=== Simulation (Elapsed: 15 sec) ===
    Warning:Warning: Name is nonexistent or not a directory: /Users/lorenzorapetti/Software/dic-iit/element_ergonomy-control/whole-body-controllers/momentum-based-controller/./src
    Warning:'Output Port 1' of 'MomentumBasedController/Model 1/Momentum Controller/Dynamics Bus Deserializer' is not connected.
    Warning:'Output Port 2' of 'MomentumBasedController/Model 1/Momentum Controller/Dynamics Bus Deserializer' is not connected.
    Warning:'Output Port 4' of 'MomentumBasedController/Model 1/Momentum Controller/Dynamics Bus Deserializer' is not connected.
    Warning:'Output Port 2' of 'MomentumBasedController/Model 1/Momentum Controller/Link State Bus Deserialize' is not connected.
    Warning:'Output Port 1' of 'MomentumBasedController/Model 1/Momentum Controller/State Bus Deserializer' is not connected.
    Warning:'Output Port 2' of 'MomentumBasedController/Model 1/Momentum Controller/State Bus Deserializer' is not connected.
    Warning:'Output Port 3' of 'MomentumBasedController/Model 1/Momentum Controller/State Bus Deserializer' is not connected.
    Warning:'Output Port 3' of 'MomentumBasedController/Model 1/State-Machine Reference Generator/Get Frames kinematics and Dynamics' is not connected.
    Warning:'Output Port 1' of 'MomentumBasedController/Model 1/State-Machine Reference Generator/State Bus Deserializer' is not connected.
    Warning:'Output Port 3' of 'MomentumBasedController/Model 1/State-Machine Reference Generator/State Bus Deserializer' is not connected.
    Warning:'Output Port 2' of 'MomentumBasedController/Model 1/Postural Task Controller/Dynamics Bus Deserializer' is not connected.
    Warning:'Output Port 1' of 'MomentumBasedController/Model 1/Postural Task Controller/State Bus Deserializer' is not connected.
    Warning:'Output Port 4' of 'MomentumBasedController/Model 1/Postural Task Controller/State Bus Deserializer' is not connected.
    Warning:'Output Port 1' of 'MomentumBasedController/Model 1' is not connected.
    Warning:'Output Port 2' of 'MomentumBasedController/Model 1' is not connected.
    Warning:'Output Port 3' of 'MomentumBasedController/Model 1' is not connected.
    Warning:'Output Port 4' of 'MomentumBasedController/Model 1' is not connected.
    Warning:'Output Port 2' of 'MomentumBasedController/Model 1/Force Ergonomy Optimization' is not connected.
    Warning:'Output Port 2' of 'MomentumBasedController/Model 1/State-Machine Reference Generator' is not connected.
    Warning:'Output Port 4' of 'MomentumBasedController/Model 1/State-Machine Reference Generator' is not connected.
    Warning:'Output Port 6' of 'MomentumBasedController/Model 1/State-Machine Reference Generator' is not connected.
    Warning:Source 'MomentumBasedController/synchronizer/Yarp Clock' specifies that its sample time (-1) is back-inherited. You should explicitly specify the sample time of sources. You can disable this diagnostic by setting the 'Source block specifies -1 sample time' diagnostic to 'none' in the Sample Time group on the Diagnostics pane of the Configuration Parameters dialog box.
    Warning:Source 'MomentumBasedController/Model 1/GetMeasurement/S-Function' specifies that its sample time (-1) is back-inherited. You should explicitly specify the sample time of sources. You can disable this diagnostic by setting the 'Source block specifies -1 sample time' diagnostic to 'none' in the Sample Time group on the Diagnostics pane of the Configuration Parameters dialog box.
    Warning:Source 'MomentumBasedController/Model 1/GetMeasurement1/S-Function' specifies that its sample time (-1) is back-inherited. You should explicitly specify the sample time of sources. You can disable this diagnostic by setting the 'Source block specifies -1 sample time' diagnostic to 'none' in the Sample Time group on the Diagnostics pane of the Configuration Parameters dialog box.
    [INFO] |yarp.os.Port| Port /collaborativeController/robot1/CoMPosition:o active at tcp://10.255.111.45:10054/
    [INFO] |yarp.os.Port| Port /collaborativeController/robot1/basePose:o active at tcp://10.255.111.45:10055/
    [INFO] |yarp.os.Port| Port /collaborativeController/robot1/jointPosition:o active at tcp://10.255.111.45:10056/
    [INFO] |yarp.os.Port| Port /collaborativeController/robot1/stateVelocity:o active at tcp://10.255.111.45:10057/
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o active at tcp://10.255.111.45:10058/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o active at tcp://10.255.111.45:10059/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i active at tcp://10.255.111.45:10060/
    [INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o active at tcp://10.255.111.45:10061/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o active at tcp://10.255.111.45:10062/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i active at tcp://10.255.111.45:10063/
    [INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o active at tcp://10.255.111.45:10064/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o active at tcp://10.255.111.45:10065/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i active at tcp://10.255.111.45:10066/
    [INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o active at tcp://10.255.111.45:10067/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o active at tcp://10.255.111.45:10068/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i active at tcp://10.255.111.45:10069/
    [INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o active at tcp://10.255.111.45:10070/
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o active at tcp://10.255.111.45:10071/
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i active at tcp://10.255.111.45:10072/
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/rpc:i, is the remote device available?
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/command:i, is the remote device available?
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/stateExt:o, is the remote device available?
    [ERROR] |yarp.dev.PolyDriver| Driver <remote_controlboard> was found but could not open
    [ERROR] |yarp.device.remotecontrolboardremapper| Opening remote_controlboard with remote " /icubSim/right_leg ", opening the device failed.
    [ERROR] |yarp.dev.PolyDriver| Driver <remotecontrolboardremapper> was found but could not open
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o active at tcp://10.255.111.45:10058/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o active at tcp://10.255.111.45:10059/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i active at tcp://10.255.111.45:10060/
    [INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o active at tcp://10.255.111.45:10061/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o active at tcp://10.255.111.45:10062/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i active at tcp://10.255.111.45:10063/
    [INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o active at tcp://10.255.111.45:10064/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o active at tcp://10.255.111.45:10065/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i active at tcp://10.255.111.45:10066/
    [INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o active at tcp://10.255.111.45:10067/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o active at tcp://10.255.111.45:10068/
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i active at tcp://10.255.111.45:10069/
    [INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
    [INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o active at tcp://10.255.111.45:10070/
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o active at tcp://10.255.111.45:10071/
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [INFO] |yarp.os.Port| Port /WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i active at tcp://10.255.111.45:10072/
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/rpc:i, is the remote device available?
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/command:i, is the remote device available?
    [INFO] |yarp.os.impl.NameClient| No connection to nameserver
    [INFO] |yarp.os.impl.NameClient| *** try running: yarp detect ***
    [ERROR] |yarp.device.remote_controlboard| Problem connecting to /icubSim/right_leg/stateExt:o, is the remote device available?
    [ERROR] |yarp.dev.PolyDriver| Driver <remote_controlboard> was found but could not open
    [ERROR] |yarp.device.remotecontrolboardremapper| Opening remote_controlboard with remote " /icubSim/right_leg ", opening the device failed.
    [ERROR] |yarp.dev.PolyDriver| Driver <remotecontrolboardremapper> was found but could not open
    Error:An error occurred while running the simulation and the simulation was terminated
    Caused by:
        Error reported by S-function 'BlockFactory' in 'MomentumBasedController/Model 1/GetMeasurement/S-Function':
    Error:Error reported by S-function 'BlockFactory' in 'MomentumBasedController/Model 1/SetReferences/S-Function':