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crash when loading ergoCubGazeboV1_1 in gz sim #173

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LoreMoretti opened this issue Aug 2, 2024 · 24 comments
Closed

crash when loading ergoCubGazeboV1_1 in gz sim #173

LoreMoretti opened this issue Aug 2, 2024 · 24 comments

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

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

robotology git status
 (robsub_gzsim) lomoretti@IITICUBLAP226:~/robotology/robotology-superbuild (master)$ ./scripts/robotologyGitStatus.sh 
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild: master
3 days ago|The KMP_DUPLICATE_LIB_OK problem is present also on Windows so document and apply the workaround also on Windows (#1658)|84f1b1d9207de0856b7f79d5c7795fdba224f2de|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
 M .vscode/settings.json
?? .cache/
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 8c9319f..a95c43a 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,7 +1,8 @@
 {
-    "C_Cpp.default.compileCommands": "${config:cmake.buildDirectory}/compile_commands.json",
-    "cmake.mergedCompileCommands": "${command:cmake.buildDirectory}/compile_commands.json",
+    "C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
+    "cmake.mergedCompileCommands": "${workspaceFolder}/build/compile_commands.json",
     "clangd.arguments": [
-        "--compile-commands-dir=${config:cmake.buildDirectory}/"
+        "--compile-commands-dir=${workspaceFolder}/build/"
     ],
-}
+    "cmake.copyCompileCommands": "",
+}
\ No newline at end of file
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/BayesFilters/: master
9 months ago|Merge pull request #103 from GiulioRomualdi/patch-1|b180d03df2614eeb7749e130c70391f59d91408c|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/bipedal-locomotion-framework/: master
9 days ago|Add method to get joint limits from control board (#868)|4ea37800355531fe4c78f12a4ed0aa426a748ed3|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/BlockFactory/: master
6 months ago|Bump version to  0.8.5 (#76)|22f62816df31a39b972ac135d186d4150458c3b1|HEAD -> master, tag: v0.8.5, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/casadi/: 3.6.5.backport3724
4 weeks ago|Issue #3723 Fixed function signatures for MX::difference|71d40ac6419b603965a0e0882857a0615b428a1c|HEAD -> 3.6.5.backport3724, origin/3.6.5.backport3724
## 3.6.5.backport3724...origin/3.6.5.backport3724
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/casadi-matlab-bindings/: HEAD
5 months ago|Merge pull request #16 from ami-iit/bump365|9d66e0bb56ae4536a7e49c827901f55442b255ab|HEAD, tag: v3.6.5.0
## HEAD (no branch)
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/CppAD/: HEAD
7 months ago|stable/20240000: check_all.sh: run check_version.sh interactively when a stable version.|38f532ec5a5c098c7439d3fa51a2cb91e1b0a11e|HEAD, tag: 20240000.2
## HEAD (no branch)
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/ergocub-software/: master
3 weeks ago|ergoCub1_0: fix mass and inertia of the head (#249)|e4b567e67e746340051e296b0d9ed74c164f454b|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/GazeboYARPPlugins/: master
9 weeks ago|Merge pull request #683 from robotology/traversaro-patch-1|d296652b7619dbef39e9bd65ae49f6ca3bdd9377|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/: main
84 minutes ago|Add handling of `VOCAB_CM_FORCE_IDLE` control mode (#172)|e681eca66446e3652b0f1f002b84845f27b3c22c|HEAD -> main, origin/main, origin/HEAD
## main...origin/main
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/ICUB/: master
7 days ago|embObjLib: in ethReceiver set receiving thread as non-blocking also on Windows (#975)|9019b41135f46e45eec67940dd4d9b5446dca7da|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/ICUBcontrib/: master
7 months ago|bumped cmake and yarp version|e12668ce111ee0e0cecccc429b8ff922fe750af6|HEAD -> master, tag: v1.20.0, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/icub-models/: master
5 weeks ago|Merge pull request #179 from robotology/reloc|5633130b47eef3c54ad0fa34ac912cc562d807dd|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/iDynTree/: master
3 days ago|Re-enable valgrind tests for IntegrationTestiCubTorqueEstimation (#1196)|f6f993ca3022f4f100ee6736129be4a2ea9a36b8|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/idyntree-yarp-tools/: main
8 months ago|Bumped version for release|4414a0ba87ab17b22941b1f911e07a4aa892d411|HEAD -> main, tag: v0.0.9, origin/main, origin/HEAD
## main...origin/main
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/LieGroupControllers/: master
11 months ago|License the repo under the BSD-3-Clause license (#14)|50078d5b682ad863adbfc31de2acfb83aa536c72|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/manif/: HEAD
1 year, 1 month ago|Merge pull request #2 from robotology-dependencies/traversaro-patch-1|ae09e9f7e48139f11d807595f5d7215c5bf716ce|HEAD, tag: 0.0.4.103, origin/robsub2022, origin/HEAD, robsub2022
## HEAD (no branch)
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/matioCpp/: master
4 weeks ago|Merge pull request #83 from ami-iit/usage_improvements|f30bce77cd214f0fa8a2c8fc75799957d85eaa9f|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/matlab-whole-body-simulator/: master
9 weeks ago|Merge pull request #90 from ami-iit/traversaro-patch-2|89ad53de8a82f16180ef12dc2c8b4b3d68990ecb|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/meshcat-python/: master
12 months ago|Merge pull request #143 from meshcat-dev/rdeits-patch-1|785bc9d5ba6f8a8bb79ee8b25f523805946c1fbd|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/osqp/: HEAD
1 year, 2 months ago|Release 0.6.3 (#529)|0dd00a578cf1c2691c5c379965d504c75bf6cfad|HEAD, tag: v0.6.3
## HEAD (no branch)
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/OsqpEigen/: master
4 weeks ago|Fix typos (#166)|b9ce7391350e0f1c71e49f7574a8785fb617b5e6|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/osqp-matlab/: main
6 months ago|Merge pull request #13 from ami-iit/traversaro-patch-5|286dfae63bc80783b339fe0cad44970324ea480c|HEAD -> main, tag: v0.6.2.4, origin/main, origin/HEAD
## main...origin/main
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/proxsuite/: HEAD
5 months ago|release: Update CHANGELOG.md for 0.6.4|b45436328429914bf49fb418839ea5f13c804687|HEAD, tag: v0.6.4, tag: master
## HEAD (no branch)
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/pyngrok/: main
2 weeks ago|Prep 7.2.0 for release.|6eeff531cfb63ce6ff53cc5b1c3ef2f507e7a1ab|HEAD -> main, tag: 7.2.0, origin/main, origin/develop, origin/HEAD
## main...origin/main
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/pyqtconsole/: master
5 weeks ago|Merge pull request #81 from RobertoRoos/feature/python-version|ed0f43575ae620ef84f0df70d515cf33b46668d8|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/qpOASES/: master
4 years, 7 months ago|Merge pull request #13 from robotology-dependencies/fix-matlab-2019b|90390fff9d9f111cb693deea42714237894fe1dc|HEAD -> master, tag: v3.2.0.1, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/resolve-robotics-uri-py/: main
3 months ago|Support passing the name of custom env vars as additional search paths (#13)|699799250970be33a0b6b5342c1e3cdce43e95b5|HEAD -> main, tag: v0.3.0, origin/main, origin/HEAD
## main...origin/main
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/robometry/: master
2 months ago|Update CHANGELOG.md|bb2ea36c90141b9a6ac2be903619786734f95a52|HEAD -> master, tag: v1.2.4, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/robot-log-visualizer/: main
4 months ago|Refactor annotation creation and removal logic in MatplotlibViewerCanvas|89847b9c4ec857d7418b00d5b31e24db85b721bc|HEAD -> main, origin/main, origin/HEAD
## main...origin/main
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/robots-configuration/: master
2 weeks ago|Rename alljoints-inertials port to avoid using portprefix (#669)|e5a262e8750102cd36fe64e48e709aeef8e88e29|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/UnicyclePlanner/: master
7 weeks ago|Merge pull request #57 from robotology/relicense|fa2a2a888ee3e5a45dddcc5a9387485b66d0aa0f|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/walking-controllers/: fix/test_compilation
22 hours ago|fetch Catch2 and update include statements|dcf6860a8a0ef8b59225ecdc0cc031c7ceb7e15a|HEAD -> fix/test_compilation, LorenzoFork/fix/test_compilation
## fix/test_compilation
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/WBToolbox/: master
6 months ago|Merge pull request #243 from LoreMoretti/bug_fix|19b7408d7f2ba69ba82ced58d3a103015edd0309|HEAD -> master, tag: v5.6.1, origin/master, origin/devel, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/whole-body-controllers/: master
1 year, 10 months ago|Merge pull request #150 from isorrentino/homeClosedEyes|90ff965a523f0a120e6a8981b71326c1485e7742|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/whole-body-estimators/: master
3 weeks ago|Merge pull request #194 from robotology/cleanupftsensorsconfig|80d45bf79c5e4be3c7f83e0bec8f2cdfef48caab|HEAD -> master, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/YARP/: yarp-3.9
9 weeks ago|Merge pull request #3082 from robotology/traversaro-patch-1|169ae46563c2f7fc47fac86b11530f369c10ab4a|HEAD -> yarp-3.9, origin/yarp-3.9
## yarp-3.9...origin/yarp-3.9
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/yarp-device-keyboard-joypad/: main
2 months ago|Merge pull request #6 from ami-iit/padding|ad266c1fa45694814b07e2e01fc9a88cd368d70a|HEAD -> main, tag: v0.0.2, origin/main, origin/HEAD
## main...origin/main
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/yarp-devices-ros/: master
5 months ago|Merge pull request #2 from robotology/bumpver|e98fcc3d4b8d21547f29e433491a75103d2a670f|HEAD -> master, tag: v3.9.0, origin/master, origin/HEAD
## master...origin/master
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/yarp-matlab-bindings/: yarp-3.9
6 months ago|Bump version to 3.9.1|881b6088f6c8e6d809f3ff3462b4fe2b7fcb52c3|HEAD -> yarp-3.9, tag: v3.9.1, origin/yarp-3.9
## yarp-3.9...origin/yarp-3.9
--------------------------------------------
/home/lomoretti/robotology/robotology-superbuild/src/YCM/: master
3 weeks ago|Bump version to 0.16.5|d5c16deed3bf65538d48bebf127c4dcb50a48d8f|HEAD -> master, tag: v0.16.5, origin/master, origin/HEAD
## master...origin/master

conda list
(robsub_gzsim) lomoretti@IITICUBLAP226:~$ conda list
# packages in environment at /home/lomoretti/mambaforge/envs/robsub_gzsim:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
_sysroot_linux-64_curr_repodata_hack 3                   h69a702a_16    conda-forge
ace                       8.0.0                hac33072_1    conda-forge
aiohttp                   3.9.5           py310h2372a71_0    conda-forge
aiosignal                 1.3.1              pyhd8ed1ab_0    conda-forge
alsa-lib                  1.2.12               h4ab18f5_0    conda-forge
ampl-mp                   3.1.0             h2cc385e_1006    conda-forge
aom                       3.9.1                hac33072_0    conda-forge
asio                      1.29.0               h59595ed_0    conda-forge
assimp                    5.3.1                h8343317_3    conda-forge
asttokens                 2.4.1              pyhd8ed1ab_0    conda-forge
async-timeout             4.0.3              pyhd8ed1ab_0    conda-forge
atk-1.0                   2.38.0               h04ea711_2    conda-forge
attr                      2.5.1                h166bdaf_1    conda-forge
attrs                     23.2.0             pyh71513ae_0    conda-forge
aws-c-auth                0.7.20               h5f1c8d9_0    conda-forge
aws-c-cal                 0.6.12               h2ba76a8_0    conda-forge
aws-c-common              0.9.17               h4ab18f5_0    conda-forge
aws-c-compression         0.2.18               h36a0aea_4    conda-forge
aws-c-event-stream        0.4.2               h161de36_10    conda-forge
aws-c-http                0.8.1               h63f54a0_13    conda-forge
aws-c-io                  0.14.8               h96d4d28_0    conda-forge
aws-c-mqtt                0.10.4               hcc7299c_2    conda-forge
aws-c-s3                  0.5.9                h10bd90f_0    conda-forge
aws-c-sdkutils            0.1.16               h36a0aea_0    conda-forge
aws-checksums             0.1.18               h36a0aea_4    conda-forge
aws-crt-cpp               0.26.8              h4f3a3cc_11    conda-forge
aws-sdk-cpp               1.11.267             h51dfee4_8    conda-forge
azure-core-cpp            1.11.1               h91d86a7_1    conda-forge
azure-storage-blobs-cpp   12.10.0              h00ab1b0_1    conda-forge
azure-storage-common-cpp  12.5.0               h94269e2_4    conda-forge
bash-completion           2.11                 ha770c72_1    conda-forge
binutils                  2.40                 h4852527_7    conda-forge
binutils_impl_linux-64    2.40                 ha1999f0_7    conda-forge
binutils_linux-64         2.40                 hb3c18ed_0    conda-forge
blosc                     1.21.6               hef167b5_0    conda-forge
boost                     1.84.0               hb7f781d_3    conda-forge
brotli                    1.1.0                hd590300_1    conda-forge
brotli-bin                1.1.0                hd590300_1    conda-forge
bullet-cpp                3.25                 hcc13569_2    conda-forge
bzip2                     1.0.8                h4bc722e_7    conda-forge
c-ares                    1.32.3               h4bc722e_0    conda-forge
c-compiler                1.7.0                hd590300_1    conda-forge
ca-certificates           2024.7.4             hbcca054_0    conda-forge
cached-property           1.5.2                hd8ed1ab_1    conda-forge
cached_property           1.5.2              pyha770c72_1    conda-forge
cairo                     1.18.0               h3faef2a_0    conda-forge
certifi                   2024.7.4           pyhd8ed1ab_0    conda-forge
cfitsio                   4.4.0                hbdc6101_1    conda-forge
cli11                     2.4.1                h59595ed_0    conda-forge
cmake                     3.30.1               hf8c4bd3_0    conda-forge
compilers                 1.7.0                ha770c72_1    conda-forge
console_bridge            1.0.2                h924138e_1    conda-forge
contourpy                 1.2.1           py310hd41b1e2_0    conda-forge
cppzmq                    4.10.0               h2e2a08d_1    conda-forge
cxx-compiler              1.7.0                h00ab1b0_1    conda-forge
cycler                    0.12.1             pyhd8ed1ab_0    conda-forge
dartsim                   6.13.2               h89be5ba_2    conda-forge
dav1d                     1.2.1                hd590300_0    conda-forge
dbus                      1.13.6               h5008d03_3    conda-forge
decorator                 5.1.1              pyhd8ed1ab_0    conda-forge
double-conversion         3.3.0                h59595ed_0    conda-forge
eigen                     3.4.0                h00ab1b0_0    conda-forge
elfutils                  0.191                h924a536_0    conda-forge
exceptiongroup            1.2.2              pyhd8ed1ab_0    conda-forge
executing                 2.0.1              pyhd8ed1ab_0    conda-forge
expat                     2.6.2                h59595ed_0    conda-forge
fcl                       0.7.0                hadc09e8_4    conda-forge
ffmpeg                    6.1.1           gpl_h853fe30_113    conda-forge
flann                     1.9.2                h2b5ea80_0    conda-forge
fmt                       10.2.1               h00ab1b0_0    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 h77eed37_2    conda-forge
fontconfig                2.14.2               h14ed4e7_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
fonttools                 4.53.1          py310h5b4e0ec_0    conda-forge
fortran-compiler          1.7.0                heb67821_1    conda-forge
freeglut                  3.2.2                hac7e632_2    conda-forge
freeimage                 3.18.0              h4b96d29_20    conda-forge
freetype                  2.12.1               h267a509_2    conda-forge
freexl                    2.0.0                h743c826_0    conda-forge
fribidi                   1.0.10               h36c2ea0_0    conda-forge
frozenlist                1.4.1           py310h2372a71_0    conda-forge
gcc                       12.4.0               h236703b_0    conda-forge
gcc_impl_linux-64         12.4.0               hb2e57f8_0    conda-forge
gcc_linux-64              12.4.0               h6b7512a_0    conda-forge
gdbm                      1.18                 h0a1914f_2    conda-forge
gdk-pixbuf                2.42.12              hb9ae30d_0    conda-forge
geos                      3.12.1               h59595ed_0    conda-forge
geotiff                   1.7.1               h6b2125f_15    conda-forge
gettext                   0.22.5               h59595ed_2    conda-forge
gettext-tools             0.22.5               h59595ed_2    conda-forge
gfortran                  12.4.0               h236703b_0    conda-forge
gfortran_impl_linux-64    12.4.0               hc568b83_0    conda-forge
gfortran_linux-64         12.4.0               hd748a6a_0    conda-forge
giflib                    5.2.2                hd590300_0    conda-forge
gl2ps                     1.4.2                hae5d5c5_1    conda-forge
glew                      2.1.0                h9c3ff4c_2    conda-forge
glfw                      3.4                  hd590300_0    conda-forge
glib                      2.80.2               hf974151_0    conda-forge
glib-networking           2.80.0               h2ef3c98_0    conda-forge
glib-tools                2.80.2               hb6ce0ca_0    conda-forge
glm                       0.9.9.8              h00ab1b0_0    conda-forge
gmp                       6.3.0                hac33072_2    conda-forge
gnutls                    3.7.9                hb077bed_0    conda-forge
graphite2                 1.3.13            h59595ed_1003    conda-forge
graphviz                  11.0.0               hc68bbd7_0    conda-forge
gsl                       2.7                  he838d99_0    conda-forge
gst-plugins-bad           1.24.4               h8a6294b_0    conda-forge
gst-plugins-base          1.24.4               h9ad1361_0    conda-forge
gst-plugins-good          1.24.4               h1ec2d69_0    conda-forge
gstreamer                 1.24.4               haf2f30d_0    conda-forge
gtk2                      2.24.33              h280cfa0_4    conda-forge
gts                       0.7.6                h977cf35_4    conda-forge
gxx                       12.4.0               h236703b_0    conda-forge
gxx_impl_linux-64         12.4.0               h557a472_0    conda-forge
gxx_linux-64              12.4.0               h8489865_0    conda-forge
gz-sim8                   8.3.0                ha770c72_0    conda-forge
gz-sim8-python            8.3.0           py310h64a2142_0    conda-forge
h5py                      3.11.0          nompi_py310hf054cd7_102    conda-forge
harfbuzz                  8.5.0                hfac3d4d_0    conda-forge
hdf4                      4.2.15               h2a13503_7    conda-forge
hdf5                      1.14.3          nompi_hdf9ad27_105    conda-forge
icu                       73.2                 h59595ed_0    conda-forge
idna                      3.7                pyhd8ed1ab_0    conda-forge
imath                     3.1.11               hfc55251_0    conda-forge
ipopt                     3.14.16              h3696c94_4    conda-forge
ipython                   8.26.0             pyh707e725_0    conda-forge
irrlicht                  1.8.5                h2a6caf8_4    conda-forge
jack                      1.9.22               h7c63dc7_2    conda-forge
jasper                    4.2.4                h536e39c_0    conda-forge
jedi                      0.19.1             pyhd8ed1ab_0    conda-forge
json-c                    0.17                 h1220068_1    conda-forge
jsoncpp                   1.9.5                h4bd325d_1    conda-forge
jxrlib                    1.1                  hd590300_3    conda-forge
kealib                    1.5.3                hee9dde6_1    conda-forge
kernel-headers_linux-64   3.10.0              h4a8ded7_16    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
kiwisolver                1.4.5           py310hd41b1e2_1    conda-forge
krb5                      1.21.3               h659f571_0    conda-forge
lame                      3.100             h166bdaf_1003    conda-forge
lcms2                     2.16                 hb7c19ff_0    conda-forge
ld_impl_linux-64          2.40                 hf3520f5_7    conda-forge
lerc                      4.0.0                h27087fc_0    conda-forge
libabseil                 20240116.2      cxx17_he02047a_1    conda-forge
libaec                    1.1.3                h59595ed_0    conda-forge
libarchive                3.7.4                hfca40fe_0    conda-forge
libasprintf               0.22.5               h661eb56_2    conda-forge
libasprintf-devel         0.22.5               h661eb56_2    conda-forge
libass                    0.17.1               h8fe9dca_1    conda-forge
libblas                   3.9.0           23_linux64_openblas    conda-forge
libboost                  1.84.0               hba137d9_3    conda-forge
libboost-devel            1.84.0               h00ab1b0_3    conda-forge
libboost-headers          1.84.0               ha770c72_3    conda-forge
libboost-python           1.84.0          py310he6ccd79_3    conda-forge
libboost-python-devel     1.84.0          py310hb7f781d_3    conda-forge
libbrotlicommon           1.1.0                hd590300_1    conda-forge
libbrotlidec              1.1.0                hd590300_1    conda-forge
libbrotlienc              1.1.0                hd590300_1    conda-forge
libcap                    2.69                 h0f662aa_0    conda-forge
libcblas                  3.9.0           23_linux64_openblas    conda-forge
libccd-double             2.1                  h59595ed_3    conda-forge
libclang-cpp15            15.0.7          default_h127d8a8_5    conda-forge
libclang-cpp18.1          18.1.8          default_hf981a13_1    conda-forge
libclang13                18.1.8          default_h9def88c_1    conda-forge
libcrc32c                 1.1.2                h9c3ff4c_0    conda-forge
libcups                   2.3.3                h4637d8d_4    conda-forge
libcurl                   8.9.0                hdb1bdb2_0    conda-forge
libdb                     6.2.32               h9c3ff4c_0    conda-forge
libdc1394                 2.2.7                h59595ed_1    conda-forge
libdeflate                1.20                 hd590300_0    conda-forge
libdrm                    2.4.122              h4ab18f5_0    conda-forge
libdrm-cos7-x86_64        2.4.97            h9b0a68f_1105    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libev                     4.33                 hd590300_2    conda-forge
libevent                  2.1.12               hf998b51_1    conda-forge
libexpat                  2.6.2                h59595ed_0    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libflac                   1.4.3                h59595ed_0    conda-forge
libgcc-devel_linux-64     12.4.0             ha4f9413_100    conda-forge
libgcc-ng                 14.1.0               h77fa898_0    conda-forge
libgcrypt                 1.11.0               h4ab18f5_1    conda-forge
libgd                     2.3.3                h119a65a_9    conda-forge
libgdal                   3.8.4                h7c88fdf_5    conda-forge
libgettextpo              0.22.5               h59595ed_2    conda-forge
libgettextpo-devel        0.22.5               h59595ed_2    conda-forge
libgfortran-ng            14.1.0               h69a702a_0    conda-forge
libgfortran5              14.1.0               hc5f4f2c_0    conda-forge
libglib                   2.80.2               hf974151_0    conda-forge
libglu                    9.0.0             hac7e632_1003    conda-forge
libglvnd-cos7-x86_64      1.0.1             h9b0a68f_1105    conda-forge
libglvnd-glx-cos7-x86_64  1.0.1             h9b0a68f_1105    conda-forge
libgomp                   14.1.0               h77fa898_0    conda-forge
libgoogle-cloud           2.23.0               h9be4e54_1    conda-forge
libgoogle-cloud-storage   2.23.0               hc7a4891_1    conda-forge
libgpg-error              1.50                 h4f305b6_0    conda-forge
libgrpc                   1.62.2               h15f2491_0    conda-forge
libgz-cmake3              3.5.3                hac33072_0    conda-forge
libgz-common5             5.5.1                h23e380d_0    conda-forge
libgz-fuel-tools9         9.0.3                h9614a5f_0    conda-forge
libgz-gui8                8.0.0                hee5a715_6    conda-forge
libgz-math7               7.5.0                hac33072_0    conda-forge
libgz-msgs10              10.2.0               hbde0791_0    conda-forge
libgz-physics7            7.2.0                h45a2cb6_1    conda-forge
libgz-plugin2             2.0.3                h59595ed_0    conda-forge
libgz-rendering8          8.1.1                hd3aeb46_1    conda-forge
libgz-sensors8            8.0.0                hf437a2f_5    conda-forge
libgz-sim8                8.3.0                h5fd5377_0    conda-forge
libgz-tools2              2.0.0                h1caa08d_4    conda-forge
libgz-transport13         13.4.0               h09f39ac_0    conda-forge
libgz-utils2              2.1.0                h59595ed_0    conda-forge
libhwloc                  2.11.0          default_h5622ce7_1000    conda-forge
libi2c                    4.3                  hcb278e6_2    conda-forge
libiconv                  1.17                 hd590300_2    conda-forge
libidn2                   2.3.7                hd590300_0    conda-forge
libjpeg-turbo             3.0.0                hd590300_1    conda-forge
libkml                    1.3.0             hbbc8833_1020    conda-forge
liblapack                 3.9.0           23_linux64_openblas    conda-forge
liblapacke                3.9.0           23_linux64_openblas    conda-forge
libllvm15                 15.0.7               hb3ce162_4    conda-forge
libllvm18                 18.1.8               h8b73ec9_1    conda-forge
libmatio                  1.5.27               hd8a4993_0    conda-forge
libmicrohttpd             1.0.1                h97afed2_0    conda-forge
libnetcdf                 4.9.2           nompi_h135f659_114    conda-forge
libnghttp2                1.58.0               h47da74e_1    conda-forge
libnsl                    2.0.1                hd590300_0    conda-forge
libode                    0.16.2              hc6cd4ac_14    conda-forge
libogg                    1.3.5                h4ab18f5_0    conda-forge
libopenblas               0.3.27          pthreads_hac2b453_1    conda-forge
libopencv                 4.10.0          headless_py310h3d4b477_1    conda-forge
libopenvino               2024.2.0             h2da1b83_1    conda-forge
libopenvino-auto-batch-plugin 2024.2.0             hb045406_1    conda-forge
libopenvino-auto-plugin   2024.2.0             hb045406_1    conda-forge
libopenvino-hetero-plugin 2024.2.0             h5c03a75_1    conda-forge
libopenvino-intel-cpu-plugin 2024.2.0             h2da1b83_1    conda-forge
libopenvino-intel-gpu-plugin 2024.2.0             h2da1b83_1    conda-forge
libopenvino-intel-npu-plugin 2024.2.0             he02047a_1    conda-forge
libopenvino-ir-frontend   2024.2.0             h5c03a75_1    conda-forge
libopenvino-onnx-frontend 2024.2.0             h07e8aee_1    conda-forge
libopenvino-paddle-frontend 2024.2.0             h07e8aee_1    conda-forge
libopenvino-pytorch-frontend 2024.2.0             he02047a_1    conda-forge
libopenvino-tensorflow-frontend 2024.2.0             h39126c6_1    conda-forge
libopenvino-tensorflow-lite-frontend 2024.2.0             he02047a_1    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libpciaccess              0.18                 hd590300_0    conda-forge
libpng                    1.6.43               h2797004_0    conda-forge
libpq                     16.3                 ha72fbe1_0    conda-forge
libprotobuf               4.25.3               h08a7969_0    conda-forge
libpsl                    0.21.2               h3253dac_2    conda-forge
libraw                    0.21.1               h2a13503_2    conda-forge
libre2-11                 2023.09.01           h5a48ba9_2    conda-forge
librsvg                   2.58.1               hadf69e7_0    conda-forge
librttopo                 1.1.0               h8917695_15    conda-forge
libsanitizer              12.4.0               h46f95d5_0    conda-forge
libscotch                 7.0.4                h2fe6a88_5    conda-forge
libsdformat14             14.4.0               h0de9998_0    conda-forge
libselinux-cos7-x86_64    2.5               h9b0a68f_1105    conda-forge
libsepol-cos7-x86_64      2.5               h9b0a68f_1105    conda-forge
libsndfile                1.2.2                hc60ed4a_1    conda-forge
libsodium                 1.0.18               h36c2ea0_1    conda-forge
libsoup                   3.4.4                h5006749_2    conda-forge
libspatialite             5.1.0                h7bd4643_4    conda-forge
libspral                  2024.05.08           hdf4021c_2    conda-forge
libsqlite                 3.46.0               hde9e2c9_0    conda-forge
libssh2                   1.11.0               h0841786_0    conda-forge
libstdcxx-devel_linux-64  12.4.0             ha4f9413_100    conda-forge
libstdcxx-ng              14.1.0               hc0a3c3a_0    conda-forge
libsystemd0               255                  h3516f8a_1    conda-forge
libtasn1                  4.19.0               h166bdaf_0    conda-forge
libtheora                 1.1.1             h4ab18f5_1006    conda-forge
libtiff                   4.6.0                h1dd3fc0_3    conda-forge
libudev1                  255                  h3f72095_1    conda-forge
libunistring              0.9.10               h7f98852_0    conda-forge
libusb                    1.0.27             h520f47e_100    conda-forge
libuuid                   2.38.1               h0b41bf4_0    conda-forge
libuv                     1.48.0               hd590300_0    conda-forge
libva                     2.21.0               h4ab18f5_2    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.14.1               hac33072_0    conda-forge
libwebp                   1.4.0                h2c329e2_0    conda-forge
libwebp-base              1.4.0                hd590300_0    conda-forge
libxcb                    1.15                 h0b41bf4_0    conda-forge
libxcrypt                 4.4.36               hd590300_1    conda-forge
libxkbcommon              1.7.0                h662e7e4_0    conda-forge
libxml2                   2.12.7               h4c95cb1_3    conda-forge
libxshmfence-cos7-x86_64  1.2               h9b0a68f_1105    conda-forge
libxshmfence-devel-cos7-x86_64 1.2               h9b0a68f_1105    conda-forge
libzip                    1.10.1               h2629f0a_3    conda-forge
libzlib                   1.3.1                h4ab18f5_1    conda-forge
loguru                    0.7.2           py310hff52083_1    conda-forge
lua                       5.4.6                h2973eb6_1    conda-forge
lz4-c                     1.9.4                hcb278e6_0    conda-forge
lzo                       2.10              hd590300_1001    conda-forge
make                      4.3                  hd18ef5c_1    conda-forge
matplotlib                3.9.1           py310hff52083_0    conda-forge
matplotlib-base           3.9.1           py310h0b1de36_0    conda-forge
matplotlib-inline         0.1.7              pyhd8ed1ab_0    conda-forge
mesa-khr-devel-cos7-x86_64 18.3.4            h9b0a68f_1105    conda-forge
mesa-libgl-cos7-x86_64    18.3.4            h9b0a68f_1105    conda-forge
mesa-libgl-devel-cos7-x86_64 18.3.4            h9b0a68f_1105    conda-forge
mesa-libglapi-cos7-x86_64 18.3.4            h9b0a68f_1105    conda-forge
metis                     5.1.0             h59595ed_1007    conda-forge
minizip                   4.0.7                h401b404_0    conda-forge
mpg123                    1.32.6               h59595ed_0    conda-forge
msgpack-python            1.0.8           py310h25c7140_0    conda-forge
multidict                 6.0.5           py310h2372a71_0    conda-forge
mumps-include             5.7.2                ha770c72_0    conda-forge
mumps-seq                 5.7.2                h6e8dedb_0    conda-forge
munkres                   1.1.4              pyh9f0ad1d_0    conda-forge
mysql-common              8.3.0                h70512c7_5    conda-forge
mysql-libs                8.3.0                ha479ceb_5    conda-forge
ncurses                   6.5                  h59595ed_0    conda-forge
nettle                    3.9.1                h7ab15ed_0    conda-forge
ninja                     1.12.1               h297d8ca_0    conda-forge
nlohmann_json             3.11.3               h59595ed_0    conda-forge
nspr                      4.35                 h27087fc_0    conda-forge
nss                       3.102                h593d115_0    conda-forge
numpy                     1.26.4          py310hb13e2d6_0    conda-forge
ocl-icd                   2.3.2                hd590300_1    conda-forge
octomap                   1.9.8                h924138e_0    conda-forge
ogre                      1.10.12.1            hb5e08f3_1    conda-forge
ogre-next                 2.3.3                h1b25c05_0    conda-forge
onnxruntime-cpp           1.18.1           h0c98366_0_cpu    conda-forge
opencv                    4.10.0          headless_py310h18fe71b_1    conda-forge
openexr                   3.2.2                haf962dd_1    conda-forge
openh264                  2.4.1                h59595ed_0    conda-forge
openjpeg                  2.5.2                h488ebb8_0    conda-forge
openssl                   3.3.1                h4bc722e_2    conda-forge
p11-kit                   0.24.1               hc5aa10d_0    conda-forge
packaging                 24.1               pyhd8ed1ab_0    conda-forge
pango                     1.54.0               h84a9a3c_0    conda-forge
parso                     0.8.4              pyhd8ed1ab_0    conda-forge
pcl                       1.14.1               hbf7b2d8_3    conda-forge
pcre2                     10.43                hcad00b1_0    conda-forge
pexpect                   4.9.0              pyhd8ed1ab_0    conda-forge
pickleshare               0.7.5                   py_1003    conda-forge
pillow                    10.3.0          py310hf73ecf8_0    conda-forge
pip                       24.1.2             pyhd8ed1ab_0    conda-forge
pixman                    0.43.2               h59595ed_0    conda-forge
pkg-config                0.29.2            h4bc722e_1009    conda-forge
ply                       3.11               pyhd8ed1ab_2    conda-forge
poppler                   24.03.0              h590f24d_0    conda-forge
poppler-data              0.4.12               hd8ed1ab_0    conda-forge
portaudio                 19.6.0               h7c63dc7_9    conda-forge
postgresql                16.3                 h8e811e2_0    conda-forge
proj                      9.3.1                h1d62c97_0    conda-forge
prompt-toolkit            3.0.47             pyha770c72_0    conda-forge
pthread-stubs             0.4               h36c2ea0_1001    conda-forge
ptyprocess                0.7.0              pyhd3deb0d_0    conda-forge
pugixml                   1.14                 h59595ed_0    conda-forge
pulseaudio-client         17.0                 hb77b528_0    conda-forge
pure_eval                 0.2.3              pyhd8ed1ab_0    conda-forge
py-opencv                 4.10.0          headless_py310h59be988_1    conda-forge
pybind11                  2.13.1          py310h25c7140_0    conda-forge
pybind11-abi              4                    hd8ed1ab_3    conda-forge
pybind11-global           2.13.1          py310h25c7140_0    conda-forge
pygments                  2.18.0             pyhd8ed1ab_0    conda-forge
pyparsing                 3.1.2              pyhd8ed1ab_0    conda-forge
pyqt                      5.15.9          py310h04931ad_5    conda-forge
pyqt5-sip                 12.12.2         py310hc6cd4ac_5    conda-forge
pyqtwebengine             5.15.9          py310h704022c_5    conda-forge
python                    3.10.14         hd12c33a_0_cpython    conda-forge
python-dateutil           2.9.0              pyhd8ed1ab_0    conda-forge
python_abi                3.10                    4_cp310    conda-forge
pyyaml                    6.0.1           py310h2372a71_1    conda-forge
pyzmq                     26.0.3          py310h6883aea_0    conda-forge
qhull                     2020.2               h434a139_5    conda-forge
qt-main                   5.15.8              hc9dc06e_21    conda-forge
qt-webengine              5.15.8               h3e791b3_6    conda-forge
qt6-main                  6.7.2                h402ef58_0    conda-forge
qtpy                      2.4.1              pyhd8ed1ab_0    conda-forge
re2                       2023.09.01           h7f4b329_2    conda-forge
readline                  8.2                  h8228510_1    conda-forge
rhash                     1.4.4                hd590300_0    conda-forge
ruby                      3.3.3                h3da8d8b_0    conda-forge
s2n                       1.4.13               he19d79f_0    conda-forge
sdl                       1.2.68               h293081c_0    conda-forge
sdl2                      2.30.5               hef7aa77_0    conda-forge
sip                       6.7.12          py310hc6cd4ac_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
snappy                    1.2.1                ha2e4443_0    conda-forge
soxr                      0.1.3                h0b41bf4_3    conda-forge
spdlog                    1.13.0               hd2e6256_0    conda-forge
sqlite                    3.46.0               h6d4b2fc_0    conda-forge
stack_data                0.6.2              pyhd8ed1ab_0    conda-forge
svt-av1                   2.1.0                hac33072_0    conda-forge
swig                      4.2.1                hc9a1274_0    conda-forge
sysroot_linux-64          2.17                h4a8ded7_16    conda-forge
tbb                       2021.12.0            h434a139_2    conda-forge
tbb-devel                 2021.12.0            h2069b90_2    conda-forge
tiledb                    2.21.2               h27f064a_4    conda-forge
tinyxml                   2.6.2                h4bd325d_2    conda-forge
tinyxml2                  10.0.0               h59595ed_0    conda-forge
tk                        8.6.13          noxft_h4845f30_101    conda-forge
toml                      0.10.2             pyhd8ed1ab_0    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
tomlplusplus              3.3.0                hcb278e6_0    conda-forge
tornado                   6.4.1           py310hc51659f_0    conda-forge
traitlets                 5.14.3             pyhd8ed1ab_0    conda-forge
typing-extensions         4.12.2               hd8ed1ab_0    conda-forge
typing_extensions         4.12.2             pyha770c72_0    conda-forge
tzcode                    2024a                h3f72095_0    conda-forge
tzdata                    2024a                h0c530f3_0    conda-forge
u-msgpack-python          2.8.0              pyhd8ed1ab_0    conda-forge
unicodedata2              15.1.0          py310h2372a71_0    conda-forge
unixodbc                  2.3.12               h661eb56_0    conda-forge
urdfdom                   4.0.0                hee28ff1_1    conda-forge
urdfdom_headers           1.1.1                h00ab1b0_0    conda-forge
uriparser                 0.9.8                hac33072_0    conda-forge
utfcpp                    4.0.5                ha770c72_0    conda-forge
vtk                       9.3.0           qt_py310h1234567_200    conda-forge
vtk-base                  9.3.0           qt_py310h1234567_200    conda-forge
vtk-io-ffmpeg             9.3.0           qt_py310h1234567_200    conda-forge
wayland                   1.23.0               h5291e77_0    conda-forge
wcwidth                   0.2.13             pyhd8ed1ab_0    conda-forge
wslink                    2.1.1              pyhd8ed1ab_0    conda-forge
x264                      1!164.3095           h166bdaf_2    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xcb-util                  0.4.0                hd590300_1    conda-forge
xcb-util-cursor           0.1.4                hd590300_1    conda-forge
xcb-util-image            0.4.0                h8ee46fc_1    conda-forge
xcb-util-keysyms          0.4.0                h8ee46fc_1    conda-forge
xcb-util-renderutil       0.3.9                hd590300_1    conda-forge
xcb-util-wm               0.4.1                h8ee46fc_1    conda-forge
xerces-c                  3.2.5                hac6953d_0    conda-forge
xkeyboard-config          2.42                 h4ab18f5_0    conda-forge
xorg-compositeproto       0.4.2             h7f98852_1001    conda-forge
xorg-damageproto          1.2.1             h7f98852_1002    conda-forge
xorg-fixesproto           5.0               h7f98852_1002    conda-forge
xorg-inputproto           2.3.2             h7f98852_1002    conda-forge
xorg-kbproto              1.0.7             h7f98852_1002    conda-forge
xorg-libice               1.1.1                hd590300_0    conda-forge
xorg-libsm                1.2.4                h7391055_0    conda-forge
xorg-libx11               1.8.9                h8ee46fc_0    conda-forge
xorg-libxau               1.0.11               hd590300_0    conda-forge
xorg-libxaw               1.0.14               h7f98852_1    conda-forge
xorg-libxcomposite        0.4.6                h0b41bf4_1    conda-forge
xorg-libxdamage           1.1.5                h7f98852_1    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h0b41bf4_2    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxi                1.7.10               h4bc722e_1    conda-forge
xorg-libxinerama          1.1.5                h27087fc_0    conda-forge
xorg-libxmu               1.1.3                h4ab18f5_1    conda-forge
xorg-libxpm               3.5.17               hd590300_0    conda-forge
xorg-libxrandr            1.5.2                h7f98852_1    conda-forge
xorg-libxrender           0.9.11               hd590300_0    conda-forge
xorg-libxt                1.3.0                hd590300_1    conda-forge
xorg-libxtst              1.2.4                h4bc722e_0    conda-forge
xorg-libxxf86vm           1.1.5                h4bc722e_1    conda-forge
xorg-randrproto           1.5.0             h7f98852_1001    conda-forge
xorg-recordproto          1.14.2            h7f98852_1002    conda-forge
xorg-renderproto          0.11.1            h7f98852_1002    conda-forge
xorg-util-macros          1.19.3               h7f98852_0    conda-forge
xorg-xextproto            7.3.0             h0b41bf4_1003    conda-forge
xorg-xf86vidmodeproto     2.3.1             h7f98852_1002    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
yarl                      1.9.4           py310h2372a71_0    conda-forge
zeromq                    4.3.5                h75354e8_4    conda-forge
zlib                      1.3.1                h4ab18f5_1    conda-forge
zstd                      1.5.6                ha6fb4c9_0    conda-forge
zziplib                   0.13.69              he45264a_2    conda-forge

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

world_ergoCubGazeboV1_1.sdf
(robsub_gzsim) lomoretti@IITICUBLAP226:~/dnn-mpc/paper_romualdi_viceconte_2024_icra_dnn-mpc-walking/worlds (dnn-mpc/tsid/unicycle)$ cat world_ergoCubGazeboV1_1.sdf 
<?xml version="1.0"?>

<sdf version="1.11">
    <world name="tutorial_controlboard">
        <physics name="1ms" type="ignored">
            <max_step_size>0.001</max_step_size>
            <real_time_factor>1.0</real_time_factor>
        </physics>
        <plugin
            filename="gz-sim-physics-system"
            name="gz::sim::systems::Physics">
        </plugin>
        <plugin
            filename="gz-sim-user-commands-system"
            name="gz::sim::systems::UserCommands">
        </plugin>
        <plugin
            filename="gz-sim-sensors-system"
            name="gz::sim::systems::Sensors">
        </plugin>
        <plugin
            filename="gz-sim-scene-broadcaster-system"
            name="gz::sim::systems::SceneBroadcaster">
        </plugin>
        <plugin
            filename="gz-sim-contact-system"
            name="gz::sim::systems::Contact">
        </plugin>

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

        <light type="directional" name="sun">
            <cast_shadows>true</cast_shadows>
            <pose>0 0 10 0 0 0</pose>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <attenuation>
                <range>1000</range>
                <constant>0.9</constant>
                <linear>0.01</linear>
                <quadratic>0.001</quadratic>
            </attenuation>
            <direction>-0.5 0.1 -0.9</direction>
        </light>

        <model name="ground_plane">
            <static>true</static>
            <link name="link">
                <collision name="collision">
                    <geometry>
                        <plane>
                            <normal>0 0 1</normal>
                            <size>100 100</size>
                        </plane>
                    </geometry>
                </collision>
                <visual name="visual">
                    <geometry>
                        <plane>
                            <normal>0 0 1</normal>
                            <size>100 100</size>
                        </plane>
                    </geometry>
                    <material>
                        <ambient>0.8 0.8 0.8 1</ambient>
                        <diffuse>0.8 0.8 0.8 1</diffuse>
                        <specular>0.8 0.8 0.8 1</specular>
                    </material>
                </visual>
            </link>
        </model>

        <include>
            <uri>model://ergoCub/robots/ergoCubGazeboV1_1</uri>
        </include>

    </world>
</sdf> 

Then, I run gz sim world_ergoCubGazeboV1_1.sdf.

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

crash log
(robsub_gzsim) lomoretti@IITICUBLAP226:~/dnn-mpc/paper_romualdi_viceconte_2024_icra_dnn-mpc-walking/worlds (dnn-mpc/tsid/unicycle)$ gz sim world_ergoCubGazeboV1_1.sdf 
[INFO] |yarp.os.Port|/clock| Port /clock active at tcp://172.20.10.5:10010/
[INFO] gz-sim-yarp-clock-system plugin initialized.
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_imu.so] : Could not find shared library.
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_waist_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  waist_imu_0  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName torso_1) (sensorName waist_imu_0) (sensorScopedName "model/ergoCub/link/torso_1/sensor/waist_imu_0") (sensor_name waist_imu_0) (yarpDeviceName waist_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/waist_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  l_arm_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_arm_ft_sensor) (sensorName l_arm_ft) (sensorScopedName "model/ergoCub/joint/l_arm_ft_sensor/sensor/l_arm_ft") (sensor_name l_arm_ft) (yarpDeviceName ergocub_left_arm_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/ergocub_left_arm_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  r_arm_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_arm_ft_sensor) (sensorName r_arm_ft) (sensorScopedName "model/ergoCub/joint/r_arm_ft_sensor/sensor/r_arm_ft") (sensor_name r_arm_ft) (yarpDeviceName ergocub_right_arm_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/ergocub_right_arm_ft
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_torso.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_torso.ini
[INFO] gz-sim-yarp-controlboard-system: configuration of device  torso_hardware_device  loaded
[DEBUG] gz-sim-yarp-controlboard-system : robot scoped name:  model/ergoCub
[DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName:  torso_hardware_device
[DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0) (damping 0.0 0.0 0.0)) (LIMITS (jntPosMax 43.0 45.0 23.0) (jntPosMin -43.0 -18.0 -23.0) (jntVelMax 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 70.0) (kd 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.170000000000000012212) (maxInt 9999 9999 9999) (maxOutput 9999 9999 9999) (shift 0.0 0.0 0.0) (ko 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163) (maxInt 9999 9999 9999) (maxOutput 9999 9999 9999) (shift 0.0 0.0 0.0) (ko 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames torso_roll torso_pitch torso_yaw) (max_damping 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0) (yarpDeviceName torso_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device <gazebo_controlboard>. See C++ class ControlBoardDriver for documentation.
[WARNING] Parameter  jointNames  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Found 3 joints from the plugin configuration.
[INFO] Found 65 joints from the model description.
[INFO] Joint  torso_roll  added to the control board data.
[INFO] Joint  torso_pitch  added to the control board data.
[INFO] Joint  torso_yaw  added to the control board data.
[WARNING] Parameter  jntPosMin  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  jntPosMax  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Trajectory generator type set to  minimum_jerk
[ERROR] refSpeed  not found
[WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied
[ERROR] refAcceleration  not found
[WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied
[DEBUG] Joint  torso_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  torso_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  torso_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  torso_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  torso_yaw  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  torso_yaw  trajectory generation reference acceleration:  10  [deg/s^2]
[WARNING] Parameter  kp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  kd  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ki  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxInt  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxOutput  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  shift  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ko  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionUp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionDwn  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] No initial configuration found, initializing trajectory generator with current values
[INFO] Registered YARP device with instance name: model/ergoCub/torso_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  l_leg_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_leg_ft_sensor) (sensorName l_leg_ft) (sensorScopedName "model/ergoCub/joint/l_leg_ft_sensor/sensor/l_leg_ft") (sensor_name l_leg_ft) (yarpDeviceName ergocub_left_leg_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/ergocub_left_leg_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  l_foot_front_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_foot_front_ft_sensor) (sensorName l_foot_front_ft) (sensorScopedName "model/ergoCub/joint/l_foot_front_ft_sensor/sensor/l_foot_front_ft") (sensor_name l_foot_front_ft) (yarpDeviceName ergocub_left_foot_front_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/ergocub_left_foot_front_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  l_foot_rear_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName l_foot_rear_ft_sensor) (sensorName l_foot_rear_ft) (sensorScopedName "model/ergoCub/joint/l_foot_rear_ft_sensor/sensor/l_foot_rear_ft") (sensor_name l_foot_rear_ft) (yarpDeviceName ergocub_left_foot_rear_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/ergocub_left_foot_rear_ft
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  l_foot_front_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_foot_front) (sensorName l_foot_front_ft_imu) (sensorScopedName "model/ergoCub/link/l_foot_front/sensor/l_foot_front_ft_imu") (sensor_name l_foot_front_ft_imu) (yarpDeviceName l_foot_front_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/l_foot_front_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  l_foot_rear_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName l_foot_rear) (sensorName l_foot_rear_ft_imu) (sensorScopedName "model/ergoCub/link/l_foot_rear/sensor/l_foot_rear_ft_imu") (sensor_name l_foot_rear_ft_imu) (yarpDeviceName l_foot_rear_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/l_foot_rear_ft_sensor_inertial_hardware_device
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_left_leg.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_left_leg.ini
[INFO] gz-sim-yarp-controlboard-system: configuration of device  left_leg_hardware_device  loaded
[DEBUG] gz-sim-yarp-controlboard-system : robot scoped name:  model/ergoCub
[DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName:  left_leg_hardware_device
[DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 102.0 108.0 78.0 5.0 43.0 23.0) (jntPosMin -42.0 -15.0 -78.0 -103.0 -43.0 -23.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 40.0 100.0 100.0 100.0) (kd 0.149999999999999994449 0.149999999999999994449 0.349999999999999977796 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907) (ki 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName left_leg_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device <gazebo_controlboard>. See C++ class ControlBoardDriver for documentation.
[WARNING] Parameter  jointNames  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Found 6 joints from the plugin configuration.
[INFO] Found 65 joints from the model description.
[INFO] Joint  l_hip_pitch  added to the control board data.
[INFO] Joint  l_hip_roll  added to the control board data.
[INFO] Joint  l_hip_yaw  added to the control board data.
[INFO] Joint  l_knee  added to the control board data.
[INFO] Joint  l_ankle_pitch  added to the control board data.
[INFO] Joint  l_ankle_roll  added to the control board data.
[WARNING] Parameter  jntPosMin  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  jntPosMax  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Trajectory generator type set to  minimum_jerk
[ERROR] refSpeed  not found
[WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied
[ERROR] refAcceleration  not found
[WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied
[DEBUG] Joint  l_hip_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_hip_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_hip_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_hip_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_hip_yaw  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_hip_yaw  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_knee  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_knee  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_ankle_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_ankle_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_ankle_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_ankle_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[WARNING] Parameter  kp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  kd  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ki  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxInt  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxOutput  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  shift  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ko  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionUp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionDwn  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] No initial configuration found, initializing trajectory generator with current values
[INFO] Registered YARP device with instance name: model/ergoCub/left_leg_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  r_leg_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_leg_ft_sensor) (sensorName r_leg_ft) (sensorScopedName "model/ergoCub/joint/r_leg_ft_sensor/sensor/r_leg_ft") (sensor_name r_leg_ft) (yarpDeviceName ergocub_right_leg_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/ergocub_right_leg_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  r_foot_front_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_foot_front_ft_sensor) (sensorName r_foot_front_ft) (sensorScopedName "model/ergoCub/joint/r_foot_front_ft_sensor/sensor/r_foot_front_ft") (sensor_name r_foot_front_ft) (yarpDeviceName ergocub_right_foot_front_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/ergocub_right_foot_front_ft
[INFO] File is a URI:  model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  r_foot_rear_ft  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (disableImplicitNetworkWrapper) (jointName r_foot_rear_ft_sensor) (sensorName r_foot_rear_ft) (sensorScopedName "model/ergoCub/joint/r_foot_rear_ft_sensor/sensor/r_foot_rear_ft") (sensor_name r_foot_rear_ft) (yarpDeviceName ergocub_right_foot_rear_ft)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/ergocub_right_foot_rear_ft
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  r_foot_front_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_foot_front) (sensorName r_foot_front_ft_imu) (sensorScopedName "model/ergoCub/link/r_foot_front/sensor/r_foot_front_ft_imu") (sensor_name r_foot_front_ft_imu) (yarpDeviceName r_foot_front_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/r_foot_front_ft_sensor_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  r_foot_rear_ft_imu  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName r_foot_rear) (sensorName r_foot_rear_ft_imu) (sensorScopedName "model/ergoCub/link/r_foot_rear/sensor/r_foot_rear_ft_imu") (sensor_name r_foot_rear_ft_imu) (yarpDeviceName r_foot_rear_ft_sensor_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/r_foot_rear_ft_sensor_inertial_hardware_device
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_right_leg.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_right_leg.ini
[INFO] gz-sim-yarp-controlboard-system: configuration of device  right_leg_hardware_device  loaded
[DEBUG] gz-sim-yarp-controlboard-system : robot scoped name:  model/ergoCub
[DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName:  right_leg_hardware_device
[DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 102.0 108.0 78.0 5.0 43.0 23.0) (jntPosMin -42.0 -15.0 -78.0 -103.0 -43.0 -23.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 70.0 70.0 40.0 100.0 100.0 100.0) (kd 0.149999999999999994449 0.149999999999999994449 0.349999999999999977796 0.149999999999999994449 0.149999999999999994449 0.149999999999999994449) (ki 0.170000000000000012212 0.170000000000000012212 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907 0.348999999999999976907) (ki 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786 0.175999999999999989786) (maxInt 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName right_leg_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device <gazebo_controlboard>. See C++ class ControlBoardDriver for documentation.
[WARNING] Parameter  jointNames  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Found 6 joints from the plugin configuration.
[INFO] Found 65 joints from the model description.
[INFO] Joint  r_hip_pitch  added to the control board data.
[INFO] Joint  r_hip_roll  added to the control board data.
[INFO] Joint  r_hip_yaw  added to the control board data.
[INFO] Joint  r_knee  added to the control board data.
[INFO] Joint  r_ankle_pitch  added to the control board data.
[INFO] Joint  r_ankle_roll  added to the control board data.
[WARNING] Parameter  jntPosMin  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  jntPosMax  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Trajectory generator type set to  minimum_jerk
[ERROR] refSpeed  not found
[WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied
[ERROR] refAcceleration  not found
[WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied
[DEBUG] Joint  r_hip_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_hip_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_hip_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_hip_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_hip_yaw  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_hip_yaw  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_knee  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_knee  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_ankle_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_ankle_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_ankle_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_ankle_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[WARNING] Parameter  kp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  kd  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ki  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxInt  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxOutput  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  shift  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ko  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionUp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionDwn  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] No initial configuration found, initializing trajectory generator with current values
[INFO] Registered YARP device with instance name: model/ergoCub/right_leg_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  head_imu_0  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName head) (sensorName head_imu_0) (sensorScopedName "model/ergoCub/link/head/sensor/head_imu_0") (sensor_name head_imu_0) (yarpDeviceName head_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/head_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini
[INFO] gz-sim-yarp-imu-system: configuration of sensor  realsense_imu_0  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_imu| Parameters are (device gazebo_imu) (disableImplicitNetworkWrapper) (parentLinkName realsense) (sensorName realsense_imu_0) (sensorScopedName "model/ergoCub/link/realsense/sensor/realsense_imu_0") (sensor_name realsense_imu_0) (yarpDeviceName realsense_inertial_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_imu| Created device <gazebo_imu>. See C++ class IMUDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/realsense_inertial_hardware_device
[INFO] File is a URI:  model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini
[INFO] gz-sim-yarp-laser-system: configuration of sensor  lasersensor_head  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_laser| Parameters are (SENSOR (max_distance 5.0) (min_distance 0.200000000000000011102) (max_angle 360) (min_angle 0) (resolution 0.5) (allow_infinity 1)) (device gazebo_laser) (disableImplicitNetworkWrapper) (parentLinkName head) (period 10) (sensorName lasersensor_head) (sensorScopedName "model/ergoCub/link/head/sensor/lasersensor_head") (sensor_name lasersensor_head) (yarpDeviceName las360)
[INFO] |yarp.devices.Lidar2DDeviceBase| Using the following parameters:
[INFO] |yarp.devices.Lidar2DDeviceBase| max_dist: 5  min_dist: 0.2
[INFO] |yarp.devices.Lidar2DDeviceBase| max_angle: 360  min_angle: 0
[INFO] |yarp.devices.Lidar2DDeviceBase| resolution: 0.5
[INFO] |yarp.devices.Lidar2DDeviceBase| sensors: 720
[INFO] |yarp.devices.Lidar2DDeviceBase| allow_infinity: true
[INFO] |yarp.dev.PolyDriver|gazebo_laser| Created device <gazebo_laser>. See C++ class LaserDriver for documentation.
[INFO] Registered YARP device with instance name: model/ergoCub/las360
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_head.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_head.ini
[INFO] gz-sim-yarp-controlboard-system: configuration of device  head_hardware_device  loaded
[DEBUG] gz-sim-yarp-controlboard-system : robot scoped name:  model/ergoCub
[DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName:  head_hardware_device
[DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 17.0 20.0 45.0 30.0) (jntPosMin -30.0 -20.0 -45.0 -30) (jntVelMax 100.0 100.0 100.0 100)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.121999999999999997335 0.121999999999999997335 0.121999999999999997335 0.121999999999999997335) (ki 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (maxInt 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307) (ki 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245 0.00300000000000000006245) (maxInt 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (jointNames neck_pitch neck_roll neck_yaw camera_tilt) (max_damping 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0) (yarpDeviceName head_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device <gazebo_controlboard>. See C++ class ControlBoardDriver for documentation.
[WARNING] Parameter  jointNames  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Found 4 joints from the plugin configuration.
[INFO] Found 65 joints from the model description.
[INFO] Joint  neck_pitch  added to the control board data.
[INFO] Joint  neck_roll  added to the control board data.
[INFO] Joint  neck_yaw  added to the control board data.
[INFO] Joint  camera_tilt  added to the control board data.
[WARNING] Parameter  jntPosMin  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  jntPosMax  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Group TRAJECTORY_GENERATION not found in plugin configuration. Defaults to minimum jerk trajectory.
[WARNING] Group TRAJECTORY_GENERATION not found in plugin configuration. Defaults trajectory generation reference speed and accelerations will be applied
[DEBUG] Joint  neck_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  neck_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  neck_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  neck_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  neck_yaw  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  neck_yaw  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  camera_tilt  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  camera_tilt  trajectory generation reference acceleration:  10  [deg/s^2]
[WARNING] Parameter  kp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  kd  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ki  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxInt  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxOutput  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  shift  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ko  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionUp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionDwn  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] No initial configuration found, initializing trajectory generator with current values
[INFO] Registered YARP device with instance name: model/ergoCub/head_hardware_device
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_left_arm.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_left_arm.ini
[INFO] gz-sim-yarp-controlboard-system: configuration of device  left_arm_hardware_device  loaded
[DEBUG] gz-sim-yarp-controlboard-system : robot scoped name:  model/ergoCub
[DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName:  left_arm_hardware_device
[DEBUG] gz-sim-yarp-controlboard-system: initialConfiguration:  -0.52 0.52 0 0.785 0 0 0.0
[DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 20.0 160.0 80.0 75.0 90.0 50.0 30.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 5.74500000000000010658 5.74500000000000010658 5.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (ki 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0 0.0 0.0 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (initialConfiguration "-0.52 0.52 0 0.785 0 0 0.0") (jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_yaw l_wrist_roll l_wrist_pitch) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName left_arm_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device <gazebo_controlboard>. See C++ class ControlBoardDriver for documentation.
[WARNING] Parameter  jointNames  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Found 7 joints from the plugin configuration.
[INFO] Found 65 joints from the model description.
[INFO] Joint  l_shoulder_pitch  added to the control board data.
[INFO] Joint  l_shoulder_roll  added to the control board data.
[INFO] Joint  l_shoulder_yaw  added to the control board data.
[INFO] Joint  l_elbow  added to the control board data.
[INFO] Joint  l_wrist_yaw  added to the control board data.
[INFO] Joint  l_wrist_roll  added to the control board data.
[INFO] Joint  l_wrist_pitch  added to the control board data.
[WARNING] Parameter  jntPosMin  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  jntPosMax  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Trajectory generator type set to  minimum_jerk
[ERROR] refSpeed  not found
[WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied
[ERROR] refAcceleration  not found
[WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied
[DEBUG] Joint  l_shoulder_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_shoulder_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_shoulder_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_shoulder_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_shoulder_yaw  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_shoulder_yaw  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_elbow  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_elbow  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_wrist_yaw  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_wrist_yaw  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_wrist_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_wrist_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  l_wrist_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  l_wrist_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[WARNING] Parameter  kp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  kd  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ki  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxInt  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxOutput  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  shift  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ko  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionUp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionDwn  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Initial configuration found, initializing trajectory generator with it
[INFO] Registered YARP device with instance name: model/ergoCub/left_arm_hardware_device
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[INFO] File is a URI:  model://ergoCub/conf/gazebo_ergocub_right_arm.ini
[INFO] Yarp configuration file loaded:  /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/gazebo_ergocub_right_arm.ini
[INFO] gz-sim-yarp-controlboard-system: configuration of device  right_arm_hardware_device  loaded
[DEBUG] gz-sim-yarp-controlboard-system : robot scoped name:  model/ergoCub
[DEBUG] gz-sim-yarp-controlboard-system : yarpDeviceName:  right_arm_hardware_device
[DEBUG] gz-sim-yarp-controlboard-system: initialConfiguration:  -0.52 0.52 0 0.785 0 0 0.0
[DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (IMPEDANCE_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (LIMITS (jntPosMax 20.0 160.0 80.0 75.0 90.0 50.0 30.0) (jntPosMin -175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0) (jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0)) (POSITION_CONTROL (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 5.74500000000000010658 5.74500000000000010658 5.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658 1.74500000000000010658) (kd 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (ki 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.17399999999999998801 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (TRAJECTORY_GENERATION (trajectory_type minimum_jerk)) (VELOCITY_CONTROL (velocityControlImplementationType integrator_and_position_pid) (controlUnits metric_units) (controlLaw joint_pid_gazebo_v1) (kp 8.72600000000000086686 8.72600000000000086686 8.72600000000000086686 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552 5.23599999999999976552) (kd 0.0350000000000000033307 0.0350000000000000033307 0.0350000000000000033307 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0) (ki 0.00200000000000000004163 0.00200000000000000004163 0.00200000000000000004163 0.0 0.0 0.0 0.0) (maxInt 9999 9999 9999 9999 9999 9999 9999) (maxOutput 9999 9999 9999 9999 9999 9999 9999) (shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0)) (controlBoardId "model/ergoCub") (device gazebo_controlboard) (disableImplicitNetworkWrapper) (initialConfiguration "-0.52 0.52 0 0.785 0 0 0.0") (jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_yaw r_wrist_roll r_wrist_pitch) (max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0) (max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0) (max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0) (min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (yarpDeviceName right_arm_hardware_device)
[INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device <gazebo_controlboard>. See C++ class ControlBoardDriver for documentation.
[WARNING] Parameter  jointNames  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Found 7 joints from the plugin configuration.
[INFO] Found 65 joints from the model description.
[INFO] Joint  r_shoulder_pitch  added to the control board data.
[INFO] Joint  r_shoulder_roll  added to the control board data.
[INFO] Joint  r_shoulder_yaw  added to the control board data.
[INFO] Joint  r_elbow  added to the control board data.
[INFO] Joint  r_wrist_yaw  added to the control board data.
[INFO] Joint  r_wrist_roll  added to the control board data.
[INFO] Joint  r_wrist_pitch  added to the control board data.
[WARNING] Parameter  jntPosMin  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  jntPosMax  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Trajectory generator type set to  minimum_jerk
[ERROR] refSpeed  not found
[WARNING] Parameter refSpeed not found in TRAJECTORY_GENERATION group. Defaults will be applied
[ERROR] refAcceleration  not found
[WARNING] Parameter refAcceleration not found in TRAJECTORY_GENERATION group. Defaults will be applied
[DEBUG] Joint  r_shoulder_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_shoulder_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_shoulder_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_shoulder_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_shoulder_yaw  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_shoulder_yaw  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_elbow  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_elbow  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_wrist_yaw  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_wrist_yaw  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_wrist_roll  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_wrist_roll  trajectory generation reference acceleration:  10  [deg/s^2]
[DEBUG] Joint  r_wrist_pitch  trajectory generation reference speed:  10  [deg/s]
[DEBUG] Joint  r_wrist_pitch  trajectory generation reference acceleration:  10  [deg/s^2]
[WARNING] Parameter  kp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  kd  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ki  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxInt  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  maxOutput  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  shift  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  ko  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionUp  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[WARNING] Parameter  stictionDwn  should be a list, but its format is deprecated as parenthesis are missing.  Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .
[INFO] Initial configuration found, initializing trajectory generator with it
[INFO] Registered YARP device with instance name: model/ergoCub/right_arm_hardware_device
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_controlboard.so] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [libgazebo_yarp_robotinterface.so] : Could not find shared library.
[INFO] File is a URI:  model://ergoCub/conf/ergocub_gz_sim.xml
[DEBUG] Reading file /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/ergocub_gz_sim.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file /home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/conf/ergocub_gz_sim.xml
[INFO] Yarprobotinterface was started using the following enable_tags: 
[INFO] Yarprobotinterface was started using the following disable_tags: 
[DEBUG] List of all enable attributes found in the include tags: 
[DEBUG] List of all disable attributes found in the include tags: 
[DEBUG] Preprocessor complete in:  0.000588417 s
[INFO] startup phase starting...
[INFO] Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/left_arm"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_arm-mc_nws_yarp) (name "/ergocubSim/left_arm") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/left_arm/rpc:i| Port /ergocubSim/left_arm/rpc:i active at tcp://172.20.10.5:10011/
[INFO] |yarp.os.Port|/ergocubSim/left_arm/command:i| Port /ergocubSim/left_arm/command:i active at tcp://172.20.10.5:10012/
[INFO] |yarp.os.Port|/ergocubSim/left_arm/state:o| Port /ergocubSim/left_arm/state:o active at tcp://172.20.10.5:10013/
[INFO] |yarp.os.Port|/ergocubSim/left_arm/stateExt:o| Port /ergocubSim/left_arm/stateExt:o active at tcp://172.20.10.5:10014/
[INFO] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device right_arm-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/right_arm"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/ergocubSim/right_arm") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/right_arm/rpc:i| Port /ergocubSim/right_arm/rpc:i active at tcp://172.20.10.5:10015/
[INFO] |yarp.os.Port|/ergocubSim/right_arm/command:i| Port /ergocubSim/right_arm/command:i active at tcp://172.20.10.5:10016/
[INFO] |yarp.os.Port|/ergocubSim/right_arm/state:o| Port /ergocubSim/right_arm/state:o active at tcp://172.20.10.5:10017/
[INFO] |yarp.os.Port|/ergocubSim/right_arm/stateExt:o| Port /ergocubSim/right_arm/stateExt:o active at tcp://172.20.10.5:10018/
[INFO] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device left_leg-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/left_leg"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_leg-mc_nws_yarp) (name "/ergocubSim/left_leg") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/left_leg/rpc:i| Port /ergocubSim/left_leg/rpc:i active at tcp://172.20.10.5:10019/
[INFO] |yarp.os.Port|/ergocubSim/left_leg/command:i| Port /ergocubSim/left_leg/command:i active at tcp://172.20.10.5:10020/
[INFO] |yarp.os.Port|/ergocubSim/left_leg/state:o| Port /ergocubSim/left_leg/state:o active at tcp://172.20.10.5:10021/
[INFO] |yarp.os.Port|/ergocubSim/left_leg/stateExt:o| Port /ergocubSim/left_leg/stateExt:o active at tcp://172.20.10.5:10022/
[INFO] |yarp.dev.PolyDriver|left_leg-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device right_leg-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/right_leg"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_leg-mc_nws_yarp) (name "/ergocubSim/right_leg") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/right_leg/rpc:i| Port /ergocubSim/right_leg/rpc:i active at tcp://172.20.10.5:10023/
[INFO] |yarp.os.Port|/ergocubSim/right_leg/command:i| Port /ergocubSim/right_leg/command:i active at tcp://172.20.10.5:10024/
[INFO] |yarp.os.Port|/ergocubSim/right_leg/state:o| Port /ergocubSim/right_leg/state:o active at tcp://172.20.10.5:10025/
[INFO] |yarp.os.Port|/ergocubSim/right_leg/stateExt:o| Port /ergocubSim/right_leg/stateExt:o active at tcp://172.20.10.5:10026/
[INFO] |yarp.dev.PolyDriver|right_leg-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device head-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/head")]
[DEBUG] |yarp.dev.PolyDriver|head-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/ergocubSim/head") (robotName "/ergocubSim")
[DEBUG] |yarp.devices.controlBoard_nws_yarp| 'period' parameter missing, using default thread period = 0.02s
[INFO] |yarp.os.Port|/ergocubSim/head/rpc:i| Port /ergocubSim/head/rpc:i active at tcp://172.20.10.5:10027/
[INFO] |yarp.os.Port|/ergocubSim/head/command:i| Port /ergocubSim/head/command:i active at tcp://172.20.10.5:10028/
[INFO] |yarp.os.Port|/ergocubSim/head/state:o| Port /ergocubSim/head/state:o active at tcp://172.20.10.5:10029/
[INFO] |yarp.os.Port|/ergocubSim/head/stateExt:o| Port /ergocubSim/head/stateExt:o active at tcp://172.20.10.5:10030/
[INFO] |yarp.dev.PolyDriver|head-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device torso-mc_nws_yarp with parameters [("robotName" = "/ergocubSim"), ("name" = "/ergocubSim/torso"), ("period" = "0.01")]
[DEBUG] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/ergocubSim/torso") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/torso/rpc:i| Port /ergocubSim/torso/rpc:i active at tcp://172.20.10.5:10031/
[INFO] |yarp.os.Port|/ergocubSim/torso/command:i| Port /ergocubSim/torso/command:i active at tcp://172.20.10.5:10032/
[INFO] |yarp.os.Port|/ergocubSim/torso/state:o| Port /ergocubSim/torso/state:o active at tcp://172.20.10.5:10033/
[INFO] |yarp.os.Port|/ergocubSim/torso/stateExt:o| Port /ergocubSim/torso/stateExt:o active at tcp://172.20.10.5:10034/
[INFO] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device left_arm-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(left_arm_joints1)"), ("left_arm_joints1" = "( 0 6 0 6 )"), ("joints" = "7")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-mc_remapper| Parameters are (device controlboardremapper) (id left_arm-mc_remapper) (joints 7) (left_arm_joints1 (0 6 0 6)) (networks (left_arm_joints1)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|left_arm-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device right_arm-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(right_arm_joints1)"), ("right_arm_joints1" = "( 0 6 0 6 )"), ("joints" = "7")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-mc_remapper| Parameters are (device controlboardremapper) (id right_arm-mc_remapper) (joints 7) (networks (right_arm_joints1)) (right_arm_joints1 (0 6 0 6)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|right_arm-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device left_leg-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(left_leg_joints1)"), ("left_leg_joints1" = "( 0 5 0 5 )"), ("joints" = "6")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-mc_remapper| Parameters are (device controlboardremapper) (id left_leg-mc_remapper) (joints 6) (left_leg_joints1 (0 5 0 5)) (networks (left_leg_joints1)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|left_leg-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device right_leg-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(right_leg_joints1)"), ("right_leg_joints1" = "( 0 5 0 5 )"), ("joints" = "6")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-mc_remapper| Parameters are (device controlboardremapper) (id right_leg-mc_remapper) (joints 6) (networks (right_leg_joints1)) (right_leg_joints1 (0 5 0 5)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|right_leg-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device head-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(head_joints1)"), ("head_joints1" = "( 0 3 0 3 )"), ("joints" = "4")]
[DEBUG] |yarp.dev.PolyDriver|head-mc_remapper| Parameters are (device controlboardremapper) (head_joints1 (0 3 0 3)) (id head-mc_remapper) (joints 4) (networks (head_joints1)) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|head-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device torso-mc_remapper with parameters [("robotName" = "/ergocubSim"), ("networks" = "(torso_joints)"), ("torso_joints" = "( 0 2 0 2 )"), ("joints" = "3")]
[DEBUG] |yarp.dev.PolyDriver|torso-mc_remapper| Parameters are (device controlboardremapper) (id torso-mc_remapper) (joints 3) (networks (torso_joints)) (robotName "/ergocubSim") (torso_joints (0 2 0 2))
[INFO] |yarp.dev.PolyDriver|torso-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device left_leg-FT_remapper with parameters [("robotName" = "/ergocubSim"), ("SixAxisForceTorqueSensorsNames" = "(l_leg_ft l_foot_rear_ft l_foot_front_ft)"), ("TemperatureSensorsNames" = "(l_leg_ft l_foot_rear_ft l_foot_front_ft)")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (l_leg_ft l_foot_rear_ft l_foot_front_ft)) (TemperatureSensorsNames (l_leg_ft l_foot_rear_ft l_foot_front_ft)) (device multipleanalogsensorsremapper) (id left_leg-FT_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|left_leg-FT_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device right_leg-FT_remapper with parameters [("robotName" = "/ergocubSim"), ("SixAxisForceTorqueSensorsNames" = "(r_leg_ft r_foot_rear_ft r_foot_front_ft)"), ("TemperatureSensorsNames" = "(r_leg_ft r_foot_rear_ft r_foot_front_ft)")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (r_leg_ft r_foot_rear_ft r_foot_front_ft)) (TemperatureSensorsNames (r_leg_ft r_foot_rear_ft r_foot_front_ft)) (device multipleanalogsensorsremapper) (id right_leg-FT_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|right_leg-FT_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device left_leg-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_leg/FT")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_leg-FT_wrapper) (name "/ergocubSim/left_leg/FT") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_leg-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_leg-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_leg/FT")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_leg-FT_wrapper) (name "/ergocubSim/right_leg/FT") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_leg-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device left_arm-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_arm/FT")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/ergocubSim/left_arm/FT") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_arm-FT_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_arm/FT")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_arm-FT_wrapper) (name "/ergocubSim/right_arm/FT") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device head-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/head/inertials")]
[DEBUG] |yarp.dev.PolyDriver|head-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/ergocubSim/head/inertials") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|head-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device waist-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/waist/inertials")]
[DEBUG] |yarp.dev.PolyDriver|waist-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id waist-inertials_wrapper) (name "/ergocubSim/waist/inertials") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|waist-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device left_foot-IMU_remapper with parameters [("robotName" = "/ergocubSim"), ("ThreeAxisGyroscopesNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("ThreeAxisLinearAccelerometersNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("ThreeAxisMagnetometersNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)"), ("OrientationSensorsNames" = "(l_foot_front_ft_imu, l_foot_rear_ft_imu)")]
[DEBUG] |yarp.dev.PolyDriver|left_foot-IMU_remapper| Parameters are (OrientationSensorsNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisGyroscopesNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisLinearAccelerometersNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (ThreeAxisMagnetometersNames (l_foot_front_ft_imu l_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id left_foot-IMU_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|left_foot-IMU_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device left_foot-IMU_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/left_foot_heel_tiptoe/imu")]
[DEBUG] |yarp.dev.PolyDriver|left_foot-IMU_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_foot-IMU_wrapper) (name "/ergocubSim/left_foot_heel_tiptoe/imu") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_foot-IMU_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_foot-IMU_remapper with parameters [("robotName" = "/ergocubSim"), ("ThreeAxisGyroscopesNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("ThreeAxisLinearAccelerometersNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("ThreeAxisMagnetometersNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)"), ("OrientationSensorsNames" = "(r_foot_front_ft_imu, r_foot_rear_ft_imu)")]
[DEBUG] |yarp.dev.PolyDriver|right_foot-IMU_remapper| Parameters are (OrientationSensorsNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisGyroscopesNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisLinearAccelerometersNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (ThreeAxisMagnetometersNames (r_foot_front_ft_imu r_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id right_foot-IMU_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|right_foot-IMU_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device right_foot-IMU_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/right_foot_heel_tiptoe/imu")]
[DEBUG] |yarp.dev.PolyDriver|right_foot-IMU_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_foot-IMU_wrapper) (name "/ergocubSim/right_foot_heel_tiptoe/imu") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_foot-IMU_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device alljoints-inertials_wrapper with parameters [("robotName" = "/ergocubSim"), ("period" = "10"), ("name" = "/ergocubSim/alljoints/inertials")]
[DEBUG] |yarp.dev.PolyDriver|alljoints-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id alljoints-inertials_wrapper) (name "/ergocubSim/alljoints/inertials") (period 10) (robotName "/ergocubSim")
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|alljoints-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device alljoints-inertials_remapper with parameters [("robotName" = "/ergocubSim"), ("OrientationSensorsNames" = "(head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_front_ft_imu l_foot_rear_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_front_ft_imu r_foot_rear_ft_imu)")]
[DEBUG] |yarp.dev.PolyDriver|alljoints-inertials_remapper| Parameters are (OrientationSensorsNames (head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_front_ft_imu l_foot_rear_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_front_ft_imu r_foot_rear_ft_imu)) (device multipleanalogsensorsremapper) (id alljoints-inertials_remapper) (robotName "/ergocubSim")
[INFO] |yarp.dev.PolyDriver|alljoints-inertials_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device lidarWrapY with parameters [("robotName" = "/ergocubSim"), ("period" = "0.01"), ("name" = "/ergocubSim/laser:o")]
[DEBUG] |yarp.dev.PolyDriver|lidarWrapY| Parameters are (device rangefinder2D_nws_yarp) (id lidarWrapY) (name "/ergocubSim/laser:o") (period 0.0100000000000000002082) (robotName "/ergocubSim")
[INFO] |yarp.os.Port|/ergocubSim/laser:o| Port /ergocubSim/laser:o active at tcp://172.20.10.5:10035/
[INFO] |yarp.os.Port|/ergocubSim/laser:o/rpc:i| Port /ergocubSim/laser:o/rpc:i active at tcp://172.20.10.5:10036/
[INFO] |yarp.dev.PolyDriver|lidarWrapY| Created wrapper <rangefinder2D_nws_yarp>. See C++ class Rangefinder2D_nws_yarp for documentation.
[INFO] Entering action level 5 of phase startup
[INFO] Executing attach action, level 5 on device left_arm-mc_remapper with parameters [("networks" = "(left_arm_joints1)"), ("left_arm_joints1" = "left_arm_hardware_device")]
[INFO] left_arm-mc_remapper is not an IWrapper. Trying IMultipleWrapper
[INFO] Executing attach action, level 5 on device right_arm-mc_remapper with parameters [("networks" = "(right_arm_joints1)"), ("right_arm_joints1" = "right_arm_hardware_device")]
[INFO] right_arm-mc_remapper is not an IWrapper. Trying IMultipleWrapper
[INFO] Executing attach action, level 5 on device left_leg-mc_remapper with parameters [("networks" = "(left_leg_joints1)"), ("left_leg_joints1" = "left_leg_hardware_device")]
[INFO] left_leg-mc_remapper is not an IWrapper. Trying IMultipleWrapper
[INFO] Executing attach action, level 5 on device right_leg-mc_remapper with parameters [("networks" = "(right_leg_joints1)"), ("right_leg_joints1" = "right_leg_hardware_device")]
[INFO] right_leg-mc_remapper is not an IWrapper. Trying IMultipleWrapper
[INFO] Executing attach action, level 5 on device head-mc_remapper with parameters [("networks" = "(head_joints1)"), ("head_joints1" = "head_hardware_device")]
[INFO] head-mc_remapper is not an IWrapper. Trying IMultipleWrapper
[INFO] Executing attach action, level 5 on device torso-mc_remapper with parameters [("networks" = "(torso_joints)"), ("torso_joints" = "torso_hardware_device")]
[INFO] torso-mc_remapper is not an IWrapper. Trying IMultipleWrapper
[INFO] Executing attach action, level 5 on device left_leg-FT_remapper with parameters [("networks" = "(left_leg_ft left_foot_rear_ft left_foot_front_ft)"), ("left_leg_ft" = "ergocub_left_leg_ft"), ("left_foot_rear_ft" = "ergocub_left_foot_rear_ft"), ("left_foot_front_ft" = "ergocub_left_foot_front_ft")]
[INFO] Executing attach action, level 5 on device right_leg-FT_remapper with parameters [("networks" = "(right_leg_ft right_foot_rear_ft right_foot_front_ft)"), ("right_leg_ft" = "ergocub_right_leg_ft"), ("right_foot_rear_ft" = "ergocub_right_foot_rear_ft"), ("right_foot_front_ft" = "ergocub_right_foot_front_ft")]
[INFO] Executing attach action, level 5 on device left_foot-IMU_remapper with parameters [("networks" = "(FirstIMU SecondIMU)"), ("FirstIMU" = "l_foot_front_ft_sensor_inertial_hardware_device"), ("SecondIMU" = "l_foot_rear_ft_sensor_inertial_hardware_device")]
[INFO] Executing attach action, level 5 on device right_foot-IMU_remapper with parameters [("networks" = "(FirstIMU SecondIMU)"), ("FirstIMU" = "r_foot_front_ft_sensor_inertial_hardware_device"), ("SecondIMU" = "r_foot_rear_ft_sensor_inertial_hardware_device")]
[INFO] Executing attach action, level 5 on device alljoints-inertials_remapper with parameters [("networks" = "(head_imu left_arm_imu left_leg_imu left_foot_front_imu left_foot_rear_imu right_arm_imu right_leg_imu right_foot_front_imu right_foot_rear_imu)"), ("head_imu" = "head_inertial_hardware_device"), ("left_arm_imu" = "l_arm_ft_sensor_inertial_hardware_device"), ("left_leg_imu" = "l_leg_ft_sensor_inertial_hardware_device"), ("left_foot_front_imu" = "l_foot_front_ft_sensor_inertial_hardware_device"), ("left_foot_rear_imu" = "l_foot_rear_ft_sensor_inertial_hardware_device"), ("right_arm_imu" = "r_arm_ft_sensor_inertial_hardware_device"), ("right_leg_imu" = "r_leg_ft_sensor_inertial_hardware_device"), ("right_foot_front_imu" = "r_foot_front_ft_sensor_inertial_hardware_device"), ("right_foot_rear_imu" = "r_foot_rear_ft_sensor_inertial_hardware_device")]
[ERROR] Target device l_arm_ft_sensor_inertial_hardware_device (network = left_arm_imu ) does not exist.
[ERROR] Cannot run attach action on device alljoints-inertials_remapper
[INFO] Executing attach action, level 5 on device lidarWrapY with parameters [("networks" = "(the_device)"), ("the_device" = "las360")]
[INFO] All actions for action level 5 of startup phase started. Waiting for unfinished actions.
[INFO] All actions for action level 5 of startup phase finished.
[INFO] Entering action level 10 of phase startup
[INFO] Executing attach action, level 10 on device left_arm-mc_nws_yarp with parameters [("device" = "left_arm-mc_remapper")]
[INFO] Executing attach action, level 10 on device right_arm-mc_nws_yarp with parameters [("device" = "right_arm-mc_remapper")]
[INFO] Executing attach action, level 10 on device left_leg-mc_nws_yarp with parameters [("device" = "left_leg-mc_remapper")]
[INFO] Executing attach action, level 10 on device right_leg-mc_nws_yarp with parameters [("device" = "right_leg-mc_remapper")]
[INFO] Executing attach action, level 10 on device head-mc_nws_yarp with parameters [("device" = "head-mc_remapper")]
[INFO] Executing attach action, level 10 on device torso-mc_nws_yarp with parameters [("device" = "torso-mc_remapper")]
[INFO] Executing attach action, level 10 on device left_leg-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "left_leg-FT_remapper")]
[INFO] left_leg-FT_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] |yarp.os.Port|/ergocubSim/left_leg/FT/measures:o| Port /ergocubSim/left_leg/FT/measures:o active at tcp://172.20.10.5:10037/
[INFO] |yarp.os.Port|/ergocubSim/left_leg/FT/rpc:o| Port /ergocubSim/left_leg/FT/rpc:o active at tcp://172.20.10.5:10038/
[DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete
[INFO] Executing attach action, level 10 on device right_leg-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "right_leg-FT_remapper")]
[INFO] right_leg-FT_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] |yarp.os.Port|/ergocubSim/right_leg/FT/measures:o| Port /ergocubSim/right_leg/FT/measures:o active at tcp://172.20.10.5:10039/
[INFO] |yarp.os.Port|/ergocubSim/right_leg/FT/rpc:o| Port /ergocubSim/right_leg/FT/rpc:o active at tcp://172.20.10.5:10040/
[DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete
[INFO] Executing attach action, level 10 on device left_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "ergocub_left_arm_ft")]
[INFO] left_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] |yarp.os.Port|/ergocubSim/left_arm/FT/measures:o| Port /ergocubSim/left_arm/FT/measures:o active at tcp://172.20.10.5:10041/
[INFO] |yarp.os.Port|/ergocubSim/left_arm/FT/rpc:o| Port /ergocubSim/left_arm/FT/rpc:o active at tcp://172.20.10.5:10042/
[DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete
[INFO] Executing attach action, level 10 on device right_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "ergocub_right_arm_ft")]
[INFO] right_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] |yarp.os.Port|/ergocubSim/right_arm/FT/measures:o| Port /ergocubSim/right_arm/FT/measures:o active at tcp://172.20.10.5:10043/
[INFO] |yarp.os.Port|/ergocubSim/right_arm/FT/rpc:o| Port /ergocubSim/right_arm/FT/rpc:o active at tcp://172.20.10.5:10044/
[DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete
[INFO] Executing attach action, level 10 on device head-inertials_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head_inertial_hardware_device")]
[INFO] head-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] |yarp.os.Port|/ergocubSim/head/inertials/measures:o| Port /ergocubSim/head/inertials/measures:o active at tcp://172.20.10.5:10045/
[INFO] |yarp.os.Port|/ergocubSim/head/inertials/rpc:o| Port /ergocubSim/head/inertials/rpc:o active at tcp://172.20.10.5:10046/
[DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete
[INFO] Executing attach action, level 10 on device waist-inertials_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "waist_inertial_hardware_device")]
[INFO] waist-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] |yarp.os.Port|/ergocubSim/waist/inertials/measures:o| Port /ergocubSim/waist/inertials/measures:o active at tcp://172.20.10.5:10047/
[INFO] |yarp.os.Port|/ergocubSim/waist/inertials/rpc:o| Port /ergocubSim/waist/inertials/rpc:o active at tcp://172.20.10.5:10048/
[DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete
[INFO] Executing attach action, level 10 on device left_foot-IMU_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "left_foot-IMU_remapper")]
[INFO] left_foot-IMU_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] |yarp.os.Port|/ergocubSim/left_foot_heel_tiptoe/imu/measures:o| Port /ergocubSim/left_foot_heel_tiptoe/imu/measures:o active at tcp://172.20.10.5:10049/
[INFO] |yarp.os.Port|/ergocubSim/left_foot_heel_tiptoe/imu/rpc:o| Port /ergocubSim/left_foot_heel_tiptoe/imu/rpc:o active at tcp://172.20.10.5:10050/
[DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete
[INFO] Executing attach action, level 10 on device right_foot-IMU_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "right_foot-IMU_remapper")]
[INFO] right_foot-IMU_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] |yarp.os.Port|/ergocubSim/right_foot_heel_tiptoe/imu/measures:o| Port /ergocubSim/right_foot_heel_tiptoe/imu/measures:o active at tcp://172.20.10.5:10051/
[INFO] |yarp.os.Port|/ergocubSim/right_foot_heel_tiptoe/imu/rpc:o| Port /ergocubSim/right_foot_heel_tiptoe/imu/rpc:o active at tcp://172.20.10.5:10052/
[DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete
[INFO] Executing attach action, level 10 on device alljoints-inertials_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "alljoints-inertials_remapper")]
[INFO] alljoints-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper
Stack trace (most recent call last):
#31   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f47089042, in vm_sendish
#30   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f4707cf07, in vm_call_cfunc_with_frame_
#29   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f46fc467d, in rb_f_fork
#28   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f46ef9da6, in rb_protect
#27   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f47094f91, in rb_yield
#26   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f470903e7, in rb_vm_exec
#25   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f4708d138, in vm_exec_core
#24   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f47089042, in vm_sendish
#23   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f4707cf07, in vm_call_cfunc_with_frame_
#22   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/ruby/3.3.0/x86_64-linux/fiddle.so", at 0x7f6f2b066efc, in function_call
#21   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libruby.so.3.3.3", at 0x7f6f4704d431, in rb_nogvl
#20   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/ruby/3.3.0/x86_64-linux/fiddle.so", at 0x7f6f2b066848, in nogvl_ffi_call
#19   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libffi.so.8.1.0", at 0x7f6f2b009fe9, in ffi_call_int
#18   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libffi.so.8.1.0", at 0x7f6f2b00aa49, in ffi_call_unix64
#17   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8-gz.so.8.3.0", at 0x7f6f2a395bcd, in runServer
#16   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a036b6f, in gz::sim::v8::Server::Server(gz::sim::v8::ServerConfig const&)
#15   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a04459e, in gz::sim::v8::ServerPrivate::CreateEntities()
#14   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a05ce09, in gz::sim::v8::SimulationRunner::SimulationRunner(sdf::v14::World const*, std::shared_ptr<gz::sim::v8::SystemLoader> const&, gz::sim::v8::ServerConfig const&)
#13   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f29fd6f1a, in gz::sim::v8::LevelManager::UpdateLevelsState()
#12   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f29fcb4a8, in gz::sim::v8::LevelManager::LoadActiveEntities(std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)
#11   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a017de0, in gz::sim::v8::SdfEntityCreator::CreateEntities(sdf::v14::Model const*)
#10   Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a00dcaf, in void gz::sim::v8::EventManager::Emit<gz::common::EventT<void (unsigned long, std::vector<sdf::v14::Plugin, std::allocator<sdf::v14::Plugin> >), gz::sim::v8::events::LoadPluginsTag>, unsigned long const&, std::vector<sdf::v14::Plugin, std::allocator<sdf::v14::Plugin> > const&>(unsigned long const&, std::vector<sdf::v14::Plugin, std::allocator<sdf::v14::Plugin> > const&)
#9    Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a04e655, in gz::sim::v8::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v14::Plugin, std::allocator<sdf::v14::Plugin> > const&)
#8    Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a06b854, in gz::sim::v8::SystemManager::LoadPlugin(unsigned long, sdf::v14::Plugin const&)
#7    Object "/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/libgz-sim8.so.8.3.0", at 0x7f6f2a06b1ff, in gz::sim::v8::SystemManager::AddSystemImpl(gz::sim::v8::SystemInternal, std::shared_ptr<sdf::v14::Element const>)
#6    Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/libgz-sim-yarp-robotinterface-system.so", at 0x7f6eec41c703, in gzyarp::RobotInterface::Configure(unsigned long const&, std::shared_ptr<sdf::v14::Element const> const&, gz::sim::v8::EntityComponentManager&, gz::sim::v8::EventManager&)
#5    Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3.9.0", at 0x7f6eec504581, in yarp::robotinterface::Robot::enterPhase(yarp::robotinterface::ActionPhase)
#4    Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3.9.0", at 0x7f6eec502319, in yarp::robotinterface::Robot::Private::attach(yarp::robotinterface::Device const&, std::vector<yarp::robotinterface::Param, std::allocator<yarp::robotinterface::Param> > const&)
#3    Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/libYARP_robotinterface.so.3.9.0", at 0x7f6eec4f652e, in yarp::robotinterface::Device::attach(yarp::dev::PolyDriverList const&) const
#2    Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/yarp/yarp_multipleanalogsensorsserver.so", at 0x7f6eec3604cb, in MultipleAnalogSensorsServer::attachAll(yarp::dev::PolyDriverList const&)
#1    Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/yarp/yarp_multipleanalogsensorsserver.so", at 0x7f6eec35e6b8, in MultipleAnalogSensorsServer::populateAllSensorsMetadata()
#0    Object "/home/lomoretti/robotology/robotology-superbuild/build/install/lib/yarp/yarp_multipleanalogsensorsremapper.so", at 0x7f6eec382314, in non-virtual thunk to MultipleAnalogSensorsRemapper::getNrOfThreeAxisGyroscopes() const
Segmentation fault (Address not mapped to object [0x8])

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

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

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

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

 Configuring incomplete, errors occurred!

is GTest a needed dependency?

@traversaro
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Yes, it is indeed a test dependency, you can install it with the gtest conda-forge package, see

.

@LoreMoretti
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Here the log of the tests:

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

31% tests passed, 9 tests failed out of 13

Total Test time (real) =  34.47 sec

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

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

tests log with verbosity
(robsub_gzsim) lomoretti@IITICUBLAP226:~/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins (master)$ ctest --rerun-failed --output-on-failure
Test project /home/lomoretti/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins
    Start  1: ForceTorqueTest
1/9 Test  #1: ForceTorqueTest .............................***Failed    3.08 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from ForceTorqueTest
[ RUN      ] ForceTorqueTest.PluginTest
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/forcetorque/model.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ForceTorque] for entity [1]
[Msg] Create service on [/world/sensors/create]
[Msg] Remove service on [/world/sensors/remove]
[Msg] Pose service on [/world/sensors/set_pose]
[Msg] Pose service on [/world/sensors/set_pose_vector]
[Msg] Light configuration service on [/world/sensors/light_config]
[Msg] Physics service on [/world/sensors/set_physics]
[Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates]
[Msg] Enable collision service on [/world/sensors/enable_collision]
[Msg] Disable collision service on [/world/sensors/disable_collision]
[Msg] Material service on [/world/sensors/visual_config]
[Msg] Material service on [/world/sensors/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[INFO] Yarp configuration string loaded:  (yarpDeviceName forcetorque_plugin_device) (jointName joint_12) (sensorName force_torque_sensor)
[INFO] gz-sim-yarp-forcetorque-system: configuration of sensor  force_torque_sensor  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (jointName joint_12) (sensorName force_torque_sensor) (sensorScopedName "model/force_torque_model/joint/joint_12/sensor/force_torque_sensor") (sensor_name force_torque_sensor) (yarpDeviceName forcetorque_plugin_device)
[INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device <gazebo_forcetorque>. See C++ class ForceTorqueDriver for documentation.
[INFO] Registered YARP device with instance name: model/force_torque_model/forcetorque_plugin_device
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ForceTorque] for entity [8]
[ERROR] File not found:  ../../../tests/forcetorque/forcetorque_nws.xml
[ERROR] Error while finding yarpRobotInterfaceConfigurationFile:  ../../../tests/forcetorque/forcetorque_nws.xml
[ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found
[ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file
[Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server.
[Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control]
[Msg] Serving GUI information on [/world/sensors/gui/info]
[Msg] World [sensors] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:732]   tcp://172.20.10.5:34809, gz.msgs.WorldStatistics
[Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:766]   tcp://172.20.10.5:34809, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2)
[Msg] Serving scene information on [/world/sensors/scene/info]
[Msg] Serving graph information on [/world/sensors/scene/graph]
[Msg] Serving full state on [/world/sensors/state]
[Msg] Serving full state (async) on [/world/sensors/state_async]
[Msg] Publishing scene information on [/world/sensors/scene/info]
[Msg] Publishing entity deletions on [/world/sensors/scene/deletion]
[Msg] Publishing state changes on [/world/sensors/state]
[Msg] Publishing pose messages on [/world/sensors/pose/info]
[Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info]
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 16
[DEBUG] |yarp.dev.PolyDriver|multipleanalogsensorsclient| Parameters are (device multipleanalogsensorsclient) (local "/ForceTorqueTest") (remote "/forcetorque") (timeout 1.0)
[ERROR] |yarp.os.Port|/ForceTorqueTest/rpc:i| Port /ForceTorqueTest/rpc:i failed to activate at tcp://127.0.0.1:10002/ (address conflict)
[ERROR] |yarp.device.multipleanalogsensorsclient| Failure to open the port /ForceTorqueTest/rpc:i.
[DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete
[ERROR] |yarp.dev.PolyDriver|multipleanalogsensorsclient| Driver <multipleanalogsensorsclient> was found but could not open
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/forcetorque/ForceTorqueTest.cc:39: Failure
Value of: driver.open(option)
  Actual: false
Expected: true

[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (Exiting postupdate worker thread (0)
02)
[  FAILED  ] ForceTorqueTest.PluginTest (3036 ms)
[----------] 1 test from ForceTorqueTest (3036 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (3036 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] ForceTorqueTest.PluginTest

 1 FAILED TEST

    Start  3: LaserTest
2/9 Test  #3: LaserTest ...................................***Failed    3.36 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from LaserTest
[ RUN      ] LaserTest.PluginTest
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/laser/model.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/sensors/create]
[Msg] Remove service on [/world/sensors/remove]
[Msg] Pose service on [/world/sensors/set_pose]
[Msg] Pose service on [/world/sensors/set_pose_vector]
[Msg] Light configuration service on [/world/sensors/light_config]
[Msg] Physics service on [/world/sensors/set_physics]
[Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates]
[Msg] Enable collision service on [/world/sensors/enable_collision]
[Msg] Disable collision service on [/world/sensors/disable_collision]
[Msg] Material service on [/world/sensors/visual_config]
[Msg] Material service on [/world/sensors/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [Sensors.cc:527] Configuring Sensors system
[Dbg] [Sensors.cc:446] SensorsPrivate::Run
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:262] Waiting for init
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[ERROR] File not found:  ../../../tests/laser/laser.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/laser/laser.ini
[ERROR] gz-sim-yarp-laser-system : missing configuration
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Laser] for entity [8]
[ERROR] File not found:  ../../../tests/laser/laser_nws.xml
[ERROR] Error while finding yarpRobotInterfaceConfigurationFile:  ../../../tests/laser/laser_nws.xml
[ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found
[ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file
[Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server.
[Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control]
[Msg] Serving GUI information on [/world/sensors/gui/info]
[Msg] World [sensors] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:732]   tcp://172.20.10.5:34809, gz.msgs.WorldStatistics
[Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:766]   tcp://172.20.10.5:34809, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2)
[Dbg] [Sensors.cc:700] Initialization needed
[Dbg] [Sensors.cc:274] Initializing render context
[Msg] Loading plugin [gz-rendering-ogre2]
[Msg] Serving scene information on [/world/sensors/scene/info]
[Msg] Serving graph information on [/world/sensors/scene/graph]
[Msg] Serving full state on [/world/sensors/state]
[Msg] Serving full state (async) on [/world/sensors/state_async]
[Msg] Publishing scene information on [/world/sensors/scene/info]
[Msg] Publishing entity deletions on [/world/sensors/scene/deletion]
[Msg] Publishing state changes on [/world/sensors/state]
[Msg] Publishing pose messages on [/world/sensors/pose/info]
[Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info]
[Dbg] [RenderUtil.cc:2710] Create scene [scene]
[Dbg] [Sensors.cc:294] [Dbg] [Sensors.cc:700] [Dbg] [Sensors.cc:294] Rendering Thread initialized
Initialization neededInitialization needed
[Dbg] [Lidar.cc:133] Laser scans for [laser_model::link_1::laser_sensor] advertised on [world/sensors/model/laser_model/link/link_1/sensor/laser_sensor/scan]
[Dbg] [GpuLidarSensor.cc:163] Lidar points for [laser_model::link_1::laser_sensor] advertised on [world/sensors/model/laser_model/link/link_1/sensor/laser_sensor/scan/points]
[DEBUG] |yarp.dev.PolyDriver|Rangefinder2DClient| Parameters are (device Rangefinder2DClient) (local "/LaserTest") (remote "/laser")
[ERROR] |yarp.os.Port|/LaserTest| Port /LaserTest failed to activate at tcp://127.0.0.1:10002/ (address conflict)
[ERROR] |yarp.device.Rangefinder2DClient| open() error could not open port /LaserTest, check network
[ERROR] |yarp.dev.PolyDriver|Rangefinder2DClient| Driver <Rangefinder2DClient> was found but could not open
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/laser/LaserTest.cc:38: Failure
Value of: driver.open(option)
  Actual: false
Expected: true

[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped
[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (0)[Dbg] [SimulationRunner.cc:574] )Exiting postupdate worker thread (2)

Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1)
[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[  FAILED  ] LaserTest.PluginTest (3311 ms)
[----------] 1 test from LaserTest (3311 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (3311 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] LaserTest.PluginTest

 1 FAILED TEST

    Start  4: CameraTest
3/9 Test  #4: CameraTest ..................................***Failed    7.66 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 4 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 4 tests from CameraTest
[ RUN      ] CameraTest.PluginTest
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/sensors/create]
[Msg] Remove service on [/world/sensors/remove]
[Msg] Pose service on [/world/sensors/set_pose]
[Msg] Pose service on [/world/sensors/set_pose_vector]
[Msg] Light configuration service on [/world/sensors/light_config]
[Msg] Physics service on [/world/sensors/set_physics]
[Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates]
[Msg] Enable collision service on [/world/sensors/enable_collision]
[Msg] Disable collision service on [/world/sensors/disable_collision]
[Msg] Material service on [/world/sensors/visual_config]
[Msg] Material service on [/world/sensors/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [Sensors.cc:527] Configuring Sensors system
[Dbg] [Sensors.cc:446] SensorsPrivate::Run
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:262] Waiting for init
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[INFO] Yarp configuration string loaded:  (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box)
[INFO] gz-sim-yarp-camera-system: configuration of sensor  camera_sensor  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (yarpDeviceName camera_plugin_device)
[INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device <gazebo_camera>. See C++ class CameraDriver for documentation.
[INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8]
[ERROR] File not found:  ../../../tests/camera/camera_nws.xml
[ERROR] Error while finding yarpRobotInterfaceConfigurationFile:  ../../../tests/camera/camera_nws.xml
[ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found
[ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file
[Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server.
[Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control]
[Msg] Serving GUI information on [/world/sensors/gui/info]
[Msg] World [sensors] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:732]   tcp://172.20.10.5:34809, gz.msgs.WorldStatistics
[Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:766]   tcp://172.20.10.5:34809, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2)
[Dbg] [Sensors.cc:700] Initialization needed
[Dbg] [Sensors.cc:274] Initializing render context
[Msg] Loading plugin [gz-rendering-ogre2]
[Msg] Serving scene information on [/world/sensors/scene/info]
[Msg] Serving graph information on [/world/sensors/scene/graph]
[Msg] Serving full state on [/world/sensors/state]
[Msg] Serving full state (async) on [/world/sensors/state_async]
[Msg] Publishing scene information on [/world/sensors/scene/info]
[Msg] Publishing entity deletions on [/world/sensors/scene/deletion]
[Msg] Publishing state changes on [/world/sensors/state]
[Msg] Publishing pose messages on [/world/sensors/pose/info]
[Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info]
[Dbg] [RenderUtil.cc:2710] Create scene [scene][Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
1;36m
[Dbg] [Sensors.cc:700] Rendering Thread initialized

[Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image]
[Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info]
[Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation.
[DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera")
[ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict)
[ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open  /CameraTest port.
[INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera
[ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera
[ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver <frameGrabber_nwc_yarp> was found but could not open
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:39: Failure
Value of: driver.open(option)
  Actual: false
Expected: true

[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped
[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (Exiting postupdate worker thread (1)
2)
[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (0)
[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[  FAILED  ] CameraTest.PluginTest (3421 ms)
[ RUN      ] CameraTest.HorizontalFlip
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_hor_flip.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/sensors/create]
[Msg] Remove service on [/world/sensors/remove]
[Msg] Pose service on [/world/sensors/set_pose]
[Msg] Pose service on [/world/sensors/set_pose_vector]
[Msg] Light configuration service on [/world/sensors/light_config]
[Msg] Physics service on [/world/sensors/set_physics]
[Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates]
[Msg] Enable collision service on [/world/sensors/enable_collision]
[Msg] Disable collision service on [/world/sensors/disable_collision]
[Msg] Material service on [/world/sensors/visual_config]
[Msg] Material service on [/world/sensors/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [Sensors.cc:527] Configuring Sensors system
[Dbg] [Sensors.cc:446] SensorsPrivate::Run
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:262] Waiting for init
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[INFO] Yarp configuration string loaded:  (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (horizontal_flip)
[INFO] gz-sim-yarp-camera-system: configuration of sensor  camera_sensor  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (horizontal_flip) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (yarpDeviceName camera_plugin_device)
[INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device <gazebo_camera>. See C++ class CameraDriver for documentation.
[INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8]
[ERROR] File not found:  ../../../tests/camera/camera_nws.xml
[ERROR] Error while finding yarpRobotInterfaceConfigurationFile:  ../../../tests/camera/camera_nws.xml
[ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found
[ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file
[Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server.
[Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control]
[Msg] Serving GUI information on [/world/sensors/gui/info]
[Msg] World [sensors] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:732]   tcp://172.20.10.5:34809, gz.msgs.WorldStatistics
[Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:766]   tcp://172.20.10.5:34809, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2)
[Dbg] [Sensors.cc:700] Initialization needed
[Dbg] [Sensors.cc:274] Initializing render context
[Msg] Loading plugin [gz-rendering-ogre2]
[Msg] Serving scene information on [/world/sensors/scene/info]
[Msg] Serving graph information on [/world/sensors/scene/graph]
[Msg] Serving full state on [/world/sensors/state]
[Msg] Serving full state (async) on [/world/sensors/state_async]
[Msg] Publishing scene information on [/world/sensors/scene/info]
[Msg] Publishing entity deletions on [/world/sensors/scene/deletion]
[Msg] Publishing state changes on [/world/sensors/state]
[Msg] Publishing pose messages on [/world/sensors/pose/info]
[Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info]
[Dbg] [RenderUtil.cc:2710] Create scene [scene][Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
1;36m
[Dbg] [Sensors.cc:294] Rendering Thread initialized
Initialization needed
[Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image]
[Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info]
[Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation.
[DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera")
[ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict)
[ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open  /CameraTest port.
[INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera
[ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera
[ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver <frameGrabber_nwc_yarp> was found but could not open
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:107: Failure
Value of: driver.open(option)
  Actual: false
Expected: true

[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped
[Dbg] [SimulationRunner.cc:574] [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2Exiting postupdate worker thread (2Exiting postupdate worker thread (1)
2Exiting postupdate worker thread ()
Exiting postupdate worker thread (0)
[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[  FAILED  ] CameraTest.HorizontalFlip (1408 ms)
[ RUN      ] CameraTest.VerticalFlip
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_ver_flip.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/sensors/create]
[Msg] Remove service on [/world/sensors/remove]
[Msg] Pose service on [/world/sensors/set_pose]
[Msg] Pose service on [/world/sensors/set_pose_vector]
[Msg] Light configuration service on [/world/sensors/light_config]
[Msg] Physics service on [/world/sensors/set_physics]
[Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates]
[Msg] Enable collision service on [/world/sensors/enable_collision]
[Msg] Disable collision service on [/world/sensors/disable_collision]
[Msg] Material service on [/world/sensors/visual_config]
[Msg] Material service on [/world/sensors/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [Sensors.cc:527] Configuring Sensors system
[Dbg] [Sensors.cc:446] SensorsPrivate::Run
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:262] Waiting for init
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[INFO] Yarp configuration string loaded:  (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (vertical_flip)
[INFO] gz-sim-yarp-camera-system: configuration of sensor  camera_sensor  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (vertical_flip) (yarpDeviceName camera_plugin_device)
[INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device <gazebo_camera>. See C++ class CameraDriver for documentation.
[INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8]
[ERROR] File not found:  ../../../tests/camera/camera_nws.xml
[ERROR] Error while finding yarpRobotInterfaceConfigurationFile:  ../../../tests/camera/camera_nws.xml
[ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found
[ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file
[Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server.
[Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control]
[Msg] Serving GUI information on [/world/sensors/gui/info]
[Msg] World [sensors] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:732]   tcp://172.20.10.5:34809, gz.msgs.WorldStatistics
[Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:766]   tcp://172.20.10.5:34809, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2)
[Dbg] [Sensors.cc:700] Initialization needed
[Dbg] [Sensors.cc:274] Initializing render context
[Msg] Loading plugin [gz-rendering-ogre2]
[Msg] Serving scene information on [/world/sensors/scene/info]
[Msg] Serving graph information on [/world/sensors/scene/graph]
[Msg] Serving full state on [/world/sensors/state]
[Msg] Serving full state (async) on [/world/sensors/state_async]
[Msg] Publishing scene information on [/world/sensors/scene/info]
[Msg] Publishing entity deletions on [/world/sensors/scene/deletion]
[Msg] Publishing state changes on [/world/sensors/state]
[Msg] Publishing pose messages on [/world/sensors/pose/info]
[Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info]
[Dbg] [RenderUtil.cc:2710] Create scene [scene][Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
1;36m
[Dbg] [Sensors.cc:700] Rendering Thread initialized
Initialization needed
[Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image]
[Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info]
[Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation.
[DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera")
[ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict)
[ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open  /CameraTest port.
[INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera
[ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera
[ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver <frameGrabber_nwc_yarp> was found but could not open
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:175: Failure
Value of: driver.open(option)
  Actual: false
Expected: true

[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped
[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2)
Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] 0)
1)
[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[  FAILED  ] CameraTest.VerticalFlip (1417 ms)
[ RUN      ] CameraTest.HorizontalVerticalFlip
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_hor_ver_flip.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/sensors/create]
[Msg] Remove service on [/world/sensors/remove]
[Msg] Pose service on [/world/sensors/set_pose]
[Msg] Pose service on [/world/sensors/set_pose_vector]
[Msg] Light configuration service on [/world/sensors/light_config]
[Msg] Physics service on [/world/sensors/set_physics]
[Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates]
[Msg] Enable collision service on [/world/sensors/enable_collision]
[Msg] Disable collision service on [/world/sensors/disable_collision]
[Msg] Material service on [/world/sensors/visual_config]
[Msg] Material service on [/world/sensors/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [Sensors.cc:527] Configuring Sensors system
[Dbg] [Sensors.cc:446] SensorsPrivate::Run
[Dbg] [SystemManager.cc:74] Loaded system [[Dbg] [Sensors.cc:422] gz::sim::systems::SensorsSensorsPrivate::RenderThread started
] for entity [] for entity [1]
[Dbg] [Sensors.cc:262] Waiting for init
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[INFO] Yarp configuration string loaded:  (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (horizontal_flip) (vertical_flip)
[INFO] gz-sim-yarp-camera-system: configuration of sensor  camera_sensor  loaded
[DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (horizontal_flip) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (vertical_flip) (yarpDeviceName camera_plugin_device)
[INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device <gazebo_camera>. See C++ class CameraDriver for documentation.
[INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8]
[ERROR] File not found:  ../../../tests/camera/camera_nws.xml
[ERROR] Error while finding yarpRobotInterfaceConfigurationFile:  ../../../tests/camera/camera_nws.xml
[ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found
[ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file
[Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server.
[Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control]
[Msg] Serving GUI information on [/world/sensors/gui/info]
[Msg] World [sensors] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:732]   tcp://172.20.10.5:34809, gz.msgs.WorldStatistics
[Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:766]   tcp://172.20.10.5:34809, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2)
[Dbg] [Sensors.cc:700] Initialization needed
[Dbg] [Sensors.cc:274] Initializing render context
[Msg] Loading plugin [gz-rendering-ogre2]
[Msg] Serving scene information on [/world/sensors/scene/info]
[Msg] Serving graph information on [/world/sensors/scene/graph]
[Msg] Serving full state on [/world/sensors/state]
[Msg] Serving full state (async) on [/world/sensors/state_async]
[Msg] Publishing scene information on [/world/sensors/scene/info]
[Msg] Publishing entity deletions on [/world/sensors/scene/deletion]
[Msg] Publishing state changes on [/world/sensors/state]
[Msg] Publishing pose messages on [/world/sensors/pose/info]
[Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info]
[Dbg] [RenderUtil.cc:2710] Create scene [scene][Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
1;36m
[Dbg] [Sensors.cc:700] Initialization needed
Rendering Thread initialized[Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image]
[Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info]
[Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation.
[DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera")
[ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict)
[ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open  /CameraTest port.
[INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera
[ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera
[ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver <frameGrabber_nwc_yarp> was found but could not open
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:243: Failure
Value of: driver.open(option)
  Actual: false
Expected: true

[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped
[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2))[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1)

Exiting postupdate worker thread (0)
[Dbg] [Sensors.cc:454] SensorsPrivate::Stop
[  FAILED  ] CameraTest.HorizontalVerticalFlip (1369 ms)
[----------] 4 tests from CameraTest (7616 ms total)

[----------] Global test environment tear-down
[==========] 4 tests from 1 test suite ran. (7616 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 4 tests, listed below:
[  FAILED  ] CameraTest.PluginTest
[  FAILED  ] CameraTest.HorizontalFlip
[  FAILED  ] CameraTest.VerticalFlip
[  FAILED  ] CameraTest.HorizontalVerticalFlip

 4 FAILED TESTS

    Start  5: ClockTest
4/9 Test  #5: ClockTest ...................................***Exception: SegFault  4.10 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from ClockTest
[ RUN      ] ClockTest.GetSimulationTimeFromClockPort
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/clock/model.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/World/create]
[Msg] Remove service on [/world/World/remove]
[Msg] Pose service on [/world/World/set_pose]
[Msg] Pose service on [/world/World/set_pose_vector]
[Msg] Light configuration service on [/world/World/light_config]
[Msg] Physics service on [/world/World/set_physics]
[Msg] SphericalCoordinates service on [/world/World/set_spherical_coordinates]
[Msg] Enable collision service on [/world/World/enable_collision]
[Msg] Disable collision service on [/world/World/disable_collision]
[Msg] Material service on [/world/World/visual_config]
[Msg] Material service on [/world/World/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [Sensors.cc:527] Configuring Sensors system
[Dbg] [Sensors.cc:446] SensorsPrivate::Run
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:262] Waiting for init
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[ERROR] |yarp.os.Port|/clock| Port /clock failed to activate at tcp://127.0.0.1:10002/ (address conflict)
[ERROR] Failed to open port /clock
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Clock] for entity [1]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/World/control], [/world/World/control/state] and [/world/World/playback/control]
[Msg] Serving GUI information on [/world/World/gui/info]
[Msg] World [World] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/World/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[ERROR] |yarp.os.Port|/tmp_in| Port /tmp_in failed to activate at tcp://127.0.0.1:10003/ (address conflict)
[Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server.
[Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only

    Start  6: ControlBoardTorqueControlTest
5/9 Test  #6: ControlBoardTorqueControlTest ...............***Exception: SegFault  2.10 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from ControlBoardTorqueControl/ControlBoardTorqueControlFixture
[ RUN      ] ControlBoardTorqueControl/ControlBoardTorqueControlFixture.CompareJointTorqueWithExpectedValueUsingPendulumModel/0
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
========== Test Parameter: pendulum_joint_relative_to_child_link.sdf
========== configuring test
[ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTorqueControlTest.cc:67: Failure
Expected equality of these values:
  deviceKeys.size()
    Which is: 0
  1

[Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only
[Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:732]   tcp://172.20.10.5:34809, gz.msgs.WorldStatistics
[Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:766]   tcp://172.20.10.5:34809, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2)
========== Test PreUpdate

    Start  7: ControlBoardPositionDirectControlTest
6/9 Test  #7: ControlBoardPositionDirectControlTest .......***Failed    0.40 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from ControlBoardPositionDirectFixture
[ RUN      ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
========== Configuring test
[ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found
Number of Devices: 0
unknown file: Failure
C++ exception with description "vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)" thrown in the test body.

[  FAILED  ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel (363 ms)
[----------] 1 test from ControlBoardPositionDirectFixture (363 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (363 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel

 1 FAILED TEST

    Start  8: ControlBoardPositionControlTest
7/9 Test  #8: ControlBoardPositionControlTest .............***Exception: SegFault  0.40 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from ControlBoardPositionFixture
[ RUN      ] ControlBoardPositionFixture.CheckPositionTrackingWithTrajectoryGenerationUsingPendulumModel
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
Configuring test
[ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardPositionControlTest.cc:72: Failure
Expected equality of these values:
  deviceKeys.size()
    Which is: 0
  1


    Start  9: ControlBoardCommonsTest
8/9 Test  #9: ControlBoardCommonsTest .....................***Exception: SegFault  0.52 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 4 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 4 tests from ControlBoardCommonsTest
[ RUN      ] ControlBoardCommonsTest.ConfigureControlBoardWithoutInitialCondition
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::Physics]
- Requested library name: [gz-sim-physics-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so]
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::UserCommands]
- Requested library name: [gz-sim-user-commands-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so]
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::SceneBroadcaster]
- Requested library name: [gz-sim-scene-broadcaster-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so]
[       OK ] ControlBoardCommonsTest.ConfigureControlBoardWithoutInitialCondition (277 ms)
[ RUN      ] ControlBoardCommonsTest.ConfigureControlBoardWithInitialCondition
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/pendulum_with_initial_configuration.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::Physics]
- Requested library name: [gz-sim-physics-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so]
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::UserCommands]
- Requested library name: [gz-sim-user-commands-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so]
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::SceneBroadcaster]
- Requested library name: [gz-sim-scene-broadcaster-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so]
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8]
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config]
[Msg] Serving world controls on [/world/tutorial_controlboard/control], [/world/tutorial_controlboard/control/state] and [/world/tutorial_controlboard/playback/control]
[Msg] Serving GUI information on [/world/tutorial_controlboard/gui/info]
[Msg] World [tutorial_controlboard] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/tutorial_controlboard/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[       OK ] ControlBoardCommonsTest.ConfigureControlBoardWithInitialCondition (55 ms)
[ RUN      ] ControlBoardCommonsTest.ConfigureMultipleControlBoards
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/coupled_pendulum_two_controlboards.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8]
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard2.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard2.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::Physics]
- Requested library name: [gz-sim-physics-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so]
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::UserCommands]
- Requested library name: [gz-sim-user-commands-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so]
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::SceneBroadcaster]
- Requested library name: [gz-sim-scene-broadcaster-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so]
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8]
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config]
[Msg] Serving world controls on [/world/tutorial_controlboard/control], [/world/tutorial_controlboard/control/state] and [/world/tutorial_controlboard/playback/control]
[Msg] Serving GUI information on [/world/tutorial_controlboard/gui/info]
[Msg] World [tutorial_controlboard] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/tutorial_controlboard/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found
Number of registered control board devices: 0
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardCommonsTest.cc:102: Failure
Expected equality of these values:
  controlBoards.size()
    Which is: 0
  2

[  FAILED  ] ControlBoardCommonsTest.ConfigureMultipleControlBoards (52 ms)
[ RUN      ] ControlBoardCommonsTest.JointPositionLimitsForMultipleJoints
[Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/coupled_pendulum_two_joints_single_controlboard.sdf].
[Msg] Serving entity system service on [/entity/system/add]
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard_multiple_joints.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard_multiple_joints.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::Physics]
- Requested library name: [gz-sim-physics-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so]
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::UserCommands]
- Requested library name: [gz-sim-user-commands-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so]
[Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library)
- Requested plugin name: [gz::sim::systems::SceneBroadcaster]
- Requested library name: [gz-sim-scene-broadcaster-system]
- Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so]
[Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8]
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config]
[Msg] Serving world controls on [/world/tutorial_controlboard/control], [/world/tutorial_controlboard/control/state] and [/world/tutorial_controlboard/playback/control]
[Msg] Serving GUI information on [/world/tutorial_controlboard/gui/info]
[Msg] World [tutorial_controlboard] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/tutorial_controlboard/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardCommonsTest.cc:124: Failure
Value of: deviceIds.size() == 1
  Actual: false
Expected: true


    Start 10: ControlBoardOnMultipleGazeboInstancesTest
9/9 Test #10: ControlBoardOnMultipleGazeboInstancesTest ...***Exception: SegFault  0.62 sec
Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from ControlBoardOnMultipleGazeboInstances
[ RUN      ] ControlBoardOnMultipleGazeboInstances.StartConcurrentGazeboInstances
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
[ERROR] File not found:  ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini
[ERROR] Error while finding Yarp configuration file:  ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini
[ERROR] gz-sim-yarp-controlboard-system : missing configuration
[ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardOnMultipleGazeboInstancesTest.cc:77: Failure
Value of: deviceIds.size() == 1
  Actual: false
Expected: true

[ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found
/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardOnMultipleGazeboInstancesTest.cc:107: Failure
Value of: deviceIds.size() == 1
  Actual: false
Expected: true



0% tests passed, 9 tests failed out of 9

Total Test time (real) =  22.26 sec

The following tests FAILED:
	  1 - ForceTorqueTest (Failed)
	  3 - LaserTest (Failed)
	  4 - CameraTest (Failed)
	  5 - ClockTest (SEGFAULT)
	  6 - ControlBoardTorqueControlTest (SEGFAULT)
	  7 - ControlBoardPositionDirectControlTest (Failed)
	  8 - ControlBoardPositionControlTest (SEGFAULT)
	  9 - ControlBoardCommonsTest (SEGFAULT)
	 10 - ControlBoardOnMultipleGazeboInstancesTest (SEGFAULT)
Errors while running CTest

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

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

@LoreMoretti
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Sure, here it is:

conda list --explicit
(robsub_gzsim) lomoretti@IITICUBLAP226:~$ conda list --explicit
# This file may be used to create an environment using:
# $ conda create --name <env> --file <this file>
# platform: linux-64
@EXPLICIT
https://conda.anaconda.org/conda-forge/linux-64/bash-completion-2.11-ha770c72_1.tar.bz2
https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
https://conda.anaconda.org/conda-forge/noarch/_sysroot_linux-64_curr_repodata_hack-3-h69a702a_16.conda
https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.7.4-hbcca054_0.conda
https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_2.conda
https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.40-hf3520f5_7.conda
https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.84.0-ha770c72_3.conda
https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-12.4.0-ha4f9413_100.conda
https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-12.4.0-ha4f9413_100.conda
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https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.0.0-hd590300_1.conda
https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
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https://conda.anaconda.org/conda-forge/linux-64/libopus-1.3.1-h7f98852_1.tar.bz2
https://conda.anaconda.org/conda-forge/linux-64/libpciaccess-0.18-hd590300_0.conda
https://conda.anaconda.org/conda-forge/noarch/libselinux-cos7-x86_64-2.5-h9b0a68f_1105.tar.bz2
https://conda.anaconda.org/conda-forge/linux-64/libsodium-1.0.18-h36c2ea0_1.tar.bz2
https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-14.1.0-hc0a3c3a_0.conda
https://conda.anaconda.org/conda-forge/linux-64/libtasn1-4.19.0-h166bdaf_0.tar.bz2
https://conda.anaconda.org/conda-forge/linux-64/libunistring-0.9.10-h7f98852_0.tar.bz2
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https://conda.anaconda.org/conda-forge/linux-64/libmatio-1.5.27-hd8a4993_0.conda
https://conda.anaconda.org/conda-forge/linux-64/libnetcdf-4.9.2-nompi_h135f659_114.conda
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https://conda.anaconda.org/conda-forge/linux-64/mumps-seq-5.7.2-h6e8dedb_0.conda
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https://conda.anaconda.org/conda-forge/linux-64/poppler-24.03.0-h590f24d_0.conda
https://conda.anaconda.org/conda-forge/linux-64/pyqt5-sip-12.12.2-py310hc6cd4ac_5.conda
https://conda.anaconda.org/conda-forge/noarch/stack_data-0.6.2-pyhd8ed1ab_0.conda
https://conda.anaconda.org/conda-forge/linux-64/tbb-devel-2021.12.0-h2069b90_2.conda
https://conda.anaconda.org/conda-forge/linux-64/xorg-libxaw-1.0.14-h7f98852_1.tar.bz2
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https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.9.5-py310h2372a71_0.conda
https://conda.anaconda.org/conda-forge/linux-64/aws-crt-cpp-0.26.8-h4f3a3cc_11.conda
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https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.2.1-py310hd41b1e2_0.conda
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https://conda.anaconda.org/conda-forge/linux-64/h5py-3.11.0-nompi_py310hf054cd7_102.conda
https://conda.anaconda.org/conda-forge/linux-64/ipopt-3.14.16-h3696c94_4.conda
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https://conda.anaconda.org/conda-forge/linux-64/jasper-4.2.4-h536e39c_0.conda
https://conda.anaconda.org/conda-forge/linux-64/libass-0.17.1-h8fe9dca_1.conda
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https://conda.anaconda.org/conda-forge/linux-64/libmicrohttpd-1.0.1-h97afed2_0.conda
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https://conda.anaconda.org/conda-forge/linux-64/ogre-1.10.12.1-hb5e08f3_1.conda
https://conda.anaconda.org/conda-forge/linux-64/py-opencv-4.10.0-headless_py310h59be988_1.conda
https://conda.anaconda.org/conda-forge/linux-64/pyqt-5.15.9-py310h04931ad_5.conda
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https://conda.anaconda.org/conda-forge/linux-64/libgz-transport13-13.4.0-h09f39ac_0.conda
https://conda.anaconda.org/conda-forge/linux-64/matplotlib-3.9.1-py310hff52083_0.conda
https://conda.anaconda.org/conda-forge/linux-64/opencv-4.10.0-headless_py310h18fe71b_1.conda
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env
(robsub_gzsim) lomoretti@IITICUBLAP226:~$ env
SHELL=/bin/bash
ROS_VERSION=2
DEBUG_FFLAGS=-march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/lomoretti/mambaforge/envs/robsub_gzsim/include -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-all -fno-plt -Og -g -Wall -Wextra -fcheck=all -fbacktrace -fimplicit-none -fvar-tracking-assignments -ffunction-sections -pipe
SESSION_MANAGER=local/IITICUBLAP226:@/tmp/.ICE-unix/3074,unix/IITICUBLAP226:/tmp/.ICE-unix/3074
GZ_SIM_RESOURCE_PATH=/home/lomoretti/robotology/robotology-superbuild/build/install/share/gazebo/models:/home/lomoretti/robotology/robotology-superbuild/build/install/share/iCub/robots:/home/lomoretti/robotology/robotology-superbuild/build/install/share:/home/lomoretti/robotology/robotology-superbuild/build/install/share/ergoCub/robots:/home/lomoretti/robotology/robotology-superbuild/build/install/share/gazebo/worlds:/home/lomoretti/robotology/robotology-superbuild/build/install/share/RRbot/robots
QT_ACCESSIBILITY=1
GZ_SIM_SYSTEM_PLUGIN_PATH=/home/lomoretti/robotology/robotology-superbuild/build/install/lib
COLORTERM=truecolor
GCC_RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ranlib
XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
SSH_AGENT_LAUNCHER=gnome-keyring
XDG_MENU_PREFIX=gnome-
GNOME_DESKTOP_SESSION_ID=this-is-deprecated
GTK_IM_MODULE=ibus
CONDA_EXE=/home/lomoretti/mambaforge/bin/conda
_CE_M=
ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX=/home/lomoretti/robotology/robotology-superbuild/build/install
build_alias=x86_64-conda-linux-gnu
ROS_PYTHON_VERSION=3
CMAKE_ARGS=-DCMAKE_AR=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ar -DCMAKE_CXX_COMPILER_AR=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ar -DCMAKE_C_COMPILER_AR=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ar -DCMAKE_RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ranlib -DCMAKE_CXX_COMPILER_RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ranlib -DCMAKE_C_COMPILER_RANLIB=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gcc-ranlib -DCMAKE_LINKER=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-ld -DCMAKE_STRIP=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-strip -DCMAKE_BUILD_TYPE=Release
GPROF=/home/lomoretti/mambaforge/envs/robsub_gzsim/bin/x86_64-conda-linux-gnu-gprof
LC_ADDRESS=it_IT.UTF-8
CONDA_TOOLCHAIN_BUILD=x86_64-conda-linux-gnu
GNOME_SHELL_SESSION_MODE=ubuntu
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@traversaro
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Ok, there is nothing too strange in the env (at least that I see), we can move to actually see the test failures.

For the first one, I see:

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

Somehow the test in

gz::sim::TestFixture fixture(modelPath.string());
can't find the yarprobotinterface files. The problem seems with the relative path (relative w.r.t. to what?) passed to yarpRobotInterfaceConfigurationFile. The problem seems similar to #168 . I guess in CI the test pass as somehow this relative path encodes the assumption that the build directory is a child directory of the source directory of gz-sim-yarp-plugins, assumption that is not true when running the test in the superbuild.

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

@xela-95
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xela-95 commented Aug 2, 2024

Looking at the logs posted in #173 (comment), here are the lines that trigger me the most:

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

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

@traversaro
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traversaro commented Aug 2, 2024

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

@xela-95

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

@xela-95
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xela-95 commented Aug 2, 2024

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

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

@xela-95
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xela-95 commented Aug 2, 2024

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

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

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

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

@xela-95
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xela-95 commented Aug 7, 2024

@LoreMoretti now that icub-tech-iit/ergocub-software#250 has been merged you should be able to complete the tutorial 🤞🏻

@LoreMoretti
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I pulled and recompiled,

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

image

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

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

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

Is this not needed anymore for gz-sim?

@xela-95
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xela-95 commented Aug 12, 2024

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

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

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

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

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

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

Clear, thanks!

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

I see the following lines in the world file:

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

So I think yes.

@LoreMoretti
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Closing this issue since the crash has been fixed.

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

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