Footstep planner doesnt load

[MishaSavchenko]

Running ValkyrieObstacleCourseSCS2 with footstep planner module brings up the null pointer exception disabling the footstep planner.

May 16, 2024 5:22:10 PM com.sun.javafx.application.PlatformImpl startup
WARNING: Unsupported JavaFX configuration: classes were loaded from 'unnamed module @365f33e3'
MESA: warning: Driver does not support the 0xa7a0 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
MESA: warning: Driver does not support the 0xa7a0 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
Gtk-Message: 17:22:10.676: Failed to load module "canberra-gtk-module"
MESA: warning: Driver does not support the 0xa7a0 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
MESA: warning: Driver does not support the 0xa7a0 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
240516 17:22:13:173 [INFO] (NetworkParameters.java:41): Looking for network parameters in network parameters file at /root/.ihmc/IHMCNetworkParameters.ini
240516 17:22:13:174 [WARN] (NetworkParameters.java:69): Network parameter file /root/.ihmc/IHMCNetworkParameters.ini does not exist.
240516 17:22:13:175 [INFO] (NetworkParameters.java:72): Looking for network parameters in environment variables
240516 17:22:13:175 [INFO] (NetworkParameters.java:73): Environment variables will override entries in the network parameters file.
240516 17:22:13:176 [ERROR] (RTPSCommunicationFactory.java:57): Tried to load the RTPS Domain ID from /root/.ihmc/IHMCNetworkParameters.ini, but either the key didn't exist or after parsing the string it returned a negative number.
It should look like RTPSDomainID=15, if your registered domain ID is 15.
Setting the Default RTPS Domain ID randomly to 220, to avoid interfering with others.
240516 17:22:13:995 [WARN] (Robot.java:157): Unsupported sensor: LidarSensorDefinition - head_hokuyo_sensor
IMUBasedPelvisRotationalStateUpdater: More than 1 IMU sensor, using only the first one: pelvisRearImu
PelvisIMUBasedLinearStateCalculator: More than 1 IMU sensor, using only the first one: pelvisRearImu
240516 17:22:14:352 [WARN] (Skully.java:103): Skully says he discovered something mysterious:
   'I think something is off in your parameter file.'
     ,----._
    )\___/  \
   /__, ,__,(|
   |.d/ \b. _/
    \/''  \||
     '+++'//
     `-.-'
   Parameters in registry: 54
   Parameters using their default value: 19
   Parameters in XML with no match: 15
240516 17:22:14:407 [WARN] (JointSettingsHelper.java:129): In State DoNothingBehavior
Got joints without acceleration integration parameters.
Will use default values for: [leftHipYaw, leftHipRoll, leftHipPitch, leftKneePitch, leftAnklePitch, leftAnkleRoll, rightHipYaw, rightHipRoll, rightHipPitch, rightKneePitch, rightAnklePitch, rightAnkleRoll, torsoYaw, torsoPitch, torsoRoll, leftShoulderPitch, leftShoulderRoll, leftShoulderYaw, leftElbowPitch, leftForearmYaw, leftWristRoll, leftWristPitch, lowerNeckPitch, neckYaw, upperNeckPitch, rightShoulderPitch, rightShoulderRoll, rightShoulderYaw, rightElbowPitch, rightForearmYaw, rightWristRoll, rightWristPitch]
240516 17:22:14:451 [INFO] (RigidBodyControlManager.java:169): Creating manager for leftFoot with pose controller.
240516 17:22:14:465 [INFO] (RigidBodyControlManager.java:169): Creating manager for rightFoot with pose controller.
240516 17:22:14:522 [INFO] (RigidBodyControlManager.java:126): Creating manager for torso with orientation controller.
240516 17:22:14:525 [INFO] (RigidBodyControlManager.java:126): Creating manager for upperNeckPitchLink with orientation controller.
240516 17:22:14:530 [INFO] (RigidBodyControlManager.java:169): Creating manager for leftPalm with pose controller.
240516 17:22:14:545 [INFO] (RigidBodyControlManager.java:169): Creating manager for rightPalm with pose controller.
240516 17:22:14:569 [WARN] (WorkspacePathTools.java:99): ihmc-open-robotics-software directory could not be found. Working directory: /home/val/ihmc_valkyrie Search stopped at: /home/val/ihmc_valkyrie
240516 17:22:14:696 [WARN] (Skully.java:103): Skully says he discovered something mysterious:
   'I think something is off in your parameter file.'
     ,----._
    )\___/  \
   /__, ,__,(|
   |.d/ \b. _/
    \/''  \||
     '+++'//
     `-.-'
   Parameters in registry: 1115
   Parameters using their default value: 547
   Parameters in XML with no match: 87
240516 17:22:15:076 [INFO] (SCS2AvatarSimulationFactory.java:702): Initializing estimator to actual
240516 17:22:15:080 [INFO] (HumanoidNetworkProcessor.java:152): Creating ROS 2 node in FAST_RTPS mode
240516 17:22:15:119 [WARN] (WorkspacePathTools.java:169): No out or bin folder found and we don't know how to deal with that.
240516 17:22:15:120 [INFO] (StoredPropertySet.java:342): Updated backing save file: ValkyrieFootstepPlannerParameters.json
240516 17:22:15:120 [INFO] (StoredPropertySet.java:396): Loading parameters from resource: /us/ihmc/valkyrie/parameters/ValkyrieFootstepPlannerParameters.json
240516 17:22:15:126 [WARN] (WorkspacePathTools.java:169): No out or bin folder found and we don't know how to deal with that.
240516 17:22:15:126 [INFO] (StoredPropertySet.java:342): Updated backing save file: DefaultSwingPlannerParameters.json
240516 17:22:15:126 [INFO] (StoredPropertySet.java:396): Loading parameters from resource: /us/ihmc/footstepPlanning/swing/DefaultSwingPlannerParameters.json
240516 17:22:16:991 [INFO] (OpenCLManager.java:45): Number of platforms: 1
240516 17:22:16:992 [INFO] (OpenCLManager.java:46): Number of devices: 1
240516 17:22:16:994 [INFO] (OpenCLManager.java:54): OpenCL Platform: Name: NVIDIA CUDA Vendor: NVIDIA Corporation Version: OpenCL 3.0 CUDA 12.2.148
240516 17:22:16:994 [INFO] (OpenCLManager.java:63): OpenCL Device: Name: NVIDIA RTX 3500 Ada Generation Laptop GPU Vendor: NVIDIA Corporation Driver Version: 535.171.04
240516 17:22:17:090 [ERROR] (HumanoidNetworkProcessor.java:551): Failed to start a module in the network processor, stack trace:
java.lang.NullPointerException: Cannot invoke "us.ihmc.footstepPlanning.AStarBodyPathPlannerParametersReadOnly.getHalfStanceWidth()" because "plannerParameters" is null
	at us.ihmc.footstepPlanning.bodyPath.GPUAStarBodyPathSmootherWaypoint.lambda$new$0(GPUAStarBodyPathSmootherWaypoint.java:119)
	at us.ihmc.robotics.robotSide.SideDependentList.<init>(SideDependentList.java:59)
	at us.ihmc.footstepPlanning.bodyPath.GPUAStarBodyPathSmootherWaypoint.<init>(GPUAStarBodyPathSmootherWaypoint.java:115)
	at us.ihmc.footstepPlanning.bodyPath.GPUAStarBodyPathSmoother.<init>(GPUAStarBodyPathSmoother.java:119)
	at us.ihmc.footstepPlanning.bodyPath.GPUAStarBodyPathPlanner.<init>(GPUAStarBodyPathPlanner.java:190)
	at us.ihmc.footstepPlanning.bodyPath.GPUAStarBodyPathPlanner.<init>(GPUAStarBodyPathPlanner.java:164)
	at us.ihmc.footstepPlanning.FootstepPlanningModule.<init>(FootstepPlanningModule.java:150)
	at us.ihmc.footstepPlanning.FootstepPlanningModule.<init>(FootstepPlanningModule.java:124)
	at us.ihmc.avatar.networkProcessor.footstepPlanningModule.FootstepPlanningModuleLauncher.createModule(FootstepPlanningModuleLauncher.java:88)
	at us.ihmc.avatar.networkProcessor.footstepPlanningModule.FootstepPlanningModuleLauncher.createModule(FootstepPlanningModuleLauncher.java:119)
	at us.ihmc.avatar.networkProcessor.footstepPlanningModule.FootstepPlanningModuleLauncher.createModule(FootstepPlanningModuleLauncher.java:111)
	at us.ihmc.avatar.networkProcessor.HumanoidNetworkProcessor.setupFootstepPlanningToolboxModule(HumanoidNetworkProcessor.java:276)
	at us.ihmc.avatar.networkProcessor.HumanoidNetworkProcessor.newFromParameters(HumanoidNetworkProcessor.java:81)
	at us.ihmc.avatar.simulationStarter.AvatarSimulationToolsSCS2$AvatarSimulationEnvironment.build(AvatarSimulationToolsSCS2.java:138)
	at us.ihmc.valkyrie.ValkyrieObstacleCourseNoUISCS2.<init>(ValkyrieObstacleCourseNoUISCS2.java:30)
	at us.ihmc.valkyrie.ValkyrieObstacleCourseNoUISCS2.main(ValkyrieObstacleCourseNoUISCS2.java:37)
240516 17:22:18:361 [INFO] (DirectionalControlController.java:241): Ignoring REA planes is true
SLF4J: Class path contains multiple SLF4J bindings.
SLF4J: Found binding in [jar:file:/opt/valkyrie-simulation-0.14.0-240126/lib/log4j-slf4j-impl-2.17.0.jar!/org/slf4j/impl/StaticLoggerBinder.class]
SLF4J: Found binding in [jar:file:/opt/valkyrie-simulation-0.14.0-240126/lib/slf4j-simple-1.6.1.jar!/org/slf4j/impl/StaticLoggerBinder.class]
SLF4J: See http://www.slf4j.org/codes.html#multiple_bindings for an explanation.
SLF4J: Actual binding is of type [org.apache.logging.slf4j.Log4jLoggerFactory]
May 16, 2024 5:22:18 PM javafx.fxml.FXMLLoader$ValueElement processValue
WARNING: Loading FXML document with JavaFX API of version 20.0.1 by JavaFX runtime of version 17.0.2-ea
May 16, 2024 5:22:18 PM javafx.fxml.FXMLLoader$ValueElement processValue
WARNING: Loading FXML document with JavaFX API of version 20.0.1 by JavaFX runtime of version 17.0.2-ea
240516 17:22:19:288 [INFO] (YoManager.java:61): Linking YoVariables
240516 17:22:19:339 [INFO] (YoManager.java:74): UI linked YoVariables created
240516 17:22:19:340 [INFO] (YoRobotFX.java:61): Loading robot: valkyrie
240516 17:22:19:350 [WARN] (Robot.java:157): Unsupported sensor: LidarSensorDefinition - head_hokuyo_sensor
240516 17:22:20:121 [INFO] (YoRobotFX.java:98): Loaded robot: valkyrie
240516 17:22:20:150 [INFO] (YoCompositeSearchManager.java:173): Searching default YoComposite.
240516 17:22:20:424 [INFO] (YoCompositeSearchManager.java:177): Initialized default YoComposite.
240516 17:22:21:188 [INFO] (Session.java:1300): Session already started.
^[[1;2A^CException in thread "Thread-6" java.lang.NullPointerException: Cannot invoke "org.bytedeco.opencl._cl_program.close()" because "this.pathPlannerProgram" is null
	at us.ihmc.footstepPlanning.bodyPath.GPUAStarBodyPathPlanner.destroyOpenCLStuff(GPUAStarBodyPathPlanner.java:292)
	at java.base/java.lang.Thread.run(Thread.java:840)