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Added support to Jacobians sparsity pattern #386

Merged
merged 6 commits into from
Aug 29, 2018
Merged

Added support to Jacobians sparsity pattern #386

merged 6 commits into from
Aug 29, 2018

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francesco-romano
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Added two methods to KinDynComputations to output the Jacobian sparsity pattern.
The supported Jacobians are the relative Jacobian and the free floating Jacobian.
The last available Jacobian, i.e. the CoM Jacobian, does not have a sparsity pattern as it is dense by definition.

Adapted IK to use the sparsity pattern for the Jacobians.
A small performance increase (up to 20%) can be notice in some tests.
Of course the more sparse is the Jacobian, the higher the performance benefit.
Potentially, if the Jacobians are dense, it is possible that IK is slightly slower, given the overhead introduced.

@francesco-romano
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I don't know if we have a changelog in iDynTree. In that case, this is the changelog text

HighLevel
- Added method to obtain relative Jacobians sparsity pattern
- Added method to obtain free floating Jacobians sparsity pattern

Inverse Kinematics
- Constraints Jacobian now exploit sparsity pattern

@francesco-romano francesco-romano changed the title Added support to jacobian sparsity pattern Added support to Jacobians sparsity pattern Oct 26, 2017
@S-Dafarra
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I tested it for walking and seems ok. The performances did not increase too much, but it is definitely a starting point 😉

@francesco-romano francesco-romano force-pushed the improvements/jacobian_sparsity_pattern branch from cd48492 to 4b2ad55 Compare October 26, 2017 15:14
@traversaro
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The changelog is in https://github.com/robotology/idyntree/blob/devel/doc/releases/v0_10.md , it follows the same format of YARP, thanks!

@traversaro traversaro mentioned this pull request Nov 6, 2017
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@traversaro
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This remained in the backlog a bit to much, sorry. : (

@S-Dafarra (or @GiulioRomualdi if he want to get his hands in the IK stuff) can you take care of fixing the conflicts? Thanks!

traversaro
traversaro approved these changes Jun 20, 2018
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Ok modulo fixing the conflicts.

@S-Dafarra
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I can deal with this. @GiulioRomualdi tell me if you would have preferred to get this.

@S-Dafarra S-Dafarra force-pushed the improvements/jacobian_sparsity_pattern branch from 9014510 to 926b5b6 Compare June 20, 2018 15:21
@S-Dafarra
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Done. @francesco-romano if you could roughly check whether all remained the same after the rebase.
@GiulioRomualdi if you have time maybe run the walking once to check that everything is as before.

The memcheck test seems to be much slower. It took 425 seconds in my PC in debug (no failures anyway).

@traversaro
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You mean memcheck_KinDynComputationsUnitTest ?

@S-Dafarra
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You mean memcheck_KinDynComputationsUnitTest ?

That took me 93 sec. I was meaning memcheck_UnitTestInverseKinematics.

@francesco-romano
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LGTM

Just check the CMakeLists.txt

@traversaro
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traversaro commented Jun 20, 2018 •
edited
Loading

Numbers on my PC:
devel - Release :

Test project /home/straversaro/src/robotology-superbuild/build/robotology/iDynTree
    Start 74: UnitTestInverseKinematics
1/2 Test #74: UnitTestInverseKinematics ............   Passed    0.44 sec
    Start 75: memcheck_UnitTestInverseKinematics
2/2 Test #75: memcheck_UnitTestInverseKinematics ...***Failed   17.48 sec

devel - Debug :

straversaro@iiticublap103:~/src/robotology-superbuild/build/robotology/iDynTree$ ctest -R UnitTestInverseKinematics
Test project /home/straversaro/src/robotology-superbuild/build/robotology/iDynTree
    Start 75: UnitTestInverseKinematics
1/2 Test #75: UnitTestInverseKinematics ............   Passed    0.45 sec
    Start 76: memcheck_UnitTestInverseKinematics
2/2 Test #76: memcheck_UnitTestInverseKinematics ...***Failed   18.32 sec

francesco-romano:improvements/jacobian_sparsity_pattern - Release :

Test project /home/straversaro/src/robotology-superbuild/build/robotology/iDynTree
    Start 74: UnitTestInverseKinematics
1/2 Test #74: UnitTestInverseKinematics ............   Passed    0.50 sec
    Start 75: memcheck_UnitTestInverseKinematics
2/2 Test #75: memcheck_UnitTestInverseKinematics ...***Failed   20.11 sec

francesco-romano:improvements/jacobian_sparsity_pattern - Debug :

Test project /home/straversaro/src/robotology-superbuild/build/robotology/iDynTree
    Start 75: UnitTestInverseKinematics
1/2 Test #75: UnitTestInverseKinematics ............   Passed   12.01 sec
    Start 76: memcheck_UnitTestInverseKinematics
2/2 Test #76: memcheck_UnitTestInverseKinematics ...***Failed  401.83 sec

@traversaro
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Actual tests numbers (the numbers only account for the solve call):

devel - Release :

straversaro@iiticublap103:~/src/robotology-superbuild/build/robotology/iDynTree$ ctest -VV -R UnitTestInverseKinematics
UpdateCTestConfiguration  from :/home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/DartConfiguration.tcl
Parse Config file:/home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/DartConfiguration.tcl
UpdateCTestConfiguration  from :/home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/DartConfiguration.tcl
Parse Config file:/home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/DartConfiguration.tcl
Test project /home/straversaro/src/robotology-superbuild/build/robotology/iDynTree
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 39
    Start 39: UnitTestInverseKinematics

39: Test command: /home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/bin/InverseKinematicsUnitTest
39: Test timeout computed to be: 1500
39: ~~~~~~~> simpleChainIK with 2 dofs 
39: 
39: ******************************************************************************
39: This program contains Ipopt, a library for large-scale nonlinear optimization.
39:  Ipopt is released as open source code under the Eclipse Public License (EPL).
39:          For more information visit http://projects.coin-or.org/Ipopt
39: ******************************************************************************
39: 
39: IK Solved in 0.031412s
39: ~~~~~~~> simpleChainIK with 3 dofs 
39: IK Solved in 0.023886s
39: ~~~~~~~> simpleChainIK with 4 dofs 
39: IK Solved in 0.047282s
39: ~~~~~~~> simpleChainIK with 5 dofs 
39: IK Solved in 0.064745s
39: ~~~~~~~> simpleChainIK with 6 dofs 
39: IK Solved in 0.071483s
39: ~~~~~~~> simpleChainIK with 7 dofs 
39: IK Solved in 0.064165s
39: ~~~~~~~> simpleChainIK with 8 dofs 
39: IK Solved in 0.072807s
39: ~~~~~~~> simpleChainIK with 9 dofs 
39: IK Solved in 0.056432s
39: ~~~~~~~> simpleChainIK with 10 dofs 
39: IK Solved in 0.123526s
39: ~~~~~~~> simpleChainIK with 11 dofs 
39: IK Solved in 0.084786s
39: ~~~~~~~> simpleChainIK with 12 dofs 
39: IK Solved in 0.031321s
39: ~~~~~~~> simpleChainIK with 13 dofs 
39: IK Solved in 0.004907s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: kinDynDes.getWorldTransform(l_foot) : -0.123059 -0.830811 0.542779
39: -0.537419 0.515587 0.667347
39: -0.834289 -0.209577 -0.509941
39:  0.119147 -0.082338 -0.464982
39: 
39: IK Solved in 0.037303s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: kinDynDes.getWorldTransform(l_foot) : -0.72503 -0.673012 0.146242
39: -0.628541 0.559788 -0.539975
39: 0.281545 -0.483417 -0.828879
39:  0.148643 -0.355735 -0.486236
39: 
39: IK Solved in 0.048646s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: kinDynDes.getWorldTransform(l_foot) : -0.87259 -0.294185 0.389926
39: -0.294585 0.95372 0.0603142
39: -0.389624 -0.0622368 -0.918869
39:  -0.0793087 -0.0757243 -0.473053
39: 
39: IK Solved in 0.003838s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: kinDynDes.getWorldTransform(l_foot) : -0.752736 -0.630202 0.19035
39: -0.492197 0.730765 0.472995
39: -0.437184 0.262351 -0.860257
39:  -0.175318 -0.11049 -0.454553
39: 
39: IK Solved in 0.012781s
39: Removing 1 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF neck_yaw(25)
39: kinDynDes.getWorldTransform(l_foot) : -0.285019 -0.888471 -0.359699
39: -0.725419 0.445227 -0.524919
39: 0.626523 0.11132 -0.771412
39:  -0.078272 -0.242661 -0.574799
39: 
39: IK Solved in 0.011694s
39: Removing 2 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF neck_pitch(23)
39: Removing DOF torso_yaw(14)
39: kinDynDes.getWorldTransform(l_foot) : -0.908244 0.33602 -0.249365
39: 0.374792 0.388265 -0.841891
39: -0.186073 -0.858103 -0.478577
39:  -0.0525074 -0.5487 -0.22046
39: 
39: IK Solved in 0.012331s
39: Removing 3 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF r_elbow(18)
39: Removing DOF l_hip_pitch(6)
39: Removing DOF r_ankle_roll(5)
39: kinDynDes.getWorldTransform(l_foot) : -0.104661 -0.918927 0.380289
39: -0.951104 0.204222 0.231721
39: -0.290598 -0.337442 -0.895369
39:  0.0191479 -0.317875 -0.424682
39: 
39: IK Solved in 0.003844s
39: Removing 4 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF l_elbow(22)
39: Removing DOF l_hip_yaw(8)
39: Removing DOF r_ankle_pitch(4)
39: Removing DOF r_hip_pitch(0)
39: kinDynDes.getWorldTransform(l_foot) : -0.202443 -0.896147 0.394888
39: -0.789789 -0.0890085 -0.606887
39: 0.579008 -0.434738 -0.689748
39:  0.0538317 -0.51934 -0.254282
39: 
39: IK Solved in 0.004077s
39: Removing 5 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF l_shoulder_roll(20)
39: Removing DOF torso_roll(13)
39: Removing DOF l_hip_pitch(6)
39: Removing DOF r_ankle_roll(5)
39: Removing DOF r_hip_pitch(0)
39: kinDynDes.getWorldTransform(l_foot) : -0.768549 -0.383088 0.512422
39: -0.569453 0.0444997 -0.820818
39: 0.291643 -0.922639 -0.252351
39:  0.0718235 -0.549795 -0.166609
39: 
39: IK Solved in 0.009124s
39: Removing 6 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF neck_roll(24)
39: Removing DOF neck_pitch(23)
39: Removing DOF l_elbow(22)
39: Removing DOF l_shoulder_roll(20)
39: Removing DOF r_shoulder_pitch(15)
39: Removing DOF r_ankle_pitch(4)
39: kinDynDes.getWorldTransform(l_foot) : -0.884768 0.452925 0.109746
39: 0.105938 0.424794 -0.89907
39: -0.453831 -0.783842 -0.423826
39:  0.121564 -0.511065 -0.313521
39: 
39: IK Solved in 0.004787s
39: Removing 7 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF neck_yaw(25)
39: Removing DOF l_shoulder_roll(20)
39: Removing DOF l_hip_roll(7)
39: Removing DOF l_hip_pitch(6)
39: Removing DOF r_ankle_roll(5)
39: Removing DOF r_hip_yaw(2)
39: Removing DOF r_hip_pitch(0)
39: kinDynDes.getWorldTransform(l_foot) : -0.609789 -0.56363 0.557206
39: -0.722521 0.684293 -0.0985224
39: -0.325762 -0.462671 -0.824509
39:  0.0197922 -0.201481 -0.472319
39: 
39: IK Solved in 0.011196s
39: Removing 8 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF l_elbow(22)
39: Removing DOF l_shoulder_yaw(21)
39: Removing DOF torso_yaw(14)
39: Removing DOF torso_roll(13)
39: Removing DOF torso_pitch(12)
39: Removing DOF l_ankle_roll(11)
39: Removing DOF l_knee(9)
39: Removing DOF l_hip_yaw(8)
39: kinDynDes.getWorldTransform(l_foot) : -0.242089 -0.237806 0.94066
39: -0.839723 0.537038 -0.0803443
39: -0.486064 -0.809344 -0.329702
39:  0.19666 -0.333783 -0.38717
39: 
39: IK Solved in 0.010408s
39: Removing 9 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF l_shoulder_pitch(19)
39: Removing DOF r_shoulder_roll(16)
39: Removing DOF r_shoulder_pitch(15)
39: Removing DOF torso_yaw(14)
39: Removing DOF l_ankle_roll(11)
39: Removing DOF l_knee(9)
39: Removing DOF l_hip_roll(7)
39: Removing DOF r_ankle_pitch(4)
39: Removing DOF r_knee(3)
39: kinDynDes.getWorldTransform(l_foot) : -0.682702 -0.40375 -0.609019
39: 0.37081 0.526744 -0.764879
39: 0.629617 -0.748015 -0.209895
39:  -0.306804 -0.396427 -0.270436
39: 
39: IK Solved in 0.003692s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: COMConvexHullConstraintWithSwitchingConstraints: IK with both constraints solved in 0.014684s
39: COMConvexHullConstraintWithSwitchingConstraints: IK with no constraints solved in 0.002013s
39: COMConvexHullConstraintWithSwitchingConstraints: IK with l_sole constraint solved in 0.016236s
39: COMConvexHullConstraintWithSwitchingConstraints: IK with r_sole constraint solved in 0.015209s
1/1 Test #39: UnitTestInverseKinematics ........   Passed    0.47 sec

francesco-romano:improvements/jacobian_sparsity_pattern - Release :

UpdateCTestConfiguration  from :/home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/DartConfiguration.tcl
Parse Config file:/home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/DartConfiguration.tcl
UpdateCTestConfiguration  from :/home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/DartConfiguration.tcl
Parse Config file:/home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/DartConfiguration.tcl
Test project /home/straversaro/src/robotology-superbuild/build/robotology/iDynTree
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 39
    Start 39: UnitTestInverseKinematics

39: Test command: /home/straversaro/src/robotology-superbuild/build/robotology/iDynTree/bin/InverseKinematicsUnitTest
39: Test timeout computed to be: 1500
39: ~~~~~~~> simpleChainIK with 2 dofs 
39: 
39: ******************************************************************************
39: This program contains Ipopt, a library for large-scale nonlinear optimization.
39:  Ipopt is released as open source code under the Eclipse Public License (EPL).
39:          For more information visit http://projects.coin-or.org/Ipopt
39: ******************************************************************************
39: 
39: IK Solved in 0.060882s
39: ~~~~~~~> simpleChainIK with 3 dofs 
39: IK Solved in 0.031985s
39: ~~~~~~~> simpleChainIK with 4 dofs 
39: IK Solved in 0.051381s
39: ~~~~~~~> simpleChainIK with 5 dofs 
39: IK Solved in 0.067092s
39: ~~~~~~~> simpleChainIK with 6 dofs 
39: IK Solved in 0.076904s
39: ~~~~~~~> simpleChainIK with 7 dofs 
39: IK Solved in 0.062697s
39: ~~~~~~~> simpleChainIK with 8 dofs 
39: IK Solved in 0.076758s
39: ~~~~~~~> simpleChainIK with 9 dofs 
39: IK Solved in 0.059822s
39: ~~~~~~~> simpleChainIK with 10 dofs 
39: IK Solved in 0.101304s
39: ~~~~~~~> simpleChainIK with 11 dofs 
39: IK Solved in 0.084885s
39: ~~~~~~~> simpleChainIK with 12 dofs 
39: IK Solved in 0.005399s
39: ~~~~~~~> simpleChainIK with 13 dofs 
39: IK Solved in 0.004566s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: kinDynDes.getWorldTransform(l_foot) : -0.123059 -0.830811 0.542779
39: -0.537419 0.515587 0.667347
39: -0.834289 -0.209577 -0.509941
39:  0.119147 -0.082338 -0.464982
39: 
39: IK Solved in 0.0415s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: kinDynDes.getWorldTransform(l_foot) : -0.72503 -0.673012 0.146242
39: -0.628541 0.559788 -0.539975
39: 0.281545 -0.483417 -0.828879
39:  0.148643 -0.355735 -0.486236
39: 
39: IK Solved in 0.054573s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: kinDynDes.getWorldTransform(l_foot) : -0.87259 -0.294185 0.389926
39: -0.294585 0.95372 0.0603142
39: -0.389624 -0.0622368 -0.918869
39:  -0.0793087 -0.0757243 -0.473053
39: 
39: IK Solved in 0.003942s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: kinDynDes.getWorldTransform(l_foot) : -0.752736 -0.630202 0.19035
39: -0.492197 0.730765 0.472995
39: -0.437184 0.262351 -0.860257
39:  -0.175318 -0.11049 -0.454553
39: 
39: IK Solved in 0.014677s
39: Removing 1 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF neck_yaw(25)
39: kinDynDes.getWorldTransform(l_foot) : -0.285019 -0.888471 -0.359699
39: -0.725419 0.445227 -0.524919
39: 0.626523 0.11132 -0.771412
39:  -0.078272 -0.242661 -0.574799
39: 
39: IK Solved in 0.013545s
39: Removing 2 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF neck_pitch(23)
39: Removing DOF torso_yaw(14)
39: kinDynDes.getWorldTransform(l_foot) : -0.908244 0.33602 -0.249365
39: 0.374792 0.388265 -0.841891
39: -0.186073 -0.858103 -0.478577
39:  -0.0525074 -0.5487 -0.22046
39: 
39: IK Solved in 0.015043s
39: Removing 3 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF r_elbow(18)
39: Removing DOF l_hip_pitch(6)
39: Removing DOF r_ankle_roll(5)
39: kinDynDes.getWorldTransform(l_foot) : -0.104661 -0.918927 0.380289
39: -0.951104 0.204222 0.231721
39: -0.290598 -0.337442 -0.895369
39:  0.0191479 -0.317875 -0.424682
39: 
39: IK Solved in 0.004307s
39: Removing 4 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF l_elbow(22)
39: Removing DOF l_hip_yaw(8)
39: Removing DOF r_ankle_pitch(4)
39: Removing DOF r_hip_pitch(0)
39: kinDynDes.getWorldTransform(l_foot) : -0.202443 -0.896147 0.394888
39: -0.789789 -0.0890085 -0.606887
39: 0.579008 -0.434738 -0.689748
39:  0.0538317 -0.51934 -0.254282
39: 
39: IK Solved in 0.004737s
39: Removing 5 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF l_shoulder_roll(20)
39: Removing DOF torso_roll(13)
39: Removing DOF l_hip_pitch(6)
39: Removing DOF r_ankle_roll(5)
39: Removing DOF r_hip_pitch(0)
39: kinDynDes.getWorldTransform(l_foot) : -0.768549 -0.383088 0.512422
39: -0.569453 0.0444997 -0.820818
39: 0.291643 -0.922639 -0.252351
39:  0.0718235 -0.549795 -0.166609
39: 
39: IK Solved in 0.011613s
39: Removing 6 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF neck_roll(24)
39: Removing DOF neck_pitch(23)
39: Removing DOF l_elbow(22)
39: Removing DOF l_shoulder_roll(20)
39: Removing DOF r_shoulder_pitch(15)
39: Removing DOF r_ankle_pitch(4)
39: kinDynDes.getWorldTransform(l_foot) : -0.884768 0.452925 0.109746
39: 0.105938 0.424794 -0.89907
39: -0.453831 -0.783842 -0.423826
39:  0.121564 -0.511065 -0.313521
39: 
39: IK Solved in 0.006529s
39: Removing 7 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF neck_yaw(25)
39: Removing DOF l_shoulder_roll(20)
39: Removing DOF l_hip_roll(7)
39: Removing DOF l_hip_pitch(6)
39: Removing DOF r_ankle_roll(5)
39: Removing DOF r_hip_yaw(2)
39: Removing DOF r_hip_pitch(0)
39: kinDynDes.getWorldTransform(l_foot) : -0.609789 -0.56363 0.557206
39: -0.722521 0.684293 -0.0985224
39: -0.325762 -0.462671 -0.824509
39:  0.0197922 -0.201481 -0.472319
39: 
39: IK Solved in 0.012194s
39: Removing 8 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF l_elbow(22)
39: Removing DOF l_shoulder_yaw(21)
39: Removing DOF torso_yaw(14)
39: Removing DOF torso_roll(13)
39: Removing DOF torso_pitch(12)
39: Removing DOF l_ankle_roll(11)
39: Removing DOF l_knee(9)
39: Removing DOF l_hip_yaw(8)
39: kinDynDes.getWorldTransform(l_foot) : -0.242089 -0.237806 0.94066
39: -0.839723 0.537038 -0.0803443
39: -0.486064 -0.809344 -0.329702
39:  0.19666 -0.333783 -0.38717
39: 
39: IK Solved in 0.01078s
39: Removing 9 Dofs
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: Removing DOF l_shoulder_pitch(19)
39: Removing DOF r_shoulder_roll(16)
39: Removing DOF r_shoulder_pitch(15)
39: Removing DOF torso_yaw(14)
39: Removing DOF l_ankle_roll(11)
39: Removing DOF l_knee(9)
39: Removing DOF l_hip_roll(7)
39: Removing DOF r_ankle_pitch(4)
39: Removing DOF r_knee(3)
39: kinDynDes.getWorldTransform(l_foot) : -0.682702 -0.40375 -0.609019
39: 0.37081 0.526744 -0.764879
39: 0.629617 -0.748015 -0.209895
39:  -0.306804 -0.396427 -0.270436
39: 
39: IK Solved in 0.003869s
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dblue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material dgreen not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material gray not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material black not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material red not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material blue not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material yellow not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material pink not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material cyan not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material green not found in model database.
39: [WARNING]  :: parseURDFMaterial : Impossible to parse URDF material, material white not found in model database.
39: COMConvexHullConstraintWithSwitchingConstraints: IK with both constraints solved in 0.015766s
39: COMConvexHullConstraintWithSwitchingConstraints: IK with no constraints solved in 0.002056s
39: COMConvexHullConstraintWithSwitchingConstraints: IK with l_sole constraint solved in 0.02033s
39: COMConvexHullConstraintWithSwitchingConstraints: IK with r_sole constraint solved in 0.019309s
1/1 Test #39: UnitTestInverseKinematics ........   Passed    0.52 sec

The following tests passed:
	UnitTestInverseKinematics

@S-Dafarra
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An increase of the test time may be due to the fact that this PR adds an additional test which inside call the solve method several times. The total times cannot be compared then, even if it is pretty big in DEBUG. The only problem I see is that Travis jobs will take much longer.

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Actually I am mistaken, this does not modify the IK unit test. So I have a bit more troubles in understanding why is so different.

@traversaro
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I think it is quite different due to the use of several Eigen methods, that in Debug mode they insert a lot of methods and for some reason run slower in the valgrind virtual machine. The actual numbers seems to indicate that solve is slightly faster with this PR. Indeed the slow valgrind test are now a problem, we should find a way to automatically disable them unless for one Job on travis.

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Note: the terrible [WARNING] :: parseURDFMaterial : warnings should be solved now that robotology/simmechanics-to-urdf#37 is merged.

@traversaro
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Note: the Valgrind failures are due to #456 .

@francesco-romano francesco-romano force-pushed the improvements/jacobian_sparsity_pattern branch 2 times, most recently from c2393bf to 0a6afe6 Compare August 3, 2018 22:53
@francesco-romano
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Tests on the IK are failing (both the memcheck and the non-memecheck)

@S-Dafarra
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I am not able to reproduce the issue. It works on my PC, both on release and debug (the latter also with valgrind).

@francesco-romano
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The same for me, but it is strange that devel passes, and this branch (rebased on devel) not

@S-Dafarra
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Also appveyor does not complain. The assertion that fails is on the output flag of the solve method. We may try to change the verbosity of ipopt maybe.

@traversaro
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I want to work on #458 this week, so we can have consistency between the system that most users use and the CI. After that, we can see if the failure persist.

@traversaro traversaro added this to the iDynTree 0.11 milestone Aug 20, 2018
@francesco-romano @S-Dafarra
Added sparsity pattern methods for Jacobians
c8a5d11
@francesco-romano @S-Dafarra
Added unit tests for Jacobian sparsity pattern
2cd6307
@francesco-romano @S-Dafarra
Added support to Jacobian sparsity in IK
577bd94 
The sparsity pattern is added only if the cost/constraint is active.
@francesco-romano @S-Dafarra
Updated changelog
2775a19
@francesco-romano @S-Dafarra
Added debug-only check code
1b8c86c 
Discussing with @pattacini and @S-Dafarra we decided to add a check in IpOpt (running only when the code is compiled in debug).
We now check that a callback function is called only once for a specified set of input parameters.
If this does not happen, the code is still correct, but we execute some code twice.
As it has been tested now, this does not happen, so the code does not need any change at this time.
@S-Dafarra S-Dafarra force-pushed the improvements/jacobian_sparsity_pattern branch from 0a6afe6 to 1b8c86c Compare August 23, 2018 09:45
@S-Dafarra
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Rebased over devel.

@traversaro
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After #458 the CI seems to work. If you are ok with that @S-Dafarra I would merge.

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Probably the release notes need to be moved from 0.10 to 0.11.

@traversaro
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Thanks @S-Dafarra .

@traversaro traversaro merged commit b40c9cc into robotology:devel Aug 29, 2018
@traversaro traversaro deleted the improvements/jacobian_sparsity_pattern branch August 29, 2018 11:17
@traversaro traversaro restored the improvements/jacobian_sparsity_pattern branch August 29, 2018 11:17
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@S-Dafarra S-Dafarra S-Dafarra approved these changes

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@francesco-romano @S-Dafarra @traversaro