How to run whole-body-dynamics in walking-controllers simulation

[jimingda]

Hi,

I tried to run the walking-controllers simulation, and failed on step 4 of how-to-run as below.

icub@icubsrv:~/icubtraining/walking-controllers$ yarprobotinterface --config conf/launch_wholebodydynamics_ecub.xml
[ERROR] |yarp.os.Property| cannot read from yarprobotinterface.ini
[DEBUG] Reading file 
[ERROR] Syntax error while loading  at line 0 . Failed to open file
[FATAL] Config file    not parsed correctly.
Trace requested at /usr/local/src/robot/robotology-superbuild/src/YARP/src/yarprobotinterface/Module.cpp:132 by code called from:
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_Z16yarp_print_traceP8_IO_FILEPKcj+0x3b) [0x7efd5cdccedb]
yarprobotinterface(+0x9038) [0x555d8504f038]
yarprobotinterface(+0xa439) [0x555d85050439]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_ZN4yarp2os8RFModule9runModuleERNS0_14ResourceFinderE+0x77) [0x7efd5ce285f7]
yarprobotinterface(+0x8b90) [0x555d8504eb90]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf3) [0x7efd5c92b083]
yarprobotinterface(+0x8c5e) [0x555d8504ec5e]

How to decide which launch_wholebodydynamics_ecub.xml i should launch through yarprobotinterface:
yarprobotinterface --config conf/launch_wholebodydynamics_ecub.xml

Thanks.

[traversaro]

FYI @GiulioRomualdi @S-Dafarra

[S-Dafarra]

Hi @jimingda. The README provides instructions on how to use the ergoCub robot in simulation. If you want to run the simulation with iCubGazeboV2_5, the correct file should be yarprobotinterface --config conf/launch-wholebodydynamics-icub-six-fts-sim.xml.

Please, remember to set the YARP_ROBOT_NAME env variable to iCubGazeboV2_5.

You can find the different configuration files in https://github.com/robotology/whole-body-estimators/tree/5fb9aeeb1cc9282189eee11754c78f685814ed9f/devices/wholeBodyDynamics/app

[S-Dafarra]

Sorry, my bad, I did not realize that the name was edited when installing (see https://github.com/robotology/whole-body-estimators/blob/5fb9aeeb1cc9282189eee11754c78f685814ed9f/devices/wholeBodyDynamics/app/CMakeLists.txt#L36-L37)

I think that launch-wholebodydynamics.xml is the file to launch then!

[jimingda]

Thank you @S-Dafarra

yarp resource --find conf/launch-wholebodydynamics.xml still didn't find the target

icub@icubsrv:~$ yarp resource --find conf/launch-wholebodydynamics.xml
[DEBUG] |yarp.os.ResourceFinder| configuring
[DEBUG] |yarp.os.ResourceFinder| default config file specified as conf/launch-wholebodydynamics.xml
[DEBUG] |yarp.os.ResourceFinder| checking [/home/icub/conf/launch-wholebodydynamics.xml] (pwd)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/icub/.config/yarp/robots/iCubGazeboV2_5] (robot YARP_CONFIG_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/icub/.local/share/yarp/robots/iCubGazeboV2_5] (robot YARP_DATA_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/xdg-ubuntu/yarp/robots/iCubGazeboV2_5] (robot YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/yarp/robots/iCubGazeboV2_5] (robot YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| found /usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_5
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/src/icub-tests/suites/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/share/yarp/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| found /usr/local/share/yarp/robots/iCubGazeboV2_5
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| found /usr/local/src/robot/robotology-superbuild/build/install/share/yarp/config/path.d
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/speech/robots/iCubGazeboV2_5] (robot yarp.d)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/visualservoing/robots/iCubGazeboV2_5] (robot yarp.d)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_5/conf/launch-wholebodydynamics.xml] (robot)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/share/yarp/robots/iCubGazeboV2_5/conf/launch-wholebodydynamics.xml] (robot)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/icub/.config/yarp/conf/launch-wholebodydynamics.xml] (YARP_CONFIG_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/icub/.local/share/yarp/conf/launch-wholebodydynamics.xml] (YARP_DATA_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/xdg-ubuntu/yarp/conf/launch-wholebodydynamics.xml] (YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/yarp/conf/launch-wholebodydynamics.xml] (YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/yarp/conf/launch-wholebodydynamics.xml] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/conf/launch-wholebodydynamics.xml] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/conf/launch-wholebodydynamics.xml] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/src/icub-tests/suites/conf/launch-wholebodydynamics.xml] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/share/yarp/conf/launch-wholebodydynamics.xml] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/speech/conf/launch-wholebodydynamics.xml] (yarp.d)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/visualservoing/conf/launch-wholebodydynamics.xml] (yarp.d)
[DEBUG] |yarp.os.ResourceFinder| did not find conf/launch-wholebodydynamics.xml
[ERROR] |yarp.os.Property| cannot read from conf/launch-wholebodydynamics.xml
[DEBUG] |yarp.os.ResourceFinder| finding file [from]
[DEBUG] |yarp.os.ResourceFinder| did not find conf/launch-wholebodydynamics.xml

Another question is that which model shall i insert after run gazebo in step3
gazebo -slibgazebo_yarp_clock.so

[S-Dafarra]

Sorry, I was wrong in keeping the conf folder. Try

yarp resource --find launch-wholebodydynamics.xml

Also, I just noticed that you have the superbuild installed. Which profiles do you have active?

Another question is that which model shall i insert after run gazebo in step3

See https://github.com/orgs/robotology/discussions/679#discussioncomment-8067015

[jimingda]

Thanks
Now it works.

icub@icubsrv:~$ yarp resource --find launch-wholebodydynamics.xml
[DEBUG] |yarp.os.ResourceFinder| configuring
[DEBUG] |yarp.os.ResourceFinder| default config file specified as launch-wholebodydynamics.xml
[DEBUG] |yarp.os.ResourceFinder| checking [/home/icub/launch-wholebodydynamics.xml] (pwd)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/icub/.config/yarp/robots/iCubGazeboV2_5] (robot YARP_CONFIG_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/icub/.local/share/yarp/robots/iCubGazeboV2_5] (robot YARP_DATA_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/xdg-ubuntu/yarp/robots/iCubGazeboV2_5] (robot YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/yarp/robots/iCubGazeboV2_5] (robot YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/yarp/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| found /usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_5
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/src/icub-tests/suites/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/share/yarp/robots/iCubGazeboV2_5] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| found /usr/local/share/yarp/robots/iCubGazeboV2_5
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| found /usr/local/src/robot/robotology-superbuild/build/install/share/yarp/config/path.d
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/speech/robots/iCubGazeboV2_5] (robot yarp.d)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/visualservoing/robots/iCubGazeboV2_5] (robot yarp.d)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_5/launch-wholebodydynamics.xml] (robot)
[DEBUG] |yarp.os.ResourceFinder| checking [/usr/local/share/yarp/robots/iCubGazeboV2_5/launch-wholebodydynamics.xml] (robot)
[DEBUG] |yarp.os.ResourceFinder| found /usr/local/share/yarp/robots/iCubGazeboV2_5/launch-wholebodydynamics.xml
[DEBUG] |yarp.os.ResourceFinder| finding file [from]
"/usr/local/share/yarp/robots/iCubGazeboV2_5/launch-wholebodydynamics.xml"

But something wrong when yarprobotinterface --config launch_wholebodydynamics.xml
How to check which profiles i have active?

icub@icubsrv:~$ yarprobotinterface --config launch_wholebodydynamics.xml
[ERROR] |yarp.os.Property| cannot read from yarprobotinterface.ini
[DEBUG] Reading file 
[ERROR] Syntax error while loading  at line 0 . Failed to open file
[FATAL] Config file    not parsed correctly.
Trace requested at /usr/local/src/robot/robotology-superbuild/src/YARP/src/yarprobotinterface/Module.cpp:132 by code called from:
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_Z16yarp_print_traceP8_IO_FILEPKcj+0x3b) [0x7fcb21218edb]
yarprobotinterface(+0x9038) [0x561a8c5c3038]
yarprobotinterface(+0xa439) [0x561a8c5c4439]
/usr/local/src/robot/robotology-superbuild/build/install/lib/libYARP_os.so.3(_ZN4yarp2os8RFModule9runModuleERNS0_14ResourceFinderE+0x77) [0x7fcb212745f7]
yarprobotinterface(+0x8b90) [0x561a8c5c2b90]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf3) [0x7fcb20f59083]
yarprobotinterface(+0x8c5e) [0x561a8c5c2c5e]

[S-Dafarra]

Note that there is a typo in the command. I guess it should be

yarprobotinterface --config launch-wholebodydynamics.xml