Diary: make ergoCub walk in Gazebo

[xela-95]

This issue will track all the technical details concerning #94.

Using walking-controllers release v0.8.0 (latest): https://github.com/robotology/walking-controllers/releases/tag/v0.8.0

[xela-95]

Conda environment for development

mamba create -n walking  -c robotology -c conda-forge \
bipedal-locomotion-framework \
idyntree \
yarp \
icub-contrib-common \
icub-main \
osqp-eigen \
qpoases \
libunicycle-footstep-planner \
libgz-sim8 \
whole-body-estimators \
icub-models \
ycm-cmake-modules \
ninja pkg-config cmake compilers clang clang-tools clang-format include-what-you-use catch2 

[xela-95]

Since in the walking controller tutorial I should launch gazebo classic with:

export YARP_CLOCK=/clock
gazebo -slibgazebo_yarp_clock.so

I think this is no more possible on Gazebo. Should I update the world SDF used in #103 adding the clock plugin?

CC @traversaro

[xela-95]

Since in the walking controller tutorial I should launch gazebo classic with:

export YARP_CLOCK=/clock
gazebo -slibgazebo_yarp_clock.so

I think this is no more possible on Gazebo. Should I update the world SDF used in #103 adding the clock plugin?

By doing this, the port that gets registered is registration name /IITICUBLAP218/gz/377448/clock instead of simply /clock 🤔

[xela-95]

By doing this, the port that gets registered is registration name /IITICUBLAP218/gz/377448/clock instead of simply /clock 🤔

The issue was caused by the YARP_CLOCK environment variable. If I do not set it the /clock port is opened and can be read.

[xela-95]

I'm at step 4/7 of the walking-controllers tutorial.

The command:

yarprobotinterface --config conf/launch_wholebodydynamics_ecub.xml  

referring to https://github.com/icub-tech-iit/ergocub-software/blob/335ed25cab5ff24ccdc4647b4ea318e0f5f9f305/urdf/ergoCub/conf/launch_wholebodydynamics_ecub.xml#L4.

The output logs are the following:

Details

[ERROR] |yarp.os.Property| cannot read from yarprobotinterface.ini
[DEBUG] Reading file /home/acroci/ergocub_ws/install/share/ergoCub/conf/launch_wholebodydynamics_ecub.xml
[WARNING] Invalid syntax while loading /home/acroci/ergocub_ws/install/share/ergoCub/conf/launch_wholebodydynamics_ecub.xml at line 1 . Expected document of type robot . Found devices
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file /home/acroci/ergocub_ws/install/share/ergoCub/conf/launch_wholebodydynamics_ecub.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:  0.000169277 s
[WARNING] Invalid syntax while loading  at line 4 . "robot" element should contain the "portprefix" attribute. Using "name" attribute
[WARNING] *************************************************************************************
* yarprobotinterface 'portprefix' parameter does not follow convention,  *
* it MUST start with a leading '/' since it is used as the full prefix port name    *
*     name:    full port prefix name with leading '/',  e.g.  /robotName      *
* A temporary automatic fix will be done for you, but please fix your config file   *
*************************************************************************************
[INFO] |yarp.os.Port|/ergoCubGazeboV1/yarprobotinterface| Port /ergoCubGazeboV1/yarprobotinterface active at tcp://10.240.2.19:10046/
[INFO] startup phase starting...
[INFO] Opening device torso_mc with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/torso"), ("local" = "/wholeBodyDynamics/torso")]
[DEBUG] |yarp.dev.PolyDriver|torso_mc| Parameters are (device remote_controlboard) (id torso_mc) (local "/wholeBodyDynamics/torso") (remote "/ergocubSim/torso") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/torso/rpc:o| Port /wholeBodyDynamics/torso/rpc:o active at tcp://10.240.2.19:10047/
[INFO] |yarp.os.Port|/wholeBodyDynamics/torso/command:o| Port /wholeBodyDynamics/torso/command:o active at tcp://10.240.2.19:10048/
[INFO] |yarp.os.Port|/wholeBodyDynamics/torso/stateExt:i| Port /wholeBodyDynamics/torso/stateExt:i active at tcp://10.240.2.19:10049/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/torso/rpc:o| Sending output from /wholeBodyDynamics/torso/rpc:o to /ergocubSim/torso/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/torso/command:o| Sending output from /wholeBodyDynamics/torso/command:o to /ergocubSim/torso/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/torso/stateExt:i| Receiving input from /ergocubSim/torso/stateExt:o to /wholeBodyDynamics/torso/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|torso_mc| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] Opening device left_arm_mc with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/left_arm"), ("local" = "/wholeBodyDynamics/left_arm")]
[DEBUG] |yarp.dev.PolyDriver|left_arm_mc| Parameters are (device remote_controlboard) (id left_arm_mc) (local "/wholeBodyDynamics/left_arm") (remote "/ergocubSim/left_arm") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_arm/rpc:o| Port /wholeBodyDynamics/left_arm/rpc:o active at tcp://10.240.2.19:10050/
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_arm/command:o| Port /wholeBodyDynamics/left_arm/command:o active at tcp://10.240.2.19:10051/
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_arm/stateExt:i| Port /wholeBodyDynamics/left_arm/stateExt:i active at tcp://10.240.2.19:10052/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_arm/rpc:o| Sending output from /wholeBodyDynamics/left_arm/rpc:o to /ergocubSim/left_arm/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_arm/command:o| Sending output from /wholeBodyDynamics/left_arm/command:o to /ergocubSim/left_arm/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/left_arm/stateExt:i| Receiving input from /ergocubSim/left_arm/stateExt:o to /wholeBodyDynamics/left_arm/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|left_arm_mc| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] Opening device right_arm_mc with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/right_arm"), ("local" = "/wholeBodyDynamics/right_arm")]
[DEBUG] |yarp.dev.PolyDriver|right_arm_mc| Parameters are (device remote_controlboard) (id right_arm_mc) (local "/wholeBodyDynamics/right_arm") (remote "/ergocubSim/right_arm") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_arm/rpc:o| Port /wholeBodyDynamics/right_arm/rpc:o active at tcp://10.240.2.19:10053/
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_arm/command:o| Port /wholeBodyDynamics/right_arm/command:o active at tcp://10.240.2.19:10054/
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_arm/stateExt:i| Port /wholeBodyDynamics/right_arm/stateExt:i active at tcp://10.240.2.19:10055/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_arm/rpc:o| Sending output from /wholeBodyDynamics/right_arm/rpc:o to /ergocubSim/right_arm/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_arm/command:o| Sending output from /wholeBodyDynamics/right_arm/command:o to /ergocubSim/right_arm/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/right_arm/stateExt:i| Receiving input from /ergocubSim/right_arm/stateExt:o to /wholeBodyDynamics/right_arm/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|right_arm_mc| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] Opening device left_leg_mc with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/left_leg"), ("local" = "/wholeBodyDynamics/left_leg")]
[DEBUG] |yarp.dev.PolyDriver|left_leg_mc| Parameters are (device remote_controlboard) (id left_leg_mc) (local "/wholeBodyDynamics/left_leg") (remote "/ergocubSim/left_leg") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_leg/rpc:o| Port /wholeBodyDynamics/left_leg/rpc:o active at tcp://10.240.2.19:10056/
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_leg/command:o| Port /wholeBodyDynamics/left_leg/command:o active at tcp://10.240.2.19:10057/
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_leg/stateExt:i| Port /wholeBodyDynamics/left_leg/stateExt:i active at tcp://10.240.2.19:10058/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_leg/rpc:o| Sending output from /wholeBodyDynamics/left_leg/rpc:o to /ergocubSim/left_leg/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_leg/command:o| Sending output from /wholeBodyDynamics/left_leg/command:o to /ergocubSim/left_leg/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/left_leg/stateExt:i| Receiving input from /ergocubSim/left_leg/stateExt:o to /wholeBodyDynamics/left_leg/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|left_leg_mc| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] Opening device right_leg_mc with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/right_leg"), ("local" = "/wholeBodyDynamics/right_leg")]
[DEBUG] |yarp.dev.PolyDriver|right_leg_mc| Parameters are (device remote_controlboard) (id right_leg_mc) (local "/wholeBodyDynamics/right_leg") (remote "/ergocubSim/right_leg") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_leg/rpc:o| Port /wholeBodyDynamics/right_leg/rpc:o active at tcp://10.240.2.19:10059/
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_leg/command:o| Port /wholeBodyDynamics/right_leg/command:o active at tcp://10.240.2.19:10060/
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_leg/stateExt:i| Port /wholeBodyDynamics/right_leg/stateExt:i active at tcp://10.240.2.19:10061/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_leg/rpc:o| Sending output from /wholeBodyDynamics/right_leg/rpc:o to /ergocubSim/right_leg/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_leg/command:o| Sending output from /wholeBodyDynamics/right_leg/command:o to /ergocubSim/right_leg/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/right_leg/stateExt:i| Receiving input from /ergocubSim/right_leg/stateExt:o to /wholeBodyDynamics/right_leg/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|right_leg_mc| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] Opening device head_mc with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/head"), ("local" = "/wholeBodyDynamics/head")]
[DEBUG] |yarp.dev.PolyDriver|head_mc| Parameters are (device remote_controlboard) (id head_mc) (local "/wholeBodyDynamics/head") (remote "/ergocubSim/head") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/head/rpc:o| Port /wholeBodyDynamics/head/rpc:o active at tcp://10.240.2.19:10062/
[INFO] |yarp.os.Port|/wholeBodyDynamics/head/command:o| Port /wholeBodyDynamics/head/command:o active at tcp://10.240.2.19:10063/
[INFO] |yarp.os.Port|/wholeBodyDynamics/head/stateExt:i| Port /wholeBodyDynamics/head/stateExt:i active at tcp://10.240.2.19:10064/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/head/rpc:o| Sending output from /wholeBodyDynamics/head/rpc:o to /ergocubSim/head/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/head/command:o| Sending output from /wholeBodyDynamics/head/command:o to /ergocubSim/head/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/head/stateExt:i| Receiving input from /ergocubSim/head/stateExt:o to /wholeBodyDynamics/head/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|head_mc| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] Opening device head_inertial_hardware_device with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/head/inertials"), ("local" = "/wholeBodyDynamics/imu")]
[DEBUG] |yarp.dev.PolyDriver|head_inertial_hardware_device| Parameters are (device multipleanalogsensorsclient) (id head_inertial_hardware_device) (local "/wholeBodyDynamics/imu") (remote "/ergocubSim/head/inertials") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/imu/rpc:i| Port /wholeBodyDynamics/imu/rpc:i active at tcp://10.240.2.19:10065/
[INFO] |yarp.os.Port|/wholeBodyDynamics/imu/measures:i| Port /wholeBodyDynamics/imu/measures:i active at tcp://10.240.2.19:10066/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/imu/rpc:i| Sending output from /wholeBodyDynamics/imu/rpc:i to /ergocubSim/head/inertials/rpc:o using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/imu/measures:i| Receiving input from /ergocubSim/head/inertials/measures:o to /wholeBodyDynamics/imu/measures:i using tcp
[DEBUG] |yarp.device.multipleanalogsensorsclient| Open complete
[INFO] |yarp.dev.PolyDriver|head_inertial_hardware_device| Created device <multipleanalogsensorsclient>. See C++ class MultipleAnalogSensorsClient for documentation.
[INFO] Opening device waist_inertial_hardware_device with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/waist/inertials"), ("local" = "/wholeBodyDynamics/waist_imu")]
[DEBUG] |yarp.dev.PolyDriver|waist_inertial_hardware_device| Parameters are (device multipleanalogsensorsclient) (id waist_inertial_hardware_device) (local "/wholeBodyDynamics/waist_imu") (remote "/ergocubSim/waist/inertials") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/waist_imu/rpc:i| Port /wholeBodyDynamics/waist_imu/rpc:i active at tcp://10.240.2.19:10067/
[INFO] |yarp.os.Port|/wholeBodyDynamics/waist_imu/measures:i| Port /wholeBodyDynamics/waist_imu/measures:i active at tcp://10.240.2.19:10068/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/waist_imu/rpc:i| Sending output from /wholeBodyDynamics/waist_imu/rpc:i to /ergocubSim/waist/inertials/rpc:o using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/waist_imu/measures:i| Receiving input from /ergocubSim/waist/inertials/measures:o to /wholeBodyDynamics/waist_imu/measures:i using tcp
[DEBUG] |yarp.device.multipleanalogsensorsclient| Open complete
[INFO] |yarp.dev.PolyDriver|waist_inertial_hardware_device| Created device <multipleanalogsensorsclient>. See C++ class MultipleAnalogSensorsClient for documentation.
[INFO] Opening device ergocub_left_arm_ft with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/left_arm/FT"), ("local" = "/wholeBodyDynamics/left_arm_ft_sensor")]
[DEBUG] |yarp.dev.PolyDriver|ergocub_left_arm_ft| Parameters are (device multipleanalogsensorsclient) (id ergocub_left_arm_ft) (local "/wholeBodyDynamics/left_arm_ft_sensor") (remote "/ergocubSim/left_arm/FT") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_arm_ft_sensor/rpc:i| Port /wholeBodyDynamics/left_arm_ft_sensor/rpc:i active at tcp://10.240.2.19:10069/
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_arm_ft_sensor/measures:i| Port /wholeBodyDynamics/left_arm_ft_sensor/measures:i active at tcp://10.240.2.19:10070/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_arm_ft_sensor/rpc:i| Sending output from /wholeBodyDynamics/left_arm_ft_sensor/rpc:i to /ergocubSim/left_arm/FT/rpc:o using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/left_arm_ft_sensor/measures:i| Receiving input from /ergocubSim/left_arm/FT/measures:o to /wholeBodyDynamics/left_arm_ft_sensor/measures:i using tcp
[DEBUG] |yarp.device.multipleanalogsensorsclient| Open complete
[INFO] |yarp.dev.PolyDriver|ergocub_left_arm_ft| Created device <multipleanalogsensorsclient>. See C++ class MultipleAnalogSensorsClient for documentation.
[INFO] Opening device ergocub_right_arm_ft with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/right_arm/FT"), ("local" = "/wholeBodyDynamics/right_arm_ft_sensor")]
[DEBUG] |yarp.dev.PolyDriver|ergocub_right_arm_ft| Parameters are (device multipleanalogsensorsclient) (id ergocub_right_arm_ft) (local "/wholeBodyDynamics/right_arm_ft_sensor") (remote "/ergocubSim/right_arm/FT") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_arm_ft_sensor/rpc:i| Port /wholeBodyDynamics/right_arm_ft_sensor/rpc:i active at tcp://10.240.2.19:10071/
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_arm_ft_sensor/measures:i| Port /wholeBodyDynamics/right_arm_ft_sensor/measures:i active at tcp://10.240.2.19:10072/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_arm_ft_sensor/rpc:i| Sending output from /wholeBodyDynamics/right_arm_ft_sensor/rpc:i to /ergocubSim/right_arm/FT/rpc:o using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/right_arm_ft_sensor/measures:i| Receiving input from /ergocubSim/right_arm/FT/measures:o to /wholeBodyDynamics/right_arm_ft_sensor/measures:i using tcp
[DEBUG] |yarp.device.multipleanalogsensorsclient| Open complete
[INFO] |yarp.dev.PolyDriver|ergocub_right_arm_ft| Created device <multipleanalogsensorsclient>. See C++ class MultipleAnalogSensorsClient for documentation.
[INFO] Opening device ergocub_left_leg_ft with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/left_leg/FT"), ("local" = "/wholeBodyDynamics/left_leg_ft_sensor")]
[DEBUG] |yarp.dev.PolyDriver|ergocub_left_leg_ft| Parameters are (device multipleanalogsensorsclient) (id ergocub_left_leg_ft) (local "/wholeBodyDynamics/left_leg_ft_sensor") (remote "/ergocubSim/left_leg/FT") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_leg_ft_sensor/rpc:i| Port /wholeBodyDynamics/left_leg_ft_sensor/rpc:i active at tcp://10.240.2.19:10073/
[INFO] |yarp.os.Port|/wholeBodyDynamics/left_leg_ft_sensor/measures:i| Port /wholeBodyDynamics/left_leg_ft_sensor/measures:i active at tcp://10.240.2.19:10074/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_leg_ft_sensor/rpc:i| Sending output from /wholeBodyDynamics/left_leg_ft_sensor/rpc:i to /ergocubSim/left_leg/FT/rpc:o using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/left_leg_ft_sensor/measures:i| Receiving input from /ergocubSim/left_leg/FT/measures:o to /wholeBodyDynamics/left_leg_ft_sensor/measures:i using tcp
[DEBUG] |yarp.device.multipleanalogsensorsclient| Open complete
[INFO] |yarp.dev.PolyDriver|ergocub_left_leg_ft| Created device <multipleanalogsensorsclient>. See C++ class MultipleAnalogSensorsClient for documentation.
[INFO] Opening device ergocub_right_leg_ft with parameters [("robotName" = "ergoCubGazeboV1"), ("remote" = "/ergocubSim/right_leg/FT"), ("local" = "/wholeBodyDynamics/right_leg_ft_sensor")]
[DEBUG] |yarp.dev.PolyDriver|ergocub_right_leg_ft| Parameters are (device multipleanalogsensorsclient) (id ergocub_right_leg_ft) (local "/wholeBodyDynamics/right_leg_ft_sensor") (remote "/ergocubSim/right_leg/FT") (robotName ergoCubGazeboV1)
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_leg_ft_sensor/rpc:i| Port /wholeBodyDynamics/right_leg_ft_sensor/rpc:i active at tcp://10.240.2.19:10075/
[INFO] |yarp.os.Port|/wholeBodyDynamics/right_leg_ft_sensor/measures:i| Port /wholeBodyDynamics/right_leg_ft_sensor/measures:i active at tcp://10.240.2.19:10076/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_leg_ft_sensor/rpc:i| Sending output from /wholeBodyDynamics/right_leg_ft_sensor/rpc:i to /ergocubSim/right_leg/FT/rpc:o using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/right_leg_ft_sensor/measures:i| Receiving input from /ergocubSim/right_leg/FT/measures:o to /wholeBodyDynamics/right_leg_ft_sensor/measures:i using tcp
[DEBUG] |yarp.device.multipleanalogsensorsclient| Open complete
[INFO] |yarp.dev.PolyDriver|ergocub_right_leg_ft| Created device <multipleanalogsensorsclient>. See C++ class MultipleAnalogSensorsClient for documentation.
[INFO] Opening device wholebodydynamics with parameters [("robotName" = "ergoCubGazeboV1"), ("axesNames" = "(torso_roll,torso_pitch,torso_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)"), ("modelFile" = "model.urdf"), ("fixedFrameGravity" = "(0,0,-9.81)"), ("defaultContactFrames" = "(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)"), ("imuFrameName" = "head_imu_0"), ("useJointVelocity" = "true"), ("useJointAcceleration" = "true"), ("imuFilterCutoffInHz" = "3.0"), ("forceTorqueFilterCutoffInHz" = "3.0"), ("jointVelFilterCutoffInHz" = "3.0"), ("jointAccFilterCutoffInHz" = "3.0"), ("startWithZeroFTSensorOffsets" = "true"), ("useSkinForContacts" = "false"), ("publishNetExternalWrenches" = "true"), ("disableSensorReadCheckAtStartup" = "true"), ("GRAVITY_COMPENSATION" [group] = "(enableGravityCompensation true) (gravityCompensationBaseLink root_link) (gravityCompensationAxesNames (torso_roll,torso_pitch,torso_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow))"), ("HW_USE_MAS_IMU" [group] = "(accelerometer head_imu_0) (gyroscope head_imu_0)"), ("WBD_OUTPUT_EXTERNAL_WRENCH_PORTS" [group] = "(/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o (l_foot_front,l_sole,l_sole)) (/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o (l_foot_rear,l_sole,l_sole)) (/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o (r_foot_front,r_sole,r_sole)) (/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o (r_foot_rear,r_sole,r_sole)) (/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o (l_hand_palm,l_hand_palm,root_link)) (/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o (r_hand_palm,r_hand_palm,root_link))"), ("multipleAnalogSensorsNames" [group] = "(SixAxisForceTorqueSensorsNames ("l_arm_ft", "r_arm_ft", "l_leg_ft", "r_leg_ft", "l_foot_front_ft", "r_foot_front_ft", "l_foot_rear_ft", "r_foot_rear_ft"))")]
[DEBUG] |yarp.dev.PolyDriver|wholebodydynamics| Parameters are (GRAVITY_COMPENSATION (enableGravityCompensation true) (gravityCompensationBaseLink root_link) (gravityCompensationAxesNames (torso_roll torso_pitch torso_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow))) (HW_USE_MAS_IMU (accelerometer head_imu_0) (gyroscope head_imu_0)) (WBD_OUTPUT_EXTERNAL_WRENCH_PORTS ("/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o" (l_foot_front l_sole l_sole)) ("/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o" (l_foot_rear l_sole l_sole)) ("/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o" (r_foot_front r_sole r_sole)) ("/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o" (r_foot_rear r_sole r_sole)) ("/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o" (l_hand_palm l_hand_palm root_link)) ("/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o" (r_hand_palm r_hand_palm root_link))) (axesNames (torso_roll torso_pitch torso_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_pitch l_wrist_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_pitch r_wrist_yaw l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll)) (defaultContactFrames (l_hand_palm r_hand_palm root_link l_foot_front l_foot_rear r_foot_front r_foot_rear l_upper_leg r_upper_leg)) (device wholebodydynamics) (disableSensorReadCheckAtStartup true) (fixedFrameGravity (0 0 -9.81000000000000049738)) (forceTorqueFilterCutoffInHz 3.0) (id wholebodydynamics) (imuFilterCutoffInHz 3.0) (imuFrameName head_imu_0) (jointAccFilterCutoffInHz 3.0) (jointVelFilterCutoffInHz 3.0) (modelFile model.urdf) (multipleAnalogSensorsNames (SixAxisForceTorqueSensorsNames (l_arm_ft r_arm_ft l_leg_ft r_leg_ft l_foot_front_ft r_foot_front_ft l_foot_rear_ft r_foot_rear_ft))) (publishNetExternalWrenches true) (robotName ergoCubGazeboV1) (startWithZeroFTSensorOffsets true) (useJointAcceleration true) (useJointVelocity true) (useSkinForContacts false)
[DEBUG] wholeBodyDynamics Statistics: Opening estimator.
[INFO] wholeBodyDynamics : Loading model from  
I/O warning : failed to load external entity ""
[ERROR] ModelLoader :: loadModelFromFile : Error in parsing model from URDF.
[ERROR] ExtWrenchesAndJointTorquesEstimator :: loadModelAndSensorsFromFileWithSpecifiedDOFs : Error in parsing from URDF.
[INFO] wholeBodyDynamics : impossible to create ExtWrenchesAndJointTorquesEstimator from file  model.urdf  ( full path:    ) 
[ERROR] wholeBodyDynamics: Problem in opening estimator object.
[ERROR] |yarp.dev.PolyDriver|wholebodydynamics| Driver <wholebodydynamics> was found but could not open
[WARNING] Cannot open device wholebodydynamics
[WARNING] Cannot open device wholebodydynamics
[WARNING] There was some problem opening one or more devices. Please check the log and your configuration
[ERROR] One or more devices failed opening... see previous log messages for more info
[INFO] Closing device wholebodydynamics
[INFO] Closing device ergocub_right_leg_ft
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/right_leg_ft_sensor/measures:i| Removing input from /ergocubSim/right_leg/FT/measures:o to /wholeBodyDynamics/right_leg_ft_sensor/measures:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_leg_ft_sensor/rpc:i| Removing output from /wholeBodyDynamics/right_leg_ft_sensor/rpc:i to /ergocubSim/right_leg/FT/rpc:o
[DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete
[INFO] Closing device ergocub_left_leg_ft
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/left_leg_ft_sensor/measures:i| Removing input from /ergocubSim/left_leg/FT/measures:o to /wholeBodyDynamics/left_leg_ft_sensor/measures:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_leg_ft_sensor/rpc:i| Removing output from /wholeBodyDynamics/left_leg_ft_sensor/rpc:i to /ergocubSim/left_leg/FT/rpc:o
[DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete
[INFO] Closing device ergocub_right_arm_ft
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/right_arm_ft_sensor/measures:i| Removing input from /ergocubSim/right_arm/FT/measures:o to /wholeBodyDynamics/right_arm_ft_sensor/measures:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_arm_ft_sensor/rpc:i| Removing output from /wholeBodyDynamics/right_arm_ft_sensor/rpc:i to /ergocubSim/right_arm/FT/rpc:o
[DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete
[INFO] Closing device ergocub_left_arm_ft
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/left_arm_ft_sensor/measures:i| Removing input from /ergocubSim/left_arm/FT/measures:o to /wholeBodyDynamics/left_arm_ft_sensor/measures:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_arm_ft_sensor/rpc:i| Removing output from /wholeBodyDynamics/left_arm_ft_sensor/rpc:i to /ergocubSim/left_arm/FT/rpc:o
[DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete
[INFO] Closing device waist_inertial_hardware_device
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/waist_imu/measures:i| Removing input from /ergocubSim/waist/inertials/measures:o to /wholeBodyDynamics/waist_imu/measures:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/waist_imu/rpc:i| Removing output from /wholeBodyDynamics/waist_imu/rpc:i to /ergocubSim/waist/inertials/rpc:o
[DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete
[INFO] Closing device head_inertial_hardware_device
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/imu/measures:i| Removing input from /ergocubSim/head/inertials/measures:o to /wholeBodyDynamics/imu/measures:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/imu/rpc:i| Removing output from /wholeBodyDynamics/imu/rpc:i to /ergocubSim/head/inertials/rpc:o
[DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete
[INFO] Closing device head_mc
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/head/rpc:o| Removing output from /wholeBodyDynamics/head/rpc:o to /ergocubSim/head/rpc:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/head/command:o| output for route /wholeBodyDynamics/head/command:o->udp->/ergocubSim/head/command:i asking other side to close by out-of-band means
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/head/command:o| Removing output from /wholeBodyDynamics/head/command:o to /ergocubSim/head/command:i
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/head/stateExt:i| Removing input from /ergocubSim/head/stateExt:o to /wholeBodyDynamics/head/stateExt:i
[INFO] Closing device right_leg_mc
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_leg/rpc:o| Removing output from /wholeBodyDynamics/right_leg/rpc:o to /ergocubSim/right_leg/rpc:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_leg/command:o| output for route /wholeBodyDynamics/right_leg/command:o->udp->/ergocubSim/right_leg/command:i asking other side to close by out-of-band means
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_leg/command:o| Removing output from /wholeBodyDynamics/right_leg/command:o to /ergocubSim/right_leg/command:i
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/right_leg/stateExt:i| Removing input from /ergocubSim/right_leg/stateExt:o to /wholeBodyDynamics/right_leg/stateExt:i
[INFO] Closing device left_leg_mc
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_leg/rpc:o| Removing output from /wholeBodyDynamics/left_leg/rpc:o to /ergocubSim/left_leg/rpc:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_leg/command:o| output for route /wholeBodyDynamics/left_leg/command:o->udp->/ergocubSim/left_leg/command:i asking other side to close by out-of-band means
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_leg/command:o| Removing output from /wholeBodyDynamics/left_leg/command:o to /ergocubSim/left_leg/command:i
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/left_leg/stateExt:i| Removing input from /ergocubSim/left_leg/stateExt:o to /wholeBodyDynamics/left_leg/stateExt:i
[INFO] Closing device right_arm_mc
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_arm/rpc:o| Removing output from /wholeBodyDynamics/right_arm/rpc:o to /ergocubSim/right_arm/rpc:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_arm/command:o| output for route /wholeBodyDynamics/right_arm/command:o->udp->/ergocubSim/right_arm/command:i asking other side to close by out-of-band means
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/right_arm/command:o| Removing output from /wholeBodyDynamics/right_arm/command:o to /ergocubSim/right_arm/command:i
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/right_arm/stateExt:i| Removing input from /ergocubSim/right_arm/stateExt:o to /wholeBodyDynamics/right_arm/stateExt:i
[INFO] Closing device left_arm_mc
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_arm/rpc:o| Removing output from /wholeBodyDynamics/left_arm/rpc:o to /ergocubSim/left_arm/rpc:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_arm/command:o| output for route /wholeBodyDynamics/left_arm/command:o->udp->/ergocubSim/left_arm/command:i asking other side to close by out-of-band means
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/left_arm/command:o| Removing output from /wholeBodyDynamics/left_arm/command:o to /ergocubSim/left_arm/command:i
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/left_arm/stateExt:i| Removing input from /ergocubSim/left_arm/stateExt:o to /wholeBodyDynamics/left_arm/stateExt:i
[INFO] Closing device torso_mc
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/torso/rpc:o| Removing output from /wholeBodyDynamics/torso/rpc:o to /ergocubSim/torso/rpc:i
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/torso/command:o| output for route /wholeBodyDynamics/torso/command:o->udp->/ergocubSim/torso/command:i asking other side to close by out-of-band means
[INFO] |yarp.os.impl.PortCoreOutputUnit|/wholeBodyDynamics/torso/command:o| Removing output from /wholeBodyDynamics/torso/command:o to /ergocubSim/torso/command:i
[INFO] |yarp.os.impl.PortCoreInputUnit|/wholeBodyDynamics/torso/stateExt:i| Removing input from /ergocubSim/torso/stateExt:o to /wholeBodyDynamics/torso/stateExt:i
[ERROR] Error in startup phase... see previous messages for more info
[WARNING] Interrupt # 1 # received.
[INFO] Interrupt received. Stopping all running threads.
[INFO] interrupt1 phase starting...
[INFO] interrupt1 phase finished.
[INFO] shutdown phase starting...
[INFO] Entering action level 2 of phase shutdown
[INFO] Executing detach action, level 2 on device wholebodydynamics with parameters []
[ERROR] wholebodydynamics is neither a wrapper nor a multiplewrapper, therefore it cannot have detach actions
[ERROR] Cannot run detach action on device wholebodydynamics
[INFO] All actions for action level 2 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 2 of shutdown phase finished.
[WARNING] There was some problem running actions for shutdown phase . Please check the log and your configuration
[INFO] Closing device wholebodydynamics
[INFO] Closing device ergocub_right_leg_ft
[INFO] Closing device ergocub_left_leg_ft
[INFO] Closing device ergocub_right_arm_ft
[INFO] Closing device ergocub_left_arm_ft
[INFO] Closing device waist_inertial_hardware_device
[INFO] Closing device head_inertial_hardware_device
[INFO] Closing device head_mc
[INFO] Closing device right_leg_mc
[INFO] Closing device left_leg_mc
[INFO] Closing device right_arm_mc
[INFO] Closing device left_arm_mc
[INFO] Closing device torso_mc
[INFO] shutdown phase finished.
[ERROR] Error in shutdown phase... see previous messages for more info
[INFO] |yarp.os.RFModule| RFModule failed to open.

[xela-95]

CC @S-Dafarra

[traversaro]

It seems that wholebodydynamics is not able to start, in particular this line:

[INFO] wholeBodyDynamics : impossible to create ExtWrenchesAndJointTorquesEstimator from file  model.urdf  ( full path:    ) 

suggest that it was not able to find the model. Did you set YARP_ROBOT_NAME ?

[traversaro]

This feature may be relevant:

• Support setting max contacts in dartsim's ODE collision detector gazebosim/gz-physics#582
• Set max contacts for collision pairs gazebosim/gz-sim#2270

[xela-95]

It seems that wholebodydynamics is not able to start, in particular this line:

[INFO] wholeBodyDynamics : impossible to create ExtWrenchesAndJointTorquesEstimator from file  model.urdf  ( full path:    ) 

suggest that it was not able to find the model. Did you set YARP_ROBOT_NAME ?

In Step 1, I've done export YARP_ROBOT_NAME="ergoCubGazeboV1". We are using the model in the folder named ergoCubGazeboV1_1. But also trying to update the YARP_ROBOT_NAME variable to this name produces the same error

The value of YARP_DATA_DIRS is the following:

:<CONDA_PREFIX>/share/ICUBcontrib:<CONDA_PREFIX>/share/iCub:<CONDA_PREFIX>/share/iCub:<CONDA_PREFIX>/share/yarp

[traversaro]

To debug more easily that logic, can you run the yarp resource find model.urdf command and check its output? By the way, it seems that somehow <CONDA_PREFIX>/share/ergoCub is missing from YARP_DATA_DIRS, not sure why.

[traversaro]

Ahh, probably you did not installed ergocub-software as you are using your local model?

[xela-95]

Ahh, probably you did not installed ergocub-software as you are using your local model?

Yep exactly! Do I have to install it and update some of the variables?

[xela-95]

This is the output of yarp resource find model.urdf (having set YARP_ROBOT_NAME="ergoCubGazeboV1_1"):

[DEBUG] |yarp.os.ResourceFinder| configuring
[DEBUG] |yarp.os.ResourceFinder| finding file [from]
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/ergocub_ws/install/share/ergoCub/conf/from] (pwd)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/.config/yarp/robots/ergoCubGazeboV1_1] (robot YARP_CONFIG_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/.local/share/yarp/robots/ergoCubGazeboV1_1] (robot YARP_DATA_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/xdg-ubuntu/yarp/robots/ergoCubGazeboV1_1] (robot YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/yarp/robots/ergoCubGazeboV1_1] (robot YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [robots/ergoCubGazeboV1_1] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/ICUBcontrib/robots/ergoCubGazeboV1_1] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| found /home/acroci/mambaforge/envs/walking/share/ICUBcontrib/robots/ergoCubGazeboV1_1
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/iCub/robots/ergoCubGazeboV1_1] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/yarp/robots/ergoCubGazeboV1_1] (robot YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [config/path.d] (robot path.d YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| found /home/acroci/mambaforge/envs/walking/share/yarp/config/path.d
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/BipedalLocomotionFramework/robots/ergoCubGazeboV1_1] (robot yarp.d)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/ICUBcontrib/robots/ergoCubGazeboV1_1/from] (robot)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/.config/yarp/from] (YARP_CONFIG_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/.local/share/yarp/from] (YARP_DATA_HOME)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/xdg-ubuntu/yarp/from] (YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/etc/xdg/yarp/from] (YARP_CONFIG_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [from] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/ICUBcontrib/from] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/iCub/from] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/yarp/from] (YARP_DATA_DIRS)
[DEBUG] |yarp.os.ResourceFinder| checking [/home/acroci/mambaforge/envs/walking/share/BipedalLocomotionFramework/from] (yarp.d)
[DEBUG] |yarp.os.ResourceFinder| did not find from
""

[traversaro]

Probably you can just add the install/share/ergoCub folder from the ergocub_ws to YARP_DATA_DIRS, so the YARP facilities to find files can find the model.urdf of the model. If necessary you can add it there by copying it from ergocub-software .