Sending 0 torques results in non-zero torques applied.

[robertocalandra]

We are having serious difficulties in commanding in torque the iCubDarmstadt01 from the wbi.
After switching on the wholeBodyDynamicsTree, if we try to send a zero torque using the set Torque block of the wbi, the icub apply a strong force forward.

I am not sure if it is because of errors in the wholeBodyDynamicsTree, because of the low-level firmware or what else.
However, it is critical for us to fix this problem as soon as possible. Would it be possible to have ASAP a skype meeting with someone to diagnose and solve it?

For a video see https://www.dropbox.com/s/3g9cwr3bk44v5lt/VID_20150128_181413.mp4

PS: this bug happen when using the older version of the wbi (v0.1)

[traversaro]

Which kind of torques are you measuring (you can read that on the robotMotorGui) at the joint at which you command a desired torques of 0 Nm?

[traversaro]

However to debug the problem you can use the demoForceControl module, and set zero torques to a part through it, bypassing the WBI.

[robertocalandra]

The wbi "read Torques" block returns torques up to 1.4Nm

[robertocalandra]

True that I could use the demoForceControl to achieve zero torques. But the original purpose was to implement a PD controller for position tracking, and if the torques provided are not the ones applied, that is a major problem.

[iron76]

@robertocalandra are you setting some sort of gravity compensation? The behaviour seems compatible with zero torques at the joint and no gravity compensation.

[robertocalandra]

I tried with both gravity compensation and without gravity compensation and the results are qualitatively equal.

I would however expect that even in presence of no gravity compensation the controller would still apply zero torques and therefore the torso "slowly" fall down naturally due to the gravity. This is not the case as the torso is actively pushing down.

[iron76]

What happens with the demoForceControl module as suggested by @traversaro?

[robertocalandra]

The robot seems to behave normally for the two arms. I did not try the torso as it is marked as experimental. Should I?

[iron76]

@robertocalandra The video you posted refers to a trial with or without gravity compensation?

[robertocalandra]

@iron76 If we go into zero torque mode (from demoForceControl), the behavior is the same (strong push forward of the torso).
Same thing also if we manually switch from the robotMotorGui to torque control.
(Both were tested without gravity conmpensation)

I do not remember if the gravity compensation was activated or not in the video.

[randaz81]

could you please tell me the measured joint torques of the 3 joints of the
torso, as shown in the robotMotorGui, when the torso is in controlled in
position 0,0,0

2015-01-28 20:11 GMT+01:00 Roberto Calandra [email protected]:

@iron76 https://github.com/iron76 If we go into zero torque mode (from
demoForceControl), the behavior is the same (strong push forward of the
torso).
Same thing also if we manually switch from the robotMotorGui to torque
control.
(Both were tested without gravity conmpensation)

I do not remember if the gravity compensation was activated or not in the
video.

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[iron76]

@robertocalandra, in any case the zero torque control is definitively quite a a risky control mode and I would recommend doing tests in impedance.

[randaz81]

PS: ...not only the three torques when in 0,0,0 but also when the joints
are in the following positions:
20, 0, 0
0, 20, 0
0, 0, 20
Long time ago, the yarp wrapper was swapping the torques of two of these
joints. I just want to be sure that you are using a recent version of yarp.

2015-01-28 20:35 GMT+01:00 Francesco Nori [email protected]:

@robertocalandra https://github.com/robertocalandra, in any case the
zero torque control is definitively quite a a risky control mode and I
would recommend doing tests in impedance.

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#68 (comment)
.

[DanielePucci]

I do agree with @iron76 that the zero-torque control is quite risky, and should be avoided even for debugging. If the torso strongly pushes forward, however, there might be a problem at low level. A possible issue might be due to the coupling between the (desired) joint torques and the applied PWMs to the motors 0B3M0 and 0B3M1 (see http://wiki.icub.org/wiki/ICub_coupled_joints#Torso). Probably @randaz81 may clarify this and claim whether or not the problem may be due to this coupling handling.

[randaz81]

@DanielePucci Coupling is correct. Otherwise in the video the robot should move diagonally.
@robertocalandra Waiting for the torque measurements.

[robertocalandra]

@randaz81 Here there are the torque measurementes are in the robotMotorGui (using wholeBodyDynamicsTree), averaged over 5 seconds.
Reading the torques from the wbi led to the same results, but in inverted sequence.

[0,0,0] ->[0.01, -0.2 -4.4]
[20,0,0] -> [-0.19,1.34,-4.0]
[0,20,0] -> [1.7 -4.2 -4.0]
[0,0,20] => [0.1,-0.2,-8.3]

[traversaro]

Could be an issue with wholeBodyDynamicsTree ? Which options are you using? You obtain similar results with the old wholeBodyDynamics?

[robertocalandra]

@traversaro I cannot test it today, as the robot is being used for other experiments, I will let you know tomorrow

[robertocalandra]

@traversaro These are the results using the wholeBodyDynamics:

[0,0,0] -> [0.03, -0.18, -4.3]
[20,0,0] -> [-0.13, 1.41, -4.00]
[0,20,0] -> [1.78, -4.19, -4.11]
[0,0,20] -> [0.17, -0.15, -8.33]

I would say that they are qualitatively similar.

Question: the torso skin is currently dismounted (because of a faulty connection), as shown also in the video, could that be the problem?

[robertocalandra]

PS: I am using the options --headV2 --autoconnect

[randaz81]

I tried the following setup:

robot name: iCubGenova04, mechanics revision V1, ETH communication
software: Yarp, icub-main HEAD revisions + latest available firmware
module: WholeBodyDynamics (from icub-main), with and without gravity
compensation.
test:
1- estimated torque values match (with an acceptable tolerance) with the
torques provided by Roberto.
2- demoForceControl is able to control the torso smoothly in both
zero-torque and impedance mode, no issues found.

2015-01-30 11:52 GMT+01:00 Roberto Calandra [email protected]:

PS: I am using the options --headV2 --autoconnect

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[randaz81]

Before proceeding any further, I recommended to sync your robot with our test case, with a general update of yarp, icub-main, icub-firmware-shared. This to eliminate the possibility that you are stuck to a bugged old revision of something.
Please note that updating icub-main will enforce an update the control board firmware.
If you need we can guide you remotely (>= Tuedsay 03/02/2015)

[robertocalandra]

If so, yes, let's proceed with updating yarp, icub-main, etc; and yes, I would definitely like to have remote support (especially for the control board firmware).
Do you have any availability before 03/02/2015 ?

PS: since it is a very high priority for us, I am available today, tomorrow and even on sunday.

[robertocalandra]

@randaz81 Please let me know the earliest availability for remote support.

[robertocalandra]

I can confirm that after the update the issue is still present: Using zero torque control (with gravity compensation and wholebodydynamics modules running) causes a fast bending of the torso forward.

Additionally after updating yarp and icub-main

1. wholeBodyDynamicsTree is not running anymore and return the following error:
   symbol lookup error: /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1: undefined symbol: _ZTIN4yarp2os3idl12WirePortableE

2. the WBI toolbox is not running anymore and return the following error:
   Invalid MEX-file '/home/icub/software/src/codyco-superbuild/build/install/mex/robotState.mexa64': /home/icub/software/src/yarp/build/lib/libYARP_math.so.1: undefined symbol: _ZN4yarp2os4TypeC1Ev

[traversaro]

Have you updated (or at least recompiled) codyco-superbuild after updating
yarp and icub-main ? Given that this is research software, we are not
preserving ABI (http://en.wikipedia.org/wiki/Application_binary_interface)
between different commits.

On Wed, Feb 4, 2015 at 11:41 AM, Roberto Calandra [email protected]
wrote:

I can confirm that after the update the issue is still present: Using zero
torque control (with gravity compensation and wholebodydynamics modules
running) causes a fast bending of the torso forward.

Additionally after updating yarp and icub-main

1. whoelBodydynamics is not running anymore and return the following error:
   symbol lookup error:
   /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1: undefined symbol:
   _ZTIN4yarp2os3idl12WirePortableE

2. the WBI toolbox is not running anymore and return the following error:
   Invalid MEX-file
   '/home/icub/software/src/codyco-superbuild/build/install/mex/robotState.mexa64':
   /home/icub/software/src/yarp/build/lib/libYARP_math.so.1: undefined symbol:
   _ZN4yarp2os4TypeC1Ev

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#68 (comment)
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[robertocalandra]

Yes, of course I did recompile the codyco-superbuild.

[traversaro]

Mhh then it is possible that there are two different versions of YARP floating in the system... perhaps the codyco-superbuild is building an incompatible version of YARP?
Can you paste the content of codyco-superbuild CMakeCache.txt?

[robertocalandra]

# This is the CMakeCache file.
# For build in directory: /home/icub/software/src/codyco-superbuild/build
# It was generated by CMake: /usr/bin/cmake
# You can edit this file to change values found and used by cmake.
# If you do not want to change any of the values, simply exit the editor.
# If you do want to change a value, simply edit, save, and exit the editor.
# The syntax for the file is as follows:
# KEY:TYPE=VALUE
# KEY is the name of a variable in the cache.
# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
# VALUE is the current value for the KEY.

########################
# EXTERNAL cache entries
########################

//The threading library used by boost-thread
BOOST_THREAD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpthread.so

//Build the testing tree.
BUILD_TESTING:BOOL=ON

//Path to a program.
BZRCOMMAND:FILEPATH=BZRCOMMAND-NOTFOUND

//The directory containing a CMake configuration file for Boost.
Boost_DIR:PATH=Boost_DIR-NOTFOUND

//Path to a file.
Boost_INCLUDE_DIR:PATH=/usr/include

//Boost library directory
Boost_LIBRARY_DIR:PATH=/usr/lib/x86_64-linux-gnu

//Boost system library (debug)
Boost_SYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so

//Boost system library (release)
Boost_SYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so

//Boost thread library (debug)
Boost_THREAD_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so

//Boost thread library (release)
Boost_THREAD_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so

//Path to a program.
CMAKE_AR:FILEPATH=/usr/bin/ar

//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
CMAKE_BUILD_TYPE:STRING=

//Enable/Disable color output during build.
CMAKE_COLOR_MAKEFILE:BOOL=ON

//C compiler.
CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc

//Flags used by the compiler during all build types.
CMAKE_C_FLAGS:STRING=

//Flags used by the compiler during debug builds.
CMAKE_C_FLAGS_DEBUG:STRING=-g

//Flags used by the compiler during release minsize builds.
CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG

//Flags used by the compiler during release builds (/MD /Ob1 /Oi
// /Ot /Oy /Gs will produce slightly less optimized but smaller
// files).
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//Flags used by the compiler during Release with Debug Info builds.
CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG

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CMAKE_EXE_LINKER_FLAGS:STRING=' '

//Flags used by the linker during debug builds.
CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=

//Flags used by the linker during release minsize builds.
CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=

//Flags used by the linker during release builds.
CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=

//Flags used by the linker during Release with Debug Info builds.
CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=

//Enable/Disable output of compile commands during generation.
CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF

//Install path prefix, prepended onto install directories.
CMAKE_INSTALL_PREFIX:PATH=/home/icub/software

//Path to a program.
CMAKE_LINKER:FILEPATH=/usr/bin/ld

//Path to a program.
CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make

//Flags used by the linker during the creation of modules.
CMAKE_MODULE_LINKER_FLAGS:STRING=' '

//Flags used by the linker during debug builds.
CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=

//Flags used by the linker during release minsize builds.
CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=

//Flags used by the linker during release builds.
CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=

//Flags used by the linker during Release with Debug Info builds.
CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=

//Path to a program.
CMAKE_NM:FILEPATH=/usr/bin/nm

//Path to a program.
CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy

//Path to a program.
CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump

//Value Computed by CMake
CMAKE_PROJECT_NAME:STATIC=codyco-superbuild

//Path to a program.
CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib

//Flags used by the linker during the creation of dll's.
CMAKE_SHARED_LINKER_FLAGS:STRING=' '

//Flags used by the linker during debug builds.
CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=

//Flags used by the linker during release minsize builds.
CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=

//Flags used by the linker during release builds.
CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=

//Flags used by the linker during Release with Debug Info builds.
CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=

//If set, runtime paths are not added when installing shared libraries,
// but are added when building.
CMAKE_SKIP_INSTALL_RPATH:BOOL=NO

//If set, runtime paths are not added when using shared libraries.
CMAKE_SKIP_RPATH:BOOL=NO

//Flags used by the linker during the creation of static libraries.
CMAKE_STATIC_LINKER_FLAGS:STRING=

//Flags used by the linker during debug builds.
CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=

//Flags used by the linker during release minsize builds.
CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=

//Flags used by the linker during release builds.
CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=

//Flags used by the linker during Release with Debug Info builds.
CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=

//Path to a program.
CMAKE_STRIP:FILEPATH=/usr/bin/strip

//If true, cmake will use relative paths in makefiles and projects.
CMAKE_USE_RELATIVE_PATHS:BOOL=OFF

//If this value is on, makefiles will be generated without the
// .SILENT directive, and all commands will be echoed to the console
// during the make.  This is useful for debugging only. With Visual
// Studio IDE projects all commands are done without /nologo.
CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE

//Enable compilation of the icub-model-generator
CODYCO_BUILD_ICUB_MODEL_GENERATOR:BOOL=OFF

//Enable compilation of ISIR controllers
CODYCO_BUILD_ISIR_MODULES:BOOL=OFF

//Generate doxygen XML output, for use by SWIG
CODYCO_DOXYGEN_XML:BOOL=OFF

//Set if iCub WBI implementation uses external torque control.
// False to use YARP Torque Control.
CODYCO_ICUBWBI_USE_EXTERNAL_TORQUE_CONTROL:BOOL=OFF

//Set if build is done with Travis-CI flags
CODYCO_TRAVIS_CI:BOOL=OFF

//Enable compilation of software that depends on Eigen 3.2.0 (if
// false just depend on Eigen 3.0.5)
CODYCO_USES_EIGEN_320:BOOL=ON

//Enable to compile the matlab mex inteface for iWholeBodyModel
CODYCO_USES_MEX_WHOLEBODYMODEL:BOOL=OFF

//Enable support for URDF input in iDynTree
CODYCO_USES_URDFDOM:BOOL=YES

//Whole Body Interface Toolbox - Simulink library
CODYCO_USES_WBI_TOOLBOX:BOOL=YES

//Path to the coverage program that CTest uses for performing coverage
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//Extra command line flags to pass to the coverage tool
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//How long to wait between timed-out CTest submissions.
CTEST_SUBMIT_RETRY_DELAY:STRING=5

//Path to a program.
CVSCOMMAND:FILEPATH=CVSCOMMAND-NOTFOUND

//Options passed to the cvs update command.
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//Maximum time allowed before CTest will kill the test.
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//Graphviz Dot tool for using Doxygen
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//Doxygen documentation generation tool (http://www.doxygen.org)
DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen

//Path to a file.
EIGEN3_INCLUDE_DIR:PATH=/usr/include/eigen3

//Path to a program.
GITCOMMAND:FILEPATH=/usr/bin/git

//git command line client
GIT_EXECUTABLE:FILEPATH=/usr/bin/git

//Path to a program.
HGCOMMAND:FILEPATH=/usr/bin/hg

//No help, variable specified on the command line.
ICUBWBI_USE_EXTERNAL_TORQUE_CONTROL:BOOL=NO

//The directory containing a CMake configuration file for ICUB.
ICUB_DIR:PATH=/home/icub/software/src/icub-main/build

//list of include directories, all exported targets
ICUB_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/idl_generated_code/include;/home/icub/software/src/icub-main/src/libraries/iCubDev/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/blobDescriptor/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/camCalib/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/colorSegmentation/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/cvBlobsLib/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/faceEyeDetector/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/faceTracker/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/fastFilt/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/salience/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/spMap/include;/usr/include/opencv;/usr/include;/home/icub/software/src/icub-main/src/libraries/logpolar/include;/home/icub/software/src/icub-main/src/libraries/boostMIL/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include;/home/icub/software/src/icub-main/src/libraries/skinDynLib/include;/home/icub/software/src/icub-main/src/libraries/iKin/include;/home/icub/software/src/icub-main/src/libraries/iDyn/include;/home/icub/software/src/icub-main/src/libraries/learningMachine/include;/home/icub/software/src/icub-main/src/libraries/perceptiveModels/include;/home/icub/software/src/icub-main/src/libraries/actionPrimitives/include;/home/icub/software/src/icub-main/src/libraries/d4c/include;/home/icub/software/src/icub-main/src/libraries/optimization/include;/home/icub/software/src/icub-main/src/examples/lib0/include;/home/icub/software/src/icub-main/src/examples/lib1/include;/home/icub/software/src/icub-main/src/examples/sharksWithLasers/include

//dependency flag
ICUB_USE_ACE:BOOL=TRUE

//dependency flag
ICUB_USE_GLUT:BOOL=TRUE

//dependency flag
ICUB_USE_GSL:BOOL=TRUE

//dependency flag
ICUB_USE_GTK2:BOOL=TRUE

//dependency flag
ICUB_USE_IPOPT:BOOL=TRUE

//dependency flag
ICUB_USE_IPP:BOOL=FALSE

//dependency flag
ICUB_USE_ODE:BOOL=TRUE

//dependency flag
ICUB_USE_OpenCV:BOOL=TRUE

//dependency flag
ICUB_USE_OpenGL:BOOL=TRUE

//dependency flag
ICUB_USE_QT4:BOOL=TRUE

//dependency flag
ICUB_USE_Qt5:BOOL=FALSE

//dependency flag
ICUB_USE_SDL:BOOL=TRUE

//dependency flag
ICUB_USE_icub_firmware_shared:BOOL=FALSE

//Command to build the project
MAKECOMMAND:STRING=/usr/bin/make -i

//Path to the memory checking command, used for memory error detection.
MEMORYCHECK_COMMAND:FILEPATH=MEMORYCHECK_COMMAND-NOTFOUND

//File that contains suppressions for the memory checker
MEMORYCHECK_SUPPRESSIONS_FILE:FILEPATH=

//pkg-config executable
PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config

//Path to scp command, used by CTest for submitting results to
// a Dart server
SCPCOMMAND:FILEPATH=/usr/bin/scp

//Name of the computer/site where compile is being run
SITE:STRING=tomlinson

//Path to the SLURM sbatch executable
SLURM_SBATCH_COMMAND:FILEPATH=SLURM_SBATCH_COMMAND-NOTFOUND

//Path to the SLURM srun executable
SLURM_SRUN_COMMAND:FILEPATH=SLURM_SRUN_COMMAND-NOTFOUND

//Path to a program.
SVNCOMMAND:FILEPATH=/usr/bin/svn

//Additional compiler flags for TinyXML
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//The directory containing a CMake configuration file for TinyXML.
TinyXML_DIR:PATH=TinyXML_DIR-NOTFOUND

//TinyXML include directory
TinyXML_INCLUDE_DIRS:PATH=

//Path to a library.
TinyXML_TINYXML_LIBRARY_DEBUG:FILEPATH=TinyXML_TINYXML_LIBRARY_DEBUG-NOTFOUND

//Path to a library.
TinyXML_TINYXML_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libtinyxml.so

//Use system installed ICUB
USE_SYSTEM_ICUB:BOOL=ON

//Use system installed TinyXML
USE_SYSTEM_TINYXML:BOOL=ON

//Use system installed YARP
USE_SYSTEM_YARP:BOOL=ON

//The directory containing a CMake configuration file for WBIToolbox.
WBIToolbox_DIR:PATH=WBIToolbox_DIR-NOTFOUND

//The directory containing a CMake configuration file for YARP.
YARP_DIR:PATH=/home/icub/software/src/yarp/build

//Base address of YCM repository
YCM_BOOTSTRAP_BASE_ADDRESS:STRING=https://raw.githubusercontent.com/robotology/ycm/HEAD

//The directory containing a CMake configuration file for YCM.
YCM_DIR:PATH=YCM_DIR-NOTFOUND

//Enable development targets for the "WBIToolbox" project
YCM_EP_DEVEL_MODE_WBIToolbox:BOOL=OFF

//Enable development targets for the "YCM" project
YCM_EP_DEVEL_MODE_YCM:BOOL=OFF

//Enable development targets for the "codyco-modules" project
YCM_EP_DEVEL_MODE_codyco-modules:BOOL=OFF

//Enable development targets for the "codycoCommons" project
YCM_EP_DEVEL_MODE_codycoCommons:BOOL=OFF

//Enable development targets for the "comStepper" project
YCM_EP_DEVEL_MODE_comStepper:BOOL=OFF

//Enable development targets for the "console_bridge" project
YCM_EP_DEVEL_MODE_console_bridge:BOOL=OFF

//Enable development targets for the "iDynTree" project
YCM_EP_DEVEL_MODE_iDynTree:BOOL=OFF

//Enable development targets for the "kdl_codyco" project
YCM_EP_DEVEL_MODE_kdl_codyco:BOOL=OFF

//Enable development targets for the "kdl_format_io" project
YCM_EP_DEVEL_MODE_kdl_format_io:BOOL=OFF

//Enable development targets for the "mexWholeBodyModel" project
YCM_EP_DEVEL_MODE_mexWholeBodyModel:BOOL=OFF

//Enable development targets for the "motorFrictionIdentificationLib"
// project
YCM_EP_DEVEL_MODE_motorFrictionIdentificationLib:BOOL=OFF

//Enable development targets for the "orocos_kdl" project
YCM_EP_DEVEL_MODE_orocos_kdl:BOOL=OFF

//Enable development targets for the "paramHelp" project
YCM_EP_DEVEL_MODE_paramHelp:BOOL=OFF

//Enable development targets for the "sensorsInterfaces" project
YCM_EP_DEVEL_MODE_sensorsInterfaces:BOOL=OFF

//Enable development targets for the "urdfdom" project
YCM_EP_DEVEL_MODE_urdfdom:BOOL=OFF

//Enable development targets for the "urdfdom_headers" project
YCM_EP_DEVEL_MODE_urdfdom_headers:BOOL=OFF

//Enable development targets for the "wholeBodyInterface" project
YCM_EP_DEVEL_MODE_wholeBodyInterface:BOOL=OFF

//Enable development targets for the "yarpWholeBodyInterface" project
YCM_EP_DEVEL_MODE_yarpWholeBodyInterface:BOOL=OFF

//Enable all targets for projects in development mode
YCM_EP_EXPERT_MODE:BOOL=OFF

//Enable all targets for projects in development mode
YCM_EP_MAINTAINER_MODE:BOOL=OFF

//Email address to use for git commits
YCM_GIT_COMMIT_EMAIL:[email protected]

//Name to use for git commits
YCM_GIT_COMMIT_NAME:STRING=Serena

//Address to use for github git repositories
YCM_GIT_GITHUB_BASE_ADDRESS:STRING=https://github.com/

//Email address to use for git commits for github git repositories
// (if empty will use YCM_GIT_COMMIT_EMAIL)
YCM_GIT_GITHUB_COMMIT_EMAIL:STRING=

//Name to use for git commits for github git repositories (if empty
// will use YCM_GIT_COMMIT_NAME)
YCM_GIT_GITHUB_COMMIT_NAME:STRING=

//Username to use for github git repositories
YCM_GIT_GITHUB_USERNAME:STRING=

//Address to use for IIT Robotology Gitlab git repositories
YCM_GIT_GITLAB_ROBOTOLOGY_BASE_ADDRESS:STRING=https://gitlab.robotology.eu/

//Email address to use for git commits for IIT Robotology Gitlab
// git repositories (if empty will use YCM_GIT_COMMIT_EMAIL)
YCM_GIT_GITLAB_ROBOTOLOGY_COMMIT_EMAIL:STRING=

//Name to use for git commits for IIT Robotology Gitlab git repositories
// (if empty will use YCM_GIT_COMMIT_NAME)
YCM_GIT_GITLAB_ROBOTOLOGY_COMMIT_NAME:STRING=

//Username to use for IIT Robotology Gitlab git repositories
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YCM_GIT_SOURCEFORGE_COMMIT_EMAIL:STRING=

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//include dir for target actionPrimitives
actionPrimitives_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/actionPrimitives/include;/home/icub/software/src/icub-main/src/libraries/perceptiveModels/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include;/home/icub/software/src/icub-main/src/libraries/learningMachine/include;/usr/include

//include dir for target boostMIL
boostMIL_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/boostMIL/include

//The directory containing a CMake configuration file for codyco-modules.
codyco-modules_DIR:PATH=codyco-modules_DIR-NOTFOUND

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//The directory containing a CMake configuration file for comStepper.
comStepper_DIR:PATH=comStepper_DIR-NOTFOUND

//The directory containing a CMake configuration file for console_bridge.
console_bridge_DIR:PATH=console_bridge_DIR-NOTFOUND

//include dir for target ctrlLib
ctrlLib_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//include dir for target d4c
d4c_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/d4c/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//include dir for target iCubDev
iCubDev_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/iCubDev/include

//include dir for target iCubIDLClients
iCubIDLClients_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/idl_generated_code/include

//include dir for target iCubVis
iCubVis_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/iCubVis/blobDescriptor/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/camCalib/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/colorSegmentation/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/cvBlobsLib/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/faceEyeDetector/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/faceTracker/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/fastFilt/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/salience/include;/home/icub/software/src/icub-main/src/libraries/iCubVis/spMap/include;/usr/include/opencv;/usr/include

//The directory containing a CMake configuration file for iDynTree.
iDynTree_DIR:PATH=iDynTree_DIR-NOTFOUND

//include dir for target iDyn
iDyn_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/iDyn/include;/home/icub/software/src/icub-main/src/libraries/iKin/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include;/home/icub/software/src/icub-main/src/libraries/skinDynLib/include

//include dir for target iKin
iKin_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/iKin/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//The directory containing a CMake configuration file for kdl_codyco.
kdl_codyco_DIR:PATH=kdl_codyco_DIR-NOTFOUND

//The directory containing a CMake configuration file for kdl_format_io.
kdl_format_io_DIR:PATH=kdl_format_io_DIR-NOTFOUND

//include dir for target learningMachine
learningMachine_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/learningMachine/include;/usr/include

//include dir for target lib0
lib0_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/examples/lib0/include

//include dir for target lib1
lib1_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/examples/lib1/include

//include dir for target logpolar
logpolar_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/logpolar/include

//The directory containing a CMake configuration file for mexWholeBodyModel.
mexWholeBodyModel_DIR:PATH=mexWholeBodyModel_DIR-NOTFOUND

//The directory containing a CMake configuration file for motorFrictionIdentificationLib.
motorFrictionIdentificationLib_DIR:PATH=motorFrictionIdentificationLib_DIR-NOTFOUND

//include dir for target optimization
optimization_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/optimization/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//The directory containing a CMake configuration file for orocos_kdl.
orocos_kdl_DIR:PATH=orocos_kdl_DIR-NOTFOUND

//The directory containing a CMake configuration file for paramHelp.
paramHelp_DIR:PATH=paramHelp_DIR-NOTFOUND

//include dir for target perceptiveModels
perceptiveModels_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/perceptiveModels/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include;/home/icub/software/src/icub-main/src/libraries/learningMachine/include;/usr/include

//The directory containing a CMake configuration file for sensorsInterfaces.
sensorsInterfaces_DIR:PATH=sensorsInterfaces_DIR-NOTFOUND

//include dir for target sharksWithLasers
sharksWithLasers_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/examples/sharksWithLasers/include

//include dir for target skinDynLib
skinDynLib_INCLUDE_DIRS:STRING=/home/icub/software/src/icub-main/src/libraries/skinDynLib/include;/home/icub/software/src/icub-main/src/libraries/ctrlLib/include

//The directory containing a CMake configuration file for urdfdom.
urdfdom_DIR:PATH=urdfdom_DIR-NOTFOUND

//The directory containing a CMake configuration file for urdfdom_headers.
urdfdom_headers_DIR:PATH=urdfdom_headers_DIR-NOTFOUND

//The directory containing a CMake configuration file for wholeBodyInterface.
wholeBodyInterface_DIR:PATH=wholeBodyInterface_DIR-NOTFOUND

//The directory containing a CMake configuration file for yarpWholeBodyInterface.
yarpWholeBodyInterface_DIR:PATH=yarpWholeBodyInterface_DIR-NOTFOUND


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//List of iCub libraries
ICUB_LIBRARIES:INTERNAL=iCubIDLClients;iCubDev;iCubVis;logpolar;boostMIL;ctrlLib;skinDynLib;iKin;iDyn;learningMachine;perceptiveModels;actionPrimitives;cartesiancontrollerserver;cartesiancontrollerclient;gazecontrollerclient;debugInterfaceClient;icubmod;d4c;optimization;lib0;lib1;sharksWithLasers
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YCM_GIT_GNOME_BASE_ADDRESS-STRINGS:INTERNAL=git://git.gnome.org/;ssh://[email protected]/;[email protected]:;gnome:
//ADVANCED property for variable: YCM_GIT_GNOME_COMMIT_EMAIL
YCM_GIT_GNOME_COMMIT_EMAIL-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_GNOME_COMMIT_NAME
YCM_GIT_GNOME_COMMIT_NAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_GNOME_USERNAME
YCM_GIT_GNOME_USERNAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_KDE_BASE_ADDRESS
YCM_GIT_KDE_BASE_ADDRESS-ADVANCED:INTERNAL=1
//STRINGS property for variable: YCM_GIT_KDE_BASE_ADDRESS
YCM_GIT_KDE_BASE_ADDRESS-STRINGS:INTERNAL=git://anongit.kde.org/;ssh://[email protected]/;[email protected]:;kde:
//ADVANCED property for variable: YCM_GIT_KDE_COMMIT_EMAIL
YCM_GIT_KDE_COMMIT_EMAIL-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_KDE_COMMIT_NAME
YCM_GIT_KDE_COMMIT_NAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_KDE_USERNAME
YCM_GIT_KDE_USERNAME-ADVANCED:INTERNAL=1
//Address to use for local git repositories
YCM_GIT_LOCAL_BASE_ADDRESS:INTERNAL=
//Address to use for other git repositories
YCM_GIT_NONE_BASE_ADDRESS:INTERNAL=
//ADVANCED property for variable: YCM_GIT_SOURCEFORGE_BASE_ADDRESS
YCM_GIT_SOURCEFORGE_BASE_ADDRESS-ADVANCED:INTERNAL=1
//STRINGS property for variable: YCM_GIT_SOURCEFORGE_BASE_ADDRESS
YCM_GIT_SOURCEFORGE_BASE_ADDRESS-STRINGS:INTERNAL=git://git.code.sf.net/p/;ssh://@git.code.sf.net/p/;@git.code.sf.net:p/;sf:
//ADVANCED property for variable: YCM_GIT_SOURCEFORGE_COMMIT_EMAIL
YCM_GIT_SOURCEFORGE_COMMIT_EMAIL-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_SOURCEFORGE_COMMIT_NAME
YCM_GIT_SOURCEFORGE_COMMIT_NAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_GIT_SOURCEFORGE_USERNAME
YCM_GIT_SOURCEFORGE_USERNAME-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_3RDPARTY
YCM_USE_3RDPARTY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_CMAKE_3_0
YCM_USE_CMAKE_3_0-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_CMAKE_NEXT
YCM_USE_CMAKE_NEXT-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_CMAKE_PROPOSED
YCM_USE_CMAKE_PROPOSED-ADVANCED:INTERNAL=1
//ADVANCED property for variable: YCM_USE_DEPRECATED
YCM_USE_DEPRECATED-ADVANCED:INTERNAL=1
//Components requested for this build tree.
_Boost_COMPONENTS_SEARCHED:INTERNAL=system;thread
//Last used Boost_INCLUDE_DIR value.
_Boost_INCLUDE_DIR_LAST:INTERNAL=/usr/include
//Last used Boost_LIBRARY_DIR value.
_Boost_LIBRARY_DIR_LAST:INTERNAL=/usr/lib/x86_64-linux-gnu
//Last used Boost_USE_MULTITHREADED value.
_Boost_USE_MULTITHREADED_LAST:INTERNAL=TRUE
_PC_TINYXML_CFLAGS:INTERNAL=
_PC_TINYXML_CFLAGS_I:INTERNAL=
_PC_TINYXML_CFLAGS_OTHER:INTERNAL=
_PC_TINYXML_FOUND:INTERNAL=1
_PC_TINYXML_INCLUDEDIR:INTERNAL=/usr/include
_PC_TINYXML_INCLUDE_DIRS:INTERNAL=
_PC_TINYXML_LDFLAGS:INTERNAL=-ltinyxml
_PC_TINYXML_LDFLAGS_OTHER:INTERNAL=
_PC_TINYXML_LIBDIR:INTERNAL=/usr/lib/x86_64-linux-gnu
_PC_TINYXML_LIBRARIES:INTERNAL=tinyxml
_PC_TINYXML_LIBRARY_DIRS:INTERNAL=
_PC_TINYXML_LIBS:INTERNAL=
_PC_TINYXML_LIBS_L:INTERNAL=
_PC_TINYXML_LIBS_OTHER:INTERNAL=
_PC_TINYXML_LIBS_PATHS:INTERNAL=
_PC_TINYXML_PREFIX:INTERNAL=/usr
_PC_TINYXML_STATIC_CFLAGS:INTERNAL=
_PC_TINYXML_STATIC_CFLAGS_I:INTERNAL=
_PC_TINYXML_STATIC_CFLAGS_OTHER:INTERNAL=
_PC_TINYXML_STATIC_INCLUDE_DIRS:INTERNAL=
_PC_TINYXML_STATIC_LDFLAGS:INTERNAL=-ltinyxml
_PC_TINYXML_STATIC_LDFLAGS_OTHER:INTERNAL=
_PC_TINYXML_STATIC_LIBDIR:INTERNAL=
_PC_TINYXML_STATIC_LIBRARIES:INTERNAL=tinyxml
_PC_TINYXML_STATIC_LIBRARY_DIRS:INTERNAL=
_PC_TINYXML_STATIC_LIBS:INTERNAL=
_PC_TINYXML_STATIC_LIBS_L:INTERNAL=
_PC_TINYXML_STATIC_LIBS_OTHER:INTERNAL=
_PC_TINYXML_STATIC_LIBS_PATHS:INTERNAL=
_PC_TINYXML_VERSION:INTERNAL=2.6.2
_PC_TINYXML_tinyxml_INCLUDEDIR:INTERNAL=
_PC_TINYXML_tinyxml_LIBDIR:INTERNAL=
_PC_TINYXML_tinyxml_PREFIX:INTERNAL=
_PC_TINYXML_tinyxml_VERSION:INTERNAL=
__YCM_BOOTSTRAPPED_CALLED:INTERNAL=TRUE
__YCM_GIT_SETUP_CALLED:INTERNAL=1
__pkg_config_checked__PC_TINYXML:INTERNAL=1

[traversaro]

Ok, my hypothesis is wrong. Just to clarify:

• YARP binaries work.
• codyco-superbuild binaries (such as WBI-Toolbox) don't work.
• icub-main binaries are working? you mention that wholeBodyDynamics is failing, but you also mention running it for the test?

In any case, it can be useful to debug to paste the output of ldd /path/to/wholeBodyDynamics and ldd /path/to/yarpserver , just to understand what's different between a working binary and a not workign one.

[robertocalandra]

Sorry Silvio, there was a typo in my previous post:
wholeBodyDynamics is working
wholeBodyDynamicsTree is not working

[traversaro]

Ok, then ldd /path/to/wholeBodyDynamics versus ldd /path/to/wholeBodyDynamicsTree would be definitely helpful.

[robertocalandra]

It seems that there are two wholeBodyDynamicsTree. is it normal?

icub@tomlinson:~$ ldd /home/icub/software/src/icub-main/build/bin/wholeBodyDynamics
    linux-vdso.so.1 =>  (0x00007fff853e9000)
    libiDyn.so.0 => /home/icub/software/src/icub-main/build/lib/libiDyn.so.0 (0x00007f3387e44000)
    libYARP_OS.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_OS.so.1 (0x00007f3387a62000)
    libYARP_sig.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_sig.so.1 (0x00007f338782b000)
    libYARP_math.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_math.so.1 (0x00007f3387616000)
    libYARP_dev.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1 (0x00007f33872ee000)
    libYARP_init.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_init.so.1 (0x00007f33870eb000)
    libskinDynLib.so.0 => /home/icub/software/src/icub-main/build/lib/libskinDynLib.so.0 (0x00007f3386ebb000)
    libiKin.so.0 => /home/icub/software/src/icub-main/build/lib/libiKin.so.0 (0x00007f3386c48000)
    libctrlLib.so.0 => /home/icub/software/src/icub-main/build/lib/libctrlLib.so.0 (0x00007f33869c8000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f338669d000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f3386486000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f33860c0000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f3385dba000)
    libACE-6.0.3.so => /usr/lib/libACE-6.0.3.so (0x00007f3385a46000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f338583e000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f3385620000)
    libreadline.so.6 => /lib/x86_64-linux-gnu/libreadline.so.6 (0x00007f33853d9000)
    libgsl.so.0 => /usr/lib/libgsl.so.0 (0x00007f3384f79000)
    libgslcblas.so.0 => /usr/lib/libgslcblas.so.0 (0x00007f3384d2d000)
    libipopt.so.1 => /home/icub/software/src/Ipopt/build/lib/libipopt.so.1 (0x00007f33848fd000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f33846f9000)
    libcoinmumps.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmumps.so.1 (0x00007f3384371000)
    libcoinlapack.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinlapack.so.1 (0x00007f33840c6000)
    libcoinmetis.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmetis.so.1 (0x00007f3383e7a000)
    libcoinblas.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinblas.so.1 (0x00007f3383c52000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f33880cf000)
    libtinfo.so.5 => /lib/x86_64-linux-gnu/libtinfo.so.5 (0x00007f3383a29000)
    libgfortran.so.3 => /usr/lib/x86_64-linux-gnu/libgfortran.so.3 (0x00007f338370f000)
    libquadmath.so.0 => /usr/lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007f33834d3000)

icub@tomlinson:~$ ldd /home/icub/software/src/codyco-superbuild/build/install/bin/wholeBodyDynamicsTree
    linux-vdso.so.1 =>  (0x00007fffaa1fe000)
    libYARP_OS.so.1 => /home/icub/software/lib/libYARP_OS.so.1 (0x00007fe760bf7000)
    libYARP_sig.so.1 => /home/icub/software/lib/libYARP_sig.so.1 (0x00007fe7609c2000)
    libYARP_math.so.1 => /home/icub/software/lib/libYARP_math.so.1 (0x00007fe7607ae000)
    libYARP_init.so.1 => /home/icub/software/lib/libYARP_init.so.1 (0x00007fe7605ab000)
    libidyntree.so.0.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libidyntree.so.0.0.1 (0x00007fe760129000)
    libwhole-body-interface.so.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libwhole-body-interface.so.0.1 (0x00007fe75ff1d000)
    libyarpwholebodyinterface.so.0.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libyarpwholebodyinterface.so.0.0.1 (0x00007fe75fbfb000)
    libskinDynLib.so.0 => /home/icub/software/lib/libskinDynLib.so.0 (0x00007fe75f9cb000)
    libkdl-codyco.so.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libkdl-codyco.so.0.1 (0x00007fe75f72f000)
    liborocos-kdl.so.1.2 => /home/icub/software/src/codyco-superbuild/build/install/lib/liborocos-kdl.so.1.2 (0x00007fe75f4ac000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fe75f180000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fe75ef6a000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fe75eba4000)
    libACE-6.0.3.so => /usr/lib/libACE-6.0.3.so (0x00007fe75e830000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fe75e628000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fe75e40a000)
    libreadline.so.6 => /lib/x86_64-linux-gnu/libreadline.so.6 (0x00007fe75e1c3000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fe75debd000)
    libgsl.so.0 => /usr/lib/libgsl.so.0 (0x00007fe75da5d000)
    libgslcblas.so.0 => /usr/lib/libgslcblas.so.0 (0x00007fe75d810000)
    libyarpcar.so.1 => /home/icub/software/lib/libyarpcar.so.1 (0x00007fe75d60e000)
    libyarpmod.so.1 => /home/icub/software/lib/libyarpmod.so.1 (0x00007fe75d40c000)
    libiDyn.so.0 => /home/icub/software/src/icub-main/build/lib/libiDyn.so.0 (0x00007fe75d182000)
    libkdl-format-io.so.0.0 => /home/icub/software/src/codyco-superbuild/build/install/lib/../lib/libkdl-format-io.so.0.0 (0x00007fe75cf4d000)
    liburdfdom_world.so.0.3 => /home/icub/software/src/codyco-superbuild/build/install/lib/../lib/liburdfdom_world.so.0.3 (0x00007fe75cd20000)
    libiKin.so.0 => /home/icub/software/src/icub-main/build/lib/libiKin.so.0 (0x00007fe75caae000)
    libYARP_dev.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1 (0x00007fe75c786000)
    libctrlLib.so.0 => /home/icub/software/src/icub-main/build/lib/libctrlLib.so.0 (0x00007fe75c506000)
    /lib64/ld-linux-x86-64.so.2 (0x00007fe760fc9000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fe75c301000)
    libtinfo.so.5 => /lib/x86_64-linux-gnu/libtinfo.so.5 (0x00007fe75c0d8000)
    libyarp_bayer.so.1 => /home/icub/software/lib/libyarp_bayer.so.1 (0x00007fe75becb000)
    libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007fe75bcb6000)
    liburdfdom_model.so.0.3 => /home/icub/software/src/codyco-superbuild/build/install/lib/liburdfdom_model.so.0.3 (0x00007fe75ba7d000)
    libipopt.so.1 => /home/icub/software/src/Ipopt/build/lib/libipopt.so.1 (0x00007fe75b64e000)
    libcoinmumps.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmumps.so.1 (0x00007fe75b2c6000)
    libcoinlapack.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinlapack.so.1 (0x00007fe75b01b000)
    libcoinmetis.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmetis.so.1 (0x00007fe75adcf000)
    libcoinblas.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinblas.so.1 (0x00007fe75aba7000)
    libdc1394.so.22 => /usr/lib/x86_64-linux-gnu/libdc1394.so.22 (0x00007fe75a933000)
    libgfortran.so.3 => /usr/lib/x86_64-linux-gnu/libgfortran.so.3 (0x00007fe75a619000)
    libraw1394.so.11 => /usr/lib/x86_64-linux-gnu/libraw1394.so.11 (0x00007fe75a40b000)
    libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007fe75a1f4000)
    libquadmath.so.0 => /usr/lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007fe759fb7000)
    libudev.so.1 => /lib/x86_64-linux-gnu/libudev.so.1 (0x00007fe759da6000)
    libcgmanager.so.0 => /lib/x86_64-linux-gnu/libcgmanager.so.0 (0x00007fe759b8a000)
    libnih.so.1 => /lib/x86_64-linux-gnu/libnih.so.1 (0x00007fe759972000)
    libnih-dbus.so.1 => /lib/x86_64-linux-gnu/libnih-dbus.so.1 (0x00007fe759768000)
    libdbus-1.so.3 => /lib/x86_64-linux-gnu/libdbus-1.so.3 (0x00007fe759522000)

icub@tomlinson:~$ ldd /home/icub/software/src/codyco-superbuild/build/main/codyco-modules/bin/wholeBodyDynamicsTree
    linux-vdso.so.1 =>  (0x00007fff1bdfe000)
    libYARP_OS.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_OS.so.1 (0x00007fdd2cb60000)
    libYARP_sig.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_sig.so.1 (0x00007fdd2c928000)
    libYARP_math.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_math.so.1 (0x00007fdd2c713000)
    libYARP_init.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_init.so.1 (0x00007fdd2c510000)
    libidyntree.so.0.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libidyntree.so.0.0.1 (0x00007fdd2c08e000)
    libwhole-body-interface.so.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libwhole-body-interface.so.0.1 (0x00007fdd2be82000)
    libyarpwholebodyinterface.so.0.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libyarpwholebodyinterface.so.0.0.1 (0x00007fdd2bb60000)
    libskinDynLib.so.0 => /home/icub/software/src/icub-main/build/lib/libskinDynLib.so.0 (0x00007fdd2b92f000)
    libkdl-codyco.so.0.1 => /home/icub/software/src/codyco-superbuild/build/install/lib/libkdl-codyco.so.0.1 (0x00007fdd2b693000)
    liborocos-kdl.so.1.2 => /home/icub/software/src/codyco-superbuild/build/install/lib/liborocos-kdl.so.1.2 (0x00007fdd2b410000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fdd2b0e4000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fdd2aece000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fdd2ab08000)
    libACE-6.0.3.so => /usr/lib/libACE-6.0.3.so (0x00007fdd2a794000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fdd2a58c000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fdd2a36e000)
    libreadline.so.6 => /lib/x86_64-linux-gnu/libreadline.so.6 (0x00007fdd2a127000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fdd29e21000)
    libgsl.so.0 => /usr/lib/libgsl.so.0 (0x00007fdd299c1000)
    libgslcblas.so.0 => /usr/lib/libgslcblas.so.0 (0x00007fdd29774000)
    libiDyn.so.0 => /home/icub/software/src/icub-main/build/lib/libiDyn.so.0 (0x00007fdd294eb000)
    libkdl-format-io.so.0.0 => /home/icub/software/src/codyco-superbuild/build/install/lib/../lib/libkdl-format-io.so.0.0 (0x00007fdd292b5000)
    liburdfdom_world.so.0.3 => /home/icub/software/src/codyco-superbuild/build/install/lib/../lib/liburdfdom_world.so.0.3 (0x00007fdd29089000)
    libiKin.so.0 => /home/icub/software/src/icub-main/build/lib/libiKin.so.0 (0x00007fdd28e17000)
    libYARP_dev.so.1 => /home/icub/software/src/yarp/build/lib/libYARP_dev.so.1 (0x00007fdd28aef000)
    libctrlLib.so.0 => /home/icub/software/src/icub-main/build/lib/libctrlLib.so.0 (0x00007fdd2886f000)
    /lib64/ld-linux-x86-64.so.2 (0x00007fdd2cf43000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fdd2866a000)
    libtinfo.so.5 => /lib/x86_64-linux-gnu/libtinfo.so.5 (0x00007fdd28441000)
    libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007fdd2822b000)
    liburdfdom_model.so.0.3 => /home/icub/software/src/codyco-superbuild/build/install/lib/liburdfdom_model.so.0.3 (0x00007fdd27ff3000)
    libipopt.so.1 => /home/icub/software/src/Ipopt/build/lib/libipopt.so.1 (0x00007fdd27bc3000)
    libcoinmumps.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmumps.so.1 (0x00007fdd2783c000)
    libcoinlapack.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinlapack.so.1 (0x00007fdd27591000)
    libcoinmetis.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinmetis.so.1 (0x00007fdd27344000)
    libcoinblas.so.1 => /home/icub/software/src/Ipopt/build/lib/libcoinblas.so.1 (0x00007fdd2711d000)
    libgfortran.so.3 => /usr/lib/x86_64-linux-gnu/libgfortran.so.3 (0x00007fdd26e03000)
    libquadmath.so.0 => /usr/lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007fdd26bc7000)

[traversaro]

Yes, it make sense that there are two wholeBodyDynamicsTree: the superbuild automatically installs all its subproject in the build/install directory, so you will find the same binary in the build directory and in the install directory.

However this output highlighted the problem: the binaries of the codyco-superbuild are using the YARP libraries from /home/icub/software/lib, that I guess are outdated with respect to the one in /home/icub/software/src/yarp/build/lib/. Perhaps they are remaings of an old YARP install never uninstalled, and that path is still in LD_LIBRARY_PATH? I guess that now the easiest solution is to manually remove the yarp libraries in /home/icub/software/lib.

[robertocalandra]

The issue is still open after completely reinstalling the codyco-superbuild from scratch.
After activating wholeBodyDynamics, gravity compensation and switching to zero torque mode, there is still a drift of the torso. This time the torso is not moving forward but rotating to the side (with a torque sufficently high that a single person cannot stop it). A video is available at: https://www.dropbox.com/s/us3ibc19liamz9b/VID_20150209_170522.mp4

PS: the issue is clearly not wbi-related.

[iron76]

Once more, pure torque control is a nonsense without perfect modelling (which is i.m.h.o. a chimera). It's even worse considering that you are debugging. @robertocalandra can you please do impedance control instead? Just to be more clear. Control mode should be Torque Control but choose torques as proportional to the difference between current and desired position.