install_fedora.sh
patching file build/pkg_install_raspbian.sh
patching file build/pkg_install_ubuntu.sh
patching file build/setuptest.py
patching file build/slntool.py
patching file build/uuid.py
patching file build/vcprojtool.py
patching file build/vcxprojtool.py
patching file build/vsprops2cmake.py
patching file build/yat.py
patching file configure.ac
patching file docs/DevelopersGuide/Tools.tex
patching file docs/DevelopersGuide/Tutorial.tex
patching file docs/Makefile.am
patching file docs/doxygen_classref.conf.in
patching file docs/doxygen_idlref.conf
patching file docs/doxygen_idlref.conf.in
patching file etc/component.conf
patching file etc/rtc.conf.sample
patching file examples/AutoTest/Makefile.am
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patching file examples/ConfigSample/Makefile.am
patching file examples/ExtTrigger/ConnectorComp.cpp
patching file examples/ExtTrigger/Makefile.am
patching file examples/ExtTrigger/run.sh
patching file examples/Makefile.am
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patching file examples/SeqIO/SeqIn.h
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patching file examples/SimpleIO/ConnectorComp.cpp
patching file examples/SimpleIO/ConsoleIn.h
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patching file examples/SimpleIO/Makefile.am
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patching file examples/Throughput/cdr_samecomp.sh
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patching file examples/Throughput/rtc.conf
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patching file examples/rtc.vcproj.yaml
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patching file packages/deb/control.1
patching file packages/deb/debian/changelog
patching file packages/deb/debian/control
patching file packages/deb/debian/control.not-multiarch
patching file packages/deb/debian/rules
patching file packages/rpm/OpenRTM-aist.spec.in
patching file src/ext/CMakeLists.txt
patching file src/ext/Makefile.am
patching file src/ext/ec/Makefile.am
patching file src/ext/ec/artlinux/ArtExecutionContext.cpp
patching file src/ext/ec/artlinux/ArtExecutionContext.h
patching file src/ext/ec/artlinux/Makefile.am
patching file src/ext/ec/artlinux/example/ARTSample.cpp
patching file src/ext/ec/artlinux/example/ARTSample.h
patching file src/ext/ec/artlinux/example/ARTSample.yaml
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patching file src/ext/ec/artlinux/example/Makefile.ARTSample
patching file src/ext/ec/artlinux/example/Makefile.am
patching file src/ext/ec/artlinux/example/README.ARTSample
patching file src/ext/ec/artlinux/example/rtc.conf
patching file src/ext/ec/artlinux/example/rtc.conf1
patching file src/ext/ec/logical_time/LogicalTimeTriggeredEC.cpp
patching file src/ext/ec/logical_time/LogicalTimeTriggeredEC.h
patching file src/ext/ec/logical_time/LogicalTimeTriggeredEC.idl
patching file src/ext/ec/logical_time/Makefile.am
patching file src/ext/ec/logical_time/example/LTTSample.conf
patching file src/ext/ec/logical_time/example/LTTSample.cpp
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patching file utils/rtc-template/python_gen.py
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Hunk #1 FAILED at 3.
1 out of 10 hunks FAILED -- saving rejects to file utils/rtm-naming/rtm-naming.in.rej
patching file utils/rtm-skelwrapper/rtm-skelwrapper
Hunk #1 succeeded at 17 with fuzz 1.
patching file utils/rtm-skelwrapper/skel_wrapper.py
Hunk #1 succeeded at 15 with fuzz 1.
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Hunk #1 succeeded at 4 with fuzz 2.
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patching file win32/OpenRTM-aist/autobuild_vc8.bat
Reversed (or previously applied) patch detected!  Assume -R? [n] n
Apply anyway? [n] n
Skipping patch.
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Hunk #1 succeeded at 4 with fuzz 2.
patching file win32/OpenRTM-aist/examples/SimpleService/MyServiceConsumervc8.vcproj.in
patching file win32/OpenRTM-aist/examples/SimpleService/MyServiceProvidervc8.vcproj.in
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patching file win32/OpenRTM-aist/ext/ec/logical_time.yaml
patching file win32/OpenRTM-aist/ext/ec/logical_time/Makefile.am
patching file win32/OpenRTM-aist/ext/ec/rtpreempt/Makefile.am
patching file win32/OpenRTM-aist/ext/local_service/Makefile.am
patching file win32/OpenRTM-aist/ext/local_service/nameservice_file.yaml
patching file win32/OpenRTM-aist/ext/local_service/nameservice_file/FileNameserviceDll_vc10.vcxproj
patching file win32/OpenRTM-aist/ext/local_service/nameservice_file/FileNameserviceDll_vc8.vcproj
patching file win32/OpenRTM-aist/ext/local_service/nameservice_file/FileNameserviceDll_vc9.vcproj
patching file win32/OpenRTM-aist/ext/local_service/nameservice_file/Makefile.am
patching file win32/OpenRTM-aist/ext/logger/Makefile.am
patching file win32/OpenRTM-aist/ext/logger/fluentbit_stream/Makefile.am
patching file win32/OpenRTM-aist/ext/sdo/Makefile.am
patching file win32/OpenRTM-aist/ext/sdo/logger/Makefile.am
patching file win32/OpenRTM-aist/ext/sdo/observer/Makefile.am
patching file win32/OpenRTM-aist/ext/ssl/Makefile.am
patching file win32/OpenRTM-aist/installer/Bitmaps/Makefile.am
patching file win32/OpenRTM-aist/installer/Bitmaps/New.ico
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patching file win32/OpenRTM-aist/installer/Bitmaps/RTC.ico
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patching file win32/OpenRTM-aist/installer/Bitmaps/bannrbmp.bmp
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patching file win32/OpenRTM-aist/installer/Bitmaps/bannrbmp.org.bmp
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patching file win32/OpenRTM-aist/installer/Bitmaps/dlgbmp.bmp
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patching file win32/OpenRTM-aist/installer/Bitmaps/dlgbmp.org.bmp
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patching file win32/OpenRTM-aist/installer/Bitmaps/exclamic.ico
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patching file win32/OpenRTM-aist/installer/Bitmaps/info.ico
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patching file win32/OpenRTM-aist/installer/License.rtf
patching file win32/OpenRTM-aist/installer/Makefile.am
Reversed (or previously applied) patch detected!  Assume -R? [n] n
Apply anyway? [n] n
Skipping patch.
1 out of 1 hunk ignored -- saving rejects to file win32/OpenRTM-aist/installer/Makefile.am.rej
patching file win32/OpenRTM-aist/installer/OpenCV-RTC/OpenCV-RTC_inc.wxs.in
patching file win32/OpenRTM-aist/installer/OpenCV-RTC/OpenCVRTC_bin.yaml
patching file win32/OpenRTM-aist/installer/OpenCV-RTC/opencvrtcwxs.py
patching file win32/OpenRTM-aist/installer/OpenCV2.1/OpenCV22_inc.wxs.in
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patching file win32/OpenRTM-aist/installer/OpenCV2.1/opencvwxs.py
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patching file win32/OpenRTM-aist/installer/OpenRTM-aist.wxs.yaml.in
patching file win32/OpenRTM-aist/installer/OpenRTP/OpenRTP_inc.wxs
patching file win32/OpenRTM-aist/installer/OpenRTP/OpenRTP_inc.wxs.in
patching file win32/OpenRTM-aist/installer/OpenRTP/openrtpwxs.py
patching file win32/OpenRTM-aist/installer/VC10msm_inc.wxs
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patching file win32/OpenRTM-aist/installer/VC9msm_inc.wxs
patching file win32/OpenRTM-aist/installer/WiLangId.vbs
patching file win32/OpenRTM-aist/installer/WiSubStg.vbs
patching file win32/OpenRTM-aist/installer/WixUI_Mondo_RTM.wxs
patching file win32/OpenRTM-aist/installer/WixUI_cs-cz.wxl
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patching file win32/OpenRTM-aist/installer/WixUI_zh-tw.wxl
patching file win32/OpenRTM-aist/installer/autowix.cmd.in
Reversed (or previously applied) patch detected!  Assume -R? [n] n
Apply anyway? [n] n
Skipping patch.
1 out of 1 hunk ignored -- saving rejects to file win32/OpenRTM-aist/installer/autowix.cmd.in.rej
patching file win32/OpenRTM-aist/installer/autowix_vc10.cmd
patching file win32/OpenRTM-aist/installer/crean.cmd
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patching file win32/OpenRTM-aist/installer/omniORB/omniwxs.py
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patching file win32/OpenRTM-aist/prepare_openrtm_inst.sh
patching file win32/OpenRTM-aist/rtm/idl/Makefile.am
Hunk #1 succeeded at 4 with fuzz 2.
patching file win32/OpenRTM-aist/rtm/idl/device_interfaces/Makefile.am
patching file win32/OpenRTM-aist/rtm/idl/libRTCSkelvc8.vcproj.in
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patching file win32/OpenRTM-aist/rtm_config.vsprops
patching file win32/OpenRTM-aist/rtm_config_ssl.props
patching file win32/OpenRTM-aist/rtm_config_ssl.vsprops
patching file win32/OpenRTM-aist/rtm_config_vc9.vsprops
patching file win32/OpenRTM-aist/utils/rtc-template/Makefile.am
pazeshun commented 4 years ago

@ishiguroJSK openrtm_aist-releaseのrelease/melodic/openrtm_aistにOutPort.hのパッチを当てたものを作成しました。 https://github.com/pazeshun/openrtm_aist-release/tree/patch-to-1.1.2-melodic /optに加えている変更を戻してもらって、上のものをworkspaceに入れてビルドして試してもらえませんでしょうか。

pazeshun commented 4 years ago

https://github.com/pazeshun/openrtm_aist-release/tree/patch-to-1.1.2-melodic

なぜかは全くわからないのですが、これを使ってworkspaceを作り直すと、 https://github.com/start-jsk/rtmros_hironx/issues/538 が出なくなっています。経過観察中です。

ishiguroJSK commented 4 years ago

中身のdiffはmutex guard関係だったので，あり得る話だとは思う

pazeshun commented 4 years ago

忘れないうちにPRにしておきました: https://github.com/tork-a/openrtm_aist-release/pull/7

k-okada commented 4 years ago

@pazeshun release repository の使い方は

$ git diff
diff --git a/tracks.yaml b/tracks.yaml
index 061e027..9fc4443 100644
--- a/tracks.yaml
+++ b/tracks.yaml
@@ -127,15 +127,15 @@ tracks:
     - git-bloom-generate -y rosrpm --prefix release/:{ros_distro} :{ros_distro} -i
       :{release_inc}
     devel_branch: null
-    last_release: 22628ce
+    last_release: v1.2.0
     last_version: 1.1.2
     latest_release: 22628ce
     name: upstream
     patches: melodic
     release_inc: '7'
     release_repo_url: null
-    release_tag: 22628ce
+    release_tag: v1.2.0
     ros_distro: melodic
     vcs_type: git
     vcs_uri: https://github.com/OpenRTM/OpenRTM-aist.git
-    version: 1.1.2
+    version: 1.2.0

みたいなものを作って仮にコミットして

$ git-bloom-release melodic
途中でパッチを充てるところでコケるから
(bloom)git am --abort
(bloom)exit 0
$ git checkout debian/ros-melodic-openrtm-aist_1.2.0-1_bionic
$ dpkg-buildpackage -rfakeroot -uc -b

でdebを作るものです． 手元で作った1.2.0 は https://drive.google.com/file/d/1csoaVbc1YB5MgGHvd-mDVJ_PHeAaCkRY/view?usp=sharing においておきます．

@ishiguroJSK OpenRTM 1.2.0 が使えるか，という話だと思うけど，例えばhrpsys-base で以下の当たりを見ると.1.2.0 でやっている人はいそうだから質問してみては？ https://github.com/fkanehiro/hrpsys-base/issues/1284 https://github.com/fkanehiro/hrpsys-base/pull/1076

また，コンパイルを通すだけならそんなに難しくないはず，と思ってもう少し粘ってみると良いとおもいます．

/usr/bin/ld: /tmp/ccFgFQFg.o: relocation R_X86_64_PC32 against symbol `_ZrSjR9cdrStream' can not be used when making a shared object。 -fPIC を付けて再コンパイルしてください。
/usr/bin/ld: 最終リンクに失敗しました: 不正な値です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/leus/catkin_ws/master/devel/.private/hrpsys_ros_bridge/lib/libpointcloudStub.so] Error 1
make[1]: *** [CMakeFiles/RTMBUILD_hrpsys_ros_bridge_pointcloud_genrpc.dir/all] Error 2
make: *** [all] Error 2
わからない

-fPIC を付けて下さい，教えてくれているけど，試してみたかな．

ishiguroJSK commented 4 years ago

1.2.0の導入の仕方が正しいのかも不安だったので，進むのをやめてしまいましたが，もう少し進めてみます．

実際はhrpsys自体は一部を除いてコンパイルできていて，fPICのエラーはhrpsys_ros_bridgeです

ただhrpsys自体も1.2.0対応済みかというと・・・ https://github.com/fkanehiro/hrpsys-base/issues/1278#issuecomment-510686721

ishiguroJSK commented 4 years ago

@k-okada

-fPIC を付けて下さい，教えてくれているけど，試してみたかな．

(個人的にno-pieなどといろいろ迷走していましたが)普通に-fPICつけたらコンパイルできました． 18.04からgccのPICやPIE周りのデフォルトが変わったことが原因と思われます． https://stackoverflow.com/questions/50213089/linking-error-with-gcc-g-7-3-0-on-ubuntu-18-04

ここから実行時の問題ですが，

hrpsysまでのレイヤーでもほとんどのRTCが起動しない 1.2.0からデータポートに使えるデータ型に仕様変更があり， https://github.com/OpenRTM/OpenRTM-aist/issues/847#issuecomment-616244079 コンパイルエラーが出た箇所のidlとcppを修正したつもりでも， それ以上にほぼすべてのRTCが起動しない

~/catkin_ws/master/src/hrpsys (master) $ roslaunch launch/samplerobot.launch
... logging to /home/leus/.ros/log/df818d72-82c6-11ea-9e12-7c7a914eb678/roslaunch-W540-6882.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://W540:40683/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES
  /
    hrpsys (hrpsys/hrpsys-simulator)
    modelloader (openhrp3/openhrp-model-loader)
    start_omninames (hrpsys/start_omninames.sh)

auto-starting new master
process[master]: started with pid [6892]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to df818d72-82c6-11ea-9e12-7c7a914eb678
process[rosout-1]: started with pid [6912]
started core service [/rosout]
process[start_omninames-2]: started with pid [6919]
omniNames: (0) 2020-04-20 14:22:07.472321: Data file: '/tmp/omniNames-logdir-6919/omninames-W540.dat'.
omniNames: (0) 2020-04-20 14:22:07.472371: Starting omniNames for the first time.
omniNames: (0) 2020-04-20 14:22:07.472490: Wrote initial data file '/tmp/omniNames-logdir-6919/omninames-W540.dat'.
omniNames: (0) 2020-04-20 14:22:07.472532: Read data file '/tmp/omniNames-logdir-6919/omninames-W540.dat' successfully.
omniNames: (0) 2020-04-20 14:22:07.472564: Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e31312e3500009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000007f319d5e01001b09
omniNames: (0) 2020-04-20 14:22:07.472599: Checkpointing Phase 1: Prepare.
omniNames: (0) 2020-04-20 14:22:07.472649: Checkpointing Phase 2: Commit.
omniNames: (0) 2020-04-20 14:22:07.472692: Checkpointing completed.
process[modelloader-3]: started with pid [6923]
ready
process[hrpsys-4]: started with pid [6928]
#### file: ./rtc6928.log
##### file #####
HGcontroller0: onInitialize()
- port
  - port_type: DataInPort
- dataport
  - data_type: IDL:RTC/TimedDoubleSeq:1.0
  - subscription_type: Any
  - dataflow_type: push,pull
  - interface_type: corba_cdr,direct,shared_memory
- port
（略）

で

rtls localhost:15005/
SampleRobot(Robot)0.rtc  floor(Robot)0.rtc  HGcontroller0.rtc  ModelLoader  W540.host_cxt/

ほとんどのRTCが死んでいる. rtc****.logを見ると

pr 20 05:02:03.129 INFO: manager: 1.2.0
Apr 20 05:02:03.129 INFO: manager: Copyright (C) 2003-2017
Apr 20 05:02:03.129 INFO: manager:   Noriaki Ando
Apr 20 05:02:03.129 INFO: manager:   Intelligent Systems Research Institute, AIST
Apr 20 05:02:03.129 INFO: manager: Manager starting.
Apr 20 05:02:03.129 INFO: manager: Starting local logging.
Apr 20 05:02:03.139 WARNING: NamingOnCorba: No endpoint for the CORBA naming service (localhost) was found.
Apr 20 05:02:03.139 INFO: NamingManager: NameServer connection succeeded: corba/localhost:15005
Apr 20 05:02:03.141 INFO: ManagerServant: Named manager reference (INS) was successfully created.
Apr 20 05:02:03.141 INFO: ManagerServant: Master manager servant was successfully created.
Apr 20 05:02:03.143 INFO: LocalServiceAdmin: All the local services are enabled.
Apr 20 05:02:03.148 INFO: manager: Component type conf file: /home/leus/catkin_ws/master/devel/share/hrpsys/samples/Sam\
pleRobot/SampleRobot.500.conf loaded.
Apr 20 05:02:03.148 INFO: ec_base: setRate(1000.000000) done
Apr 20 05:02:03.148 INFO: ec_base: setRate(1000000.000000) done
Apr 20 05:02:03.148 INFO: HGcontroller0: 1 execution context was created.
Apr 20 05:02:03.149 INFO: HGcontroller0: Initial active configuration set is default-set.
Apr 20 05:02:03.251 INFO: ec_base: setRate(1000.000000) done
Apr 20 05:02:03.251 INFO: ec_base: setRate(1000000.000000) done
Apr 20 05:02:03.251 INFO: GLbodyRTC0: 1 execution context was created.
Apr 20 05:02:03.251 INFO: GLbodyRTC0: Initial active configuration set is default-set.
Apr 20 05:02:03.255 ERROR: GLbodyRTC0: addOutPort() failed.
Apr 20 05:02:03.255 ERROR: GLbodyRTC0: addOutPort() failed.
Apr 20 05:02:03.255 ERROR: RobotHardwareService: appending provider interface failed
Apr 20 05:02:03.256 ERROR: GLbodyRTC0: addOutPort() failed.
Apr 20 05:02:03.256 ERROR: GLbodyRTC0: addOutPort() failed.
Apr 20 05:02:03.256 ERROR: RobotHardwareService: appending provider interface failed
Apr 20 05:02:03.257 INFO: ec_base: setRate(1000.000000) done
Apr 20 05:02:03.257 INFO: ec_base: setRate(1000000.000000) done
Apr 20 05:02:03.257 INFO: GLbodyRTC1: 1 execution context was created.
Apr 20 05:02:03.257 INFO: GLbodyRTC1: Initial active configuration set is default-set.
Apr 20 05:02:03.266 ERROR: GLbodyRTC1: addOutPort() failed.
Apr 20 05:02:03.266 ERROR: GLbodyRTC1: addOutPort() failed.
Apr 20 05:02:03.266 ERROR: RobotHardwareService: appending provider interface failed
Apr 20 05:02:03.267 ERROR: GLbodyRTC1: addOutPort() failed.

addOutPortがエラーを吐いているあたりいかにもではあるが， HGcontrollerが生きていてSequencePlayerが落ちているのもよく分からない hrpsys_ros_bridgeは18.04になってからfPICつけないとidlの**Stub.soがコンパイルできなかったのに，hrpsysが何も変更していないのも分からない． そもそもOpenRTM-aist-pythonは1.2.0にしなくていいのか？と思い始めている