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Inserting the iCubGenova04 model into Gazebo makes it crash #87

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S-Dafarra opened this issue Mar 15, 2021 · 4 comments
Open

Inserting the iCubGenova04 model into Gazebo makes it crash #87

S-Dafarra opened this issue Mar 15, 2021 · 4 comments

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@S-Dafarra
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Here the video

modelExploding.mp4

I am using the latest devel version

Here the output of Gazebo: 

sdafarra@iiticublap104:~$ gazebo -slibgazebo_yarp_clock.so --verbose
Gazebo multi-robot simulator, version 11.3.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
Gazebo multi-robot simulator, version 11.3.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[DEBUG] GazeboYarpClock loaded. Clock port will be  /clock
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.84
[Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
[INFO] |yarp.os.Port| Port /clock active at tcp://192.168.1.84:10002/
[INFO] |yarp.os.Port| Port /clock/rpc active at tcp://192.168.1.84:10003/
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.84
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/gazebo/models/.git"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/iCub/robots/icubGazeboSim"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/BipedalLocomotionFramework"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/BlockFactory"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/HDERviz"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/HumanDynamicsEstimation"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/ICUBcontrib"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/WBToolbox"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/Wearables"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/YCM"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/bash-completion"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/cmake"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/doc"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/gazebo"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/human-gazebo"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/iCub"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/man"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/manif"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/matioCpp"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/pkgconfig"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/robotology-superbuild"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/wbc"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/robotology-superbuild/build/install/share/yarp"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/isaac/isaac-wp1/EVAmodelFiles/generatedUrdfs"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/sdafarra/Software/isaac/isaac-wp1/EVAmodelFiles/leo_description"
Warning [Model.cc:212] Non-unique names detected in XML children of model with name[iCub].
Warning [Model.cc:212] Non-unique names detected in XML children of model with name[iCub].
[INFO] |yarp.dev.PolyDriver| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] |yarp.devices.ServerInertial| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/inertial active at tcp://192.168.1.84:10012/
[INFO] |yarp.devices.ServerInertial| Server Inertial : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <inertial>. See C++ class ServerInertial for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_imu>. See C++ class GazeboYarpIMUDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/head/inertials/measures:o active at tcp://192.168.1.84:10013/
[INFO] |yarp.os.Port| Port /icubSim/head/inertials/rpc:o active at tcp://192.168.1.84:10014/
[INFO] |yarp.devices.ServerInertial| Starting server Inertial thread
[DEBUG] |yarp.devices.ServerInertial| Writing an Inertial measurement.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/left_leg/analog:o/rpc:i active at tcp://192.168.1.84:10055/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/left_leg/analog:o active at tcp://192.168.1.84:10056/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/left_foot/analog:o/rpc:i active at tcp://192.168.1.84:10057/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/left_foot/analog:o active at tcp://192.168.1.84:10058/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/right_leg/analog:o/rpc:i active at tcp://192.168.1.84:10059/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/right_leg/analog:o active at tcp://192.168.1.84:10060/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/right_foot/analog:o/rpc:i active at tcp://192.168.1.84:10061/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/right_foot/analog:o active at tcp://192.168.1.84:10062/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/left_arm/analog:o/rpc:i active at tcp://192.168.1.84:10023/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/left_arm/analog:o active at tcp://192.168.1.84:10024/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[INFO] |yarp.os.Port| Port /icubSim/right_arm/analog:o/rpc:i active at tcp://192.168.1.84:10025/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/right_arm/analog:o active at tcp://192.168.1.84:10026/
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1842] Conversion of sensor type[force_torque] not supported.
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/left_leg/inertialMTB/rpc:i active at tcp://192.168.1.84:10063/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_inertialMTB>. See C++ class GazeboYarpInertialMTBPartDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/left_leg/inertialMTB active at tcp://192.168.1.84:10064/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/right_leg/inertialMTB/rpc:i active at tcp://192.168.1.84:10065/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_inertialMTB>. See C++ class GazeboYarpInertialMTBPartDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/right_leg/inertialMTB active at tcp://192.168.1.84:10066/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/left_hand/inertialMTB/rpc:i active at tcp://192.168.1.84:10067/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_inertialMTB>. See C++ class GazeboYarpInertialMTBPartDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/left_hand/inertialMTB active at tcp://192.168.1.84:10068/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/right_hand/inertialMTB/rpc:i active at tcp://192.168.1.84:10069/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_inertialMTB>. See C++ class GazeboYarpInertialMTBPartDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/right_hand/inertialMTB active at tcp://192.168.1.84:10070/
[INFO] |yarp.devices.AnalogWrapper| No ROS group found in config file ... skipping ROS initialization.
[INFO] |yarp.os.Port| Port /icubSim/torso/inertialMTB/rpc:i active at tcp://192.168.1.84:10071/
[INFO] |yarp.devices.AnalogWrapper| AnalogServer : no ROS initialization required
[INFO] |yarp.dev.PolyDriver| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_inertialMTB>. See C++ class GazeboYarpInertialMTBPartDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/torso/inertialMTB active at tcp://192.168.1.84:10072/
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/torso : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/torso  initting YARP initialization
[INFO] |yarp.os.Port| Port /icubSim/torso/rpc:i active at tcp://192.168.1.84:10027/
[INFO] |yarp.os.Port| Port /icubSim/torso/command:i active at tcp://192.168.1.84:10028/
[INFO] |yarp.os.Port| Port /icubSim/torso/state:o active at tcp://192.168.1.84:10029/
[INFO] |yarp.os.Port| Port /icubSim/torso/stateExt:o active at tcp://192.168.1.84:10030/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] found:  torso_yaw torso_yaw
[DEBUG] found:  torso_roll torso_roll
[DEBUG] found:  torso_pitch torso_pitch
[DEBUG] done
[WARNING] No positionToleranceLinear value found in ini file, default one will be used!
[WARNING] No positionToleranceRevolute value found in ini file, default one will be used!
[WARNING] No max torques value found in ini file, default one will be used!
[DEBUG] max_torques: [   2000.000000	 2000.000000	 2000.000000  ]
[INFO] min_stiffness param found!
[INFO] max_stiffness param found!
[INFO] min_damping param found!
[INFO] max_damping param found!
[DEBUG] min_stiffness: [   0.000000	 0.000000	 0.000000  ]
[DEBUG] max_stiffness: [   1000.000000	 1000.000000	 1000.000000  ]
[DEBUG] min_damping: [   0.000000	 0.000000	 0.000000  ]
[DEBUG] max_damping: [   100.000000	 100.000000	 100.000000  ]
[DEBUG] Initializing Trajectory Generator with current values
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/head : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/head  initting YARP initialization
[INFO] |yarp.os.Port| Port /icubSim/head/rpc:i active at tcp://192.168.1.84:10039/
[INFO] |yarp.os.Port| Port /icubSim/head/command:i active at tcp://192.168.1.84:10040/
[INFO] |yarp.os.Port| Port /icubSim/head/state:o active at tcp://192.168.1.84:10041/
[INFO] |yarp.os.Port| Port /icubSim/head/stateExt:o active at tcp://192.168.1.84:10042/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] found:  neck_pitch neck_pitch
[DEBUG] found:  neck_roll neck_roll
[DEBUG] found:  neck_yaw neck_yaw
[DEBUG] done
[WARNING] No positionToleranceLinear value found in ini file, default one will be used!
[WARNING] No positionToleranceRevolute value found in ini file, default one will be used!
[WARNING] No max torques value found in ini file, default one will be used!
[DEBUG] max_torques: [   2000.000000	 2000.000000	 2000.000000  ]
[INFO] min_stiffness param found!
[INFO] max_stiffness param found!
[INFO] min_damping param found!
[INFO] max_damping param found!
[DEBUG] min_stiffness: [   0.000000	 0.000000	 0.000000  ]
[DEBUG] max_stiffness: [   1000.000000	 1000.000000	 1000.000000  ]
[DEBUG] min_damping: [   0.000000	 0.000000	 0.000000  ]
[DEBUG] max_damping: [   100.000000	 100.000000	 100.000000  ]
[DEBUG] Initializing Trajectory Generator with current values
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/left_arm : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/left_arm  initting YARP initialization
[INFO] |yarp.os.Port| Port /icubSim/left_arm/rpc:i active at tcp://192.168.1.84:10043/
[INFO] |yarp.os.Port| Port /icubSim/left_arm/command:i active at tcp://192.168.1.84:10044/
[INFO] |yarp.os.Port| Port /icubSim/left_arm/state:o active at tcp://192.168.1.84:10045/
[INFO] |yarp.os.Port| Port /icubSim/left_arm/stateExt:o active at tcp://192.168.1.84:10046/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] found:  l_shoulder_pitch l_shoulder_pitch
[DEBUG] found:  l_shoulder_roll l_shoulder_roll
[DEBUG] found:  l_shoulder_yaw l_shoulder_yaw
[DEBUG] found:  l_elbow l_elbow
[DEBUG] found:  l_wrist_prosup l_wrist_prosup
[DEBUG] found:  l_wrist_pitch l_wrist_pitch
[DEBUG] found:  l_wrist_yaw l_wrist_yaw
[DEBUG] done
[WARNING] No positionToleranceLinear value found in ini file, default one will be used!
[WARNING] No positionToleranceRevolute value found in ini file, default one will be used!
[WARNING] No max torques value found in ini file, default one will be used!
[DEBUG] max_torques: [   2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000  ]
[INFO] min_stiffness param found!
[INFO] max_stiffness param found!
[INFO] min_damping param found!
[INFO] max_damping param found!
[DEBUG] min_stiffness: [   0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000  ]
[DEBUG] max_stiffness: [   1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000  ]
[DEBUG] min_damping: [   0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000  ]
[DEBUG] max_damping: [   100.000000	 100.000000	 100.000000	 100.000000	 100.000000	 100.000000	 100.000000  ]
[DEBUG] INITIAL CONFIGURATION IS:  -0.520000	 0.520000	 0.000000	 0.785000	 0.000000	 0.000000	 0.000000
[DEBUG] Initializing Trajectory Generator with default values
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/right_arm : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/right_arm  initting YARP initialization
[INFO] |yarp.os.Port| Port /icubSim/right_arm/rpc:i active at tcp://192.168.1.84:10047/
[INFO] |yarp.os.Port| Port /icubSim/right_arm/command:i active at tcp://192.168.1.84:10048/
[INFO] |yarp.os.Port| Port /icubSim/right_arm/state:o active at tcp://192.168.1.84:10049/
[INFO] |yarp.os.Port| Port /icubSim/right_arm/stateExt:o active at tcp://192.168.1.84:10050/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] found:  r_shoulder_pitch r_shoulder_pitch
[DEBUG] found:  r_shoulder_roll r_shoulder_roll
[DEBUG] found:  r_shoulder_yaw r_shoulder_yaw
[DEBUG] found:  r_elbow r_elbow
[DEBUG] found:  r_wrist_prosup r_wrist_prosup
[DEBUG] found:  r_wrist_pitch r_wrist_pitch
[DEBUG] found:  r_wrist_yaw r_wrist_yaw
[DEBUG] done
[WARNING] No positionToleranceLinear value found in ini file, default one will be used!
[WARNING] No positionToleranceRevolute value found in ini file, default one will be used!
[WARNING] No max torques value found in ini file, default one will be used!
[DEBUG] max_torques: [   2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000  ]
[INFO] min_stiffness param found!
[INFO] max_stiffness param found!
[INFO] min_damping param found!
[INFO] max_damping param found!
[DEBUG] min_stiffness: [   0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000  ]
[DEBUG] max_stiffness: [   1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000  ]
[DEBUG] min_damping: [   0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000  ]
[DEBUG] max_damping: [   100.000000	 100.000000	 100.000000	 100.000000	 100.000000	 100.000000	 100.000000  ]
[DEBUG] INITIAL CONFIGURATION IS:  -0.520000	 0.520000	 0.000000	 0.785000	 0.000000	 0.000000	 0.000000
[DEBUG] Initializing Trajectory Generator with default values
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/right_leg : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/right_leg  initting YARP initialization
[INFO] |yarp.os.Port| Port /icubSim/right_leg/rpc:i active at tcp://192.168.1.84:10035/
[INFO] |yarp.os.Port| Port /icubSim/right_leg/command:i active at tcp://192.168.1.84:10036/
[INFO] |yarp.os.Port| Port /icubSim/right_leg/state:o active at tcp://192.168.1.84:10037/
[INFO] |yarp.os.Port| Port /icubSim/right_leg/stateExt:o active at tcp://192.168.1.84:10038/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] found:  r_hip_pitch r_hip_pitch
[DEBUG] found:  r_hip_roll r_hip_roll
[DEBUG] found:  r_hip_yaw r_hip_yaw
[DEBUG] found:  r_knee r_knee
[DEBUG] found:  r_ankle_pitch r_ankle_pitch
[DEBUG] found:  r_ankle_roll r_ankle_roll
[DEBUG] done
[WARNING] No positionToleranceLinear value found in ini file, default one will be used!
[WARNING] No positionToleranceRevolute value found in ini file, default one will be used!
[WARNING] No max torques value found in ini file, default one will be used!
[DEBUG] max_torques: [   2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000  ]
[INFO] min_stiffness param found!
[INFO] max_stiffness param found!
[INFO] min_damping param found!
[INFO] max_damping param found!
[DEBUG] min_stiffness: [   0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000  ]
[DEBUG] max_stiffness: [   1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000  ]
[DEBUG] min_damping: [   0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000  ]
[DEBUG] max_damping: [   100.000000	 100.000000	 100.000000	 100.000000	 100.000000	 100.000000  ]
[DEBUG] Initializing Trajectory Generator with current values
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[ERROR] |yarp.devices.ControlBoardWrapper| Parameter networks use deprecated syntax
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/left_leg : no ROS initialization required
[INFO] |yarp.devices.ControlBoardWrapper| /icubSim/left_leg  initting YARP initialization
[INFO] |yarp.os.Port| Port /icubSim/left_leg/rpc:i active at tcp://192.168.1.84:10031/
[INFO] |yarp.os.Port| Port /icubSim/left_leg/command:i active at tcp://192.168.1.84:10032/
[INFO] |yarp.os.Port| Port /icubSim/left_leg/state:o active at tcp://192.168.1.84:10033/
[INFO] |yarp.os.Port| Port /icubSim/left_leg/stateExt:o active at tcp://192.168.1.84:10034/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG] found:  l_hip_pitch l_hip_pitch
[DEBUG] found:  l_hip_roll l_hip_roll
[DEBUG] found:  l_hip_yaw l_hip_yaw
[DEBUG] found:  l_knee l_knee
[DEBUG] found:  l_ankle_pitch l_ankle_pitch
[DEBUG] found:  l_ankle_roll l_ankle_roll
[DEBUG] done
[WARNING] No positionToleranceLinear value found in ini file, default one will be used!
[WARNING] No positionToleranceRevolute value found in ini file, default one will be used!
[WARNING] No max torques value found in ini file, default one will be used!
[DEBUG] max_torques: [   2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000	 2000.000000  ]
[INFO] min_stiffness param found!
[INFO] max_stiffness param found!
[INFO] min_damping param found!
[INFO] max_damping param found!
[DEBUG] min_stiffness: [   0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000  ]
[DEBUG] max_stiffness: [   1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000	 1000.000000  ]
[DEBUG] min_damping: [   0.000000	 0.000000	 0.000000	 0.000000	 0.000000	 0.000000  ]
[DEBUG] max_damping: [   100.000000	 100.000000	 100.000000	 100.000000	 100.000000	 100.000000  ]
[DEBUG] Initializing Trajectory Generator with current values
[INFO] |yarp.dev.PolyDriver| Created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[INFO] |yarp.os.Port| Port /icubSim/applyExternalWrench/rpc:i active at tcp://192.168.1.84:10073/
[ERROR] An hardware fault occurred on joint  2  torque too big! (  4668.78  )
[ERROR] An hardware fault occurred on joint  4  torque too big! (  -9999  )
[ERROR] An hardware fault occurred on joint  5  torque too big! (  -4351.57  )
[ERROR] An hardware fault occurred on joint  4  torque too big! (  -6701.9  )
[ERROR] An hardware fault occurred on joint  0  torque too big! (  -9999  )
[ERROR] An hardware fault occurred on joint  1  torque too big! (  -5138.72  )
[ERROR] An hardware fault occurred on joint  0  torque too big! (  -8657.13  )
[ERROR] An hardware fault occurred on joint  1  torque too big! (  -9237.7  )
[ERROR] An hardware fault occurred on joint  2  torque too big! (  -9999  )
[ERROR] An hardware fault occurred on joint  0  torque too big! (  -2448.44  )
[ERROR] An hardware fault occurred on joint  2  torque too big! (  -4225.18  )
[ERROR] An hardware fault occurred on joint  3  torque too big! (  -9999  )
[ERROR] An hardware fault occurred on joint  5  torque too big! (  9999  )
[ERROR] An hardware fault occurred on joint  1  torque too big! (  -5457.92  )
[ERROR] An hardware fault occurred on joint  0  torque too big! (  2654.82  )
[ERROR] An hardware fault occurred on joint  1  torque too big! (  -6718.11  )
[ERROR] An hardware fault occurred on joint  2  torque too big! (  2622.94  )
[ERROR] An hardware fault occurred on joint  3  torque too big! (  -9481.85  )
gzclient: /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:251: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
[INFO] |yarp.devices.ServerInertial| Closing Server Inertial...
[INFO] |yarp.devices.ServerInertial| Server Intertial thread finished

@S-Dafarra
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S-Dafarra commented Mar 15, 2021 •
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This actually emerged after a mistake of mine, since I needed to use the iCubGazeboV2_5 model instead (that is working fine). Not sure if this is an intended behavior though.

cc @Nicogene @traversaro

@Nicogene
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I cannot reproduce the video, but usually, the models with the robot names are the ones without any gazebo fixes(e.g. small inertias)

@traversaro
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The actual error is:

gzclient: /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:251: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.

So I think it is some kind of problem in ogre in handling NaN that come out from numerically unstable simulation.

@Nicogene
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Similar to #53

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@traversaro @S-Dafarra @Nicogene