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robotology / gazebo-yarp-plugins

Plugins to interface Gazebo with YARP.
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Cannot read encoders after resetting world #685

Open PasMarra opened 3 months ago

PasMarra commented 3 months ago

When running Gazebo with the gazebo_yarp_clock, if I reset the world (ctrl+R) and, then, I try to run the yarpmotorgui, this latter fails to read the encoders. The problem does not happen when not using gazebo_yarp_clock.

How to recreate the error:

conda list -n metaCub ``` pasquale@IITICB001LW003:~$ conda list -n metaCub # packages in environment at /home/pasquale/miniforge3/envs/metaCub: # # Name Version Build Channel _libgcc_mutex 0.1 conda_forge conda-forge _openmp_mutex 4.5 2_gnu conda-forge ace 8.0.0 hac33072_1 conda-forge addict 2.4.0 pypi_0 pypi aiohttp 3.9.5 py310h2372a71_0 conda-forge aiosignal 1.3.1 pyhd8ed1ab_0 conda-forge alsa-lib 1.2.12 h4ab18f5_0 conda-forge ampl-mp 3.1.0 h2cc385e_1006 conda-forge aom 3.8.2 h59595ed_0 conda-forge assimp 5.3.1 hfb0e8fe_2 conda-forge asttokens 2.4.1 pyhd8ed1ab_0 conda-forge async-timeout 4.0.3 pyhd8ed1ab_0 conda-forge atk-1.0 2.38.0 hd4edc92_1 conda-forge attr 2.5.1 h166bdaf_1 conda-forge attrs 23.2.0 pyh71513ae_0 conda-forge aws-c-auth 0.7.17 he0b1f16_2 conda-forge aws-c-cal 0.6.11 heb1d5e4_0 conda-forge aws-c-common 0.9.15 hd590300_0 conda-forge aws-c-compression 0.2.18 hce8ee76_3 conda-forge aws-c-event-stream 0.4.2 h01f5eca_8 conda-forge aws-c-http 0.8.1 hdb68c23_10 conda-forge aws-c-io 0.14.7 hbfbeace_6 conda-forge aws-c-mqtt 0.10.3 h50844eb_4 conda-forge aws-c-s3 0.5.7 hb7bd14b_1 conda-forge aws-c-sdkutils 0.1.15 hce8ee76_3 conda-forge aws-checksums 0.1.18 hce8ee76_3 conda-forge aws-crt-cpp 0.26.6 hf567797_4 conda-forge aws-sdk-cpp 1.11.267 hbf3e495_6 conda-forge azure-core-cpp 1.11.1 h91d86a7_1 conda-forge azure-identity-cpp 1.6.0 hf1915f5_1 conda-forge azure-storage-blobs-cpp 12.10.0 h00ab1b0_1 conda-forge azure-storage-common-cpp 12.5.0 h94269e2_4 conda-forge binutils 2.40 h4852527_7 conda-forge binutils_impl_linux-64 2.40 ha1999f0_7 conda-forge binutils_linux-64 2.40 hb3c18ed_0 conda-forge bipedal-locomotion-framework 0.18.0 ha770c72_6 conda-forge bipedal-locomotion-framework-python 0.18.0 py310he3eb0c9_6 conda-forge blinker 1.8.2 pypi_0 pypi blosc 1.21.5 h0f2a231_0 conda-forge boost-cpp 1.82.0 h44aadfe_6 conda-forge brotli 1.1.0 hd590300_1 conda-forge brotli-bin 1.1.0 hd590300_1 conda-forge bullet-cpp 3.25 hcc13569_2 conda-forge bzip2 1.0.8 h4bc722e_7 conda-forge c-ares 1.32.2 h4bc722e_0 conda-forge c-compiler 1.7.0 hd590300_1 conda-forge ca-certificates 2024.7.4 hbcca054_0 conda-forge cached-property 1.5.2 hd8ed1ab_1 conda-forge cached_property 1.5.2 pyha770c72_1 conda-forge cairo 1.18.0 h3faef2a_0 conda-forge casadi 3.6.5 py310he84b9c3_4 conda-forge certifi 2024.7.4 pyhd8ed1ab_0 conda-forge cfitsio 4.3.1 hbdc6101_0 conda-forge charset-normalizer 3.3.2 pypi_0 pypi click 8.1.7 pypi_0 pypi collada-dom 2.5.0 ha438cbf_7 conda-forge comm 0.2.2 pypi_0 pypi configargparse 1.7 pypi_0 pypi console_bridge 1.0.2 h924138e_1 conda-forge contourpy 1.2.1 py310hd41b1e2_0 conda-forge cppad 20240000.4 h59595ed_0 conda-forge cppzmq 4.10.0 h2e2a08d_1 conda-forge cudatoolkit 11.8.0 h4ba93d1_13 conda-forge cxx-compiler 1.7.0 h00ab1b0_1 conda-forge cycler 0.12.1 pyhd8ed1ab_0 conda-forge dartsim 6.13.2 hdbb2bd4_1 conda-forge dash 2.17.1 pypi_0 pypi dash-core-components 2.0.0 pypi_0 pypi dash-html-components 2.0.0 pypi_0 pypi dash-table 5.0.0 pypi_0 pypi dav1d 1.2.1 hd590300_0 conda-forge dbus 1.13.6 h5008d03_3 conda-forge decorator 5.1.1 pyhd8ed1ab_0 conda-forge double-conversion 3.3.0 h59595ed_0 conda-forge eigen 3.4.0 h00ab1b0_0 conda-forge ergocub-software 0.7.4 ha770c72_0 conda-forge exceptiongroup 1.2.2 pyhd8ed1ab_0 conda-forge executing 2.0.1 pyhd8ed1ab_0 conda-forge expat 2.5.0 hcb278e6_1 conda-forge fastjsonschema 2.20.0 pypi_0 pypi fcl 0.7.0 hadc09e8_4 conda-forge ffmpeg 6.1.1 gpl_h8007c5b_104 conda-forge flann 1.9.2 h2b5ea80_0 conda-forge flask 3.0.3 pypi_0 pypi fmt 10.2.1 h00ab1b0_0 conda-forge font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge font-ttf-inconsolata 3.000 h77eed37_0 conda-forge font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge font-ttf-ubuntu 0.83 h77eed37_2 conda-forge fontconfig 2.14.2 h14ed4e7_0 conda-forge fonts-conda-ecosystem 1 0 conda-forge fonts-conda-forge 1 0 conda-forge fonttools 4.53.1 py310h5b4e0ec_0 conda-forge freeglut 3.2.2 hac7e632_2 conda-forge freeimage 3.18.0 h4b96d29_20 conda-forge freetype 2.12.1 h267a509_2 conda-forge freexl 2.0.0 h743c826_0 conda-forge fribidi 1.0.10 h36c2ea0_0 conda-forge frozenlist 1.4.1 py310h2372a71_0 conda-forge gazebo 11.14.0 h3102449_8 conda-forge gazebo-yarp-plugins 4.10.0 ha770c72_1 conda-forge gcc 12.4.0 h236703b_0 conda-forge gcc_impl_linux-64 12.4.0 hb2e57f8_0 conda-forge gcc_linux-64 12.4.0 h6b7512a_0 conda-forge gdbm 1.18 h0a1914f_2 conda-forge gdk-pixbuf 2.42.10 h829c605_5 conda-forge geos 3.12.1 h59595ed_0 conda-forge geotiff 1.7.1 h6b2125f_15 conda-forge gettext 0.22.5 h59595ed_2 conda-forge gettext-tools 0.22.5 h59595ed_2 conda-forge giflib 5.2.2 hd590300_0 conda-forge gl2ps 1.4.2 hae5d5c5_1 conda-forge glew 2.1.0 h9c3ff4c_2 conda-forge glfw 3.4 hd590300_0 conda-forge glib 2.78.4 hfc55251_0 conda-forge glib-networking 2.80.0 h2ef3c98_0 conda-forge glib-tools 2.78.4 hfc55251_0 conda-forge gmp 6.3.0 hac33072_2 conda-forge gnutls 3.7.9 hb077bed_0 conda-forge graphite2 1.3.13 h59595ed_1003 conda-forge graphviz 9.0.0 h78e8752_1 conda-forge gst-plugins-bad 1.22.9 h3448496_0 conda-forge gst-plugins-base 1.22.9 h8e1006c_0 conda-forge gst-plugins-good 1.22.9 h94a241a_0 conda-forge gstreamer 1.22.9 h98fc4e7_0 conda-forge gtest 1.14.0 h434a139_2 conda-forge gtk2 2.24.33 h280cfa0_4 conda-forge gts 0.7.6 h977cf35_4 conda-forge gxx 12.4.0 h236703b_0 conda-forge gxx_impl_linux-64 12.4.0 h557a472_0 conda-forge gxx_linux-64 12.4.0 h8489865_0 conda-forge h5py 3.11.0 nompi_py310hf054cd7_102 conda-forge harfbuzz 8.3.0 h3d44ed6_0 conda-forge hdf4 4.2.15 h2a13503_7 conda-forge hdf5 1.14.3 nompi_hdf9ad27_105 conda-forge icu 73.2 h59595ed_0 conda-forge icub-models 2.6.0 py310h76e45a6_0 conda-forge idna 3.7 pyhd8ed1ab_0 conda-forge idyntree 12.3.0 py310h187b9f2_0 conda-forge imath 3.1.11 hfc55251_0 conda-forge imgui 1.90.4 h293081c_2 conda-forge importlib-metadata 8.0.0 pypi_0 pypi ipopt 3.14.16 h3696c94_4 conda-forge ipython 8.26.0 pyh707e725_0 conda-forge ipywidgets 8.1.3 pypi_0 pypi irrlicht 1.8.5 h2a6caf8_4 conda-forge itsdangerous 2.2.0 pypi_0 pypi jack 1.9.22 h7c63dc7_2 conda-forge jasper 4.2.4 h536e39c_0 conda-forge jedi 0.19.1 pyhd8ed1ab_0 conda-forge jinja2 3.1.4 pypi_0 pypi joblib 1.4.2 pypi_0 pypi json-c 0.17 h1220068_1 conda-forge jsoncpp 1.9.5 h4bd325d_1 conda-forge jsonschema 4.23.0 pypi_0 pypi jsonschema-specifications 2023.12.1 pypi_0 pypi jupyter-core 5.7.2 pypi_0 pypi jupyterlab-widgets 3.0.11 pypi_0 pypi jxrlib 1.1 hd590300_3 conda-forge kealib 1.5.3 hee9dde6_1 conda-forge kernel-headers_linux-64 2.6.32 he073ed8_17 conda-forge keyutils 1.6.1 h166bdaf_0 conda-forge kiwisolver 1.4.5 py310hd41b1e2_1 conda-forge krb5 1.21.3 h659f571_0 conda-forge lame 3.100 h166bdaf_1003 conda-forge lcms2 2.16 hb7c19ff_0 conda-forge ld_impl_linux-64 2.40 hf3520f5_7 conda-forge lerc 4.0.0 h27087fc_0 conda-forge libabseil 20240116.2 cxx17_he02047a_1 conda-forge libaec 1.1.3 h59595ed_0 conda-forge libarchive 3.7.4 hfca40fe_0 conda-forge libasprintf 0.22.5 h661eb56_2 conda-forge libasprintf-devel 0.22.5 h661eb56_2 conda-forge libass 0.17.1 h8fe9dca_1 conda-forge libbipedal-locomotion-framework 0.18.0 haaf8a10_6 conda-forge libblas 3.9.0 22_linux64_openblas conda-forge libboost 1.82.0 h6fcfa73_6 conda-forge libboost-devel 1.82.0 h00ab1b0_6 conda-forge libboost-headers 1.82.0 ha770c72_6 conda-forge libbrotlicommon 1.1.0 hd590300_1 conda-forge libbrotlidec 1.1.0 hd590300_1 conda-forge libbrotlienc 1.1.0 hd590300_1 conda-forge libcap 2.69 h0f662aa_0 conda-forge libcblas 3.9.0 22_linux64_openblas conda-forge libccd-double 2.1 h59595ed_3 conda-forge libclang 15.0.7 default_h127d8a8_5 conda-forge libclang-cpp15 15.0.7 default_h127d8a8_5 conda-forge libclang13 15.0.7 default_h5d6823c_5 conda-forge libcrc32c 1.1.2 h9c3ff4c_0 conda-forge libcups 2.3.3 h4637d8d_4 conda-forge libcurl 8.8.0 hca28451_1 conda-forge libdb 6.2.32 h9c3ff4c_0 conda-forge libdeflate 1.19 hd590300_0 conda-forge libdrm 2.4.122 h4ab18f5_0 conda-forge libdrm-cos6-x86_64 2.4.65 h9b0a68f_1105 conda-forge libedit 3.1.20191231 he28a2e2_2 conda-forge libergocub-software 0.7.4 h4924146_0 conda-forge libev 4.33 hd590300_2 conda-forge libevent 2.1.12 hf998b51_1 conda-forge libexpat 2.5.0 hcb278e6_1 conda-forge libffi 3.4.2 h7f98852_5 conda-forge libflac 1.4.3 h59595ed_0 conda-forge libgazebo-yarp-plugins 4.10.0 h89d8660_1 conda-forge libgcc-devel_linux-64 12.4.0 ha4f9413_100 conda-forge libgcc-ng 14.1.0 h77fa898_0 conda-forge libgcrypt 1.11.0 h4ab18f5_0 conda-forge libgd 2.3.3 h119a65a_9 conda-forge libgdal 3.8.4 h9323651_0 conda-forge libgettextpo 0.22.5 h59595ed_2 conda-forge libgettextpo-devel 0.22.5 h59595ed_2 conda-forge libgfortran-ng 14.1.0 h69a702a_0 conda-forge libgfortran5 14.1.0 hc5f4f2c_0 conda-forge libglib 2.78.4 h783c2da_0 conda-forge libglu 9.0.0 hac7e632_1003 conda-forge libgomp 14.1.0 h77fa898_0 conda-forge libgoogle-cloud 2.22.0 h72bcb37_0 conda-forge libgoogle-cloud-storage 2.22.0 hc7a4891_0 conda-forge libgpg-error 1.50 h4f305b6_0 conda-forge libgrpc 1.61.2 h42401df_0 conda-forge libhwloc 2.11.0 default_h5622ce7_1000 conda-forge libi2c 4.3 hcb278e6_2 conda-forge libiconv 1.17 hd590300_2 conda-forge libidn2 2.3.7 hd590300_0 conda-forge libignition-cmake2 2.17.2 hac33072_0 conda-forge libignition-common3 3.15.1 hbcb56b1_3 conda-forge libignition-fuel-tools4 4.6.0 h8983a3d_8 conda-forge libignition-math6 6.15.1 py310h64a2142_1 conda-forge libignition-msgs5 5.11.0 h936fc59_8 conda-forge libignition-tools1 1.5.0 h1caa08d_3 conda-forge libignition-transport8 8.4.0 h24168b1_10 conda-forge libjpeg-turbo 3.0.0 hd590300_1 conda-forge libkml 1.3.0 h01aab08_1018 conda-forge liblapack 3.9.0 22_linux64_openblas conda-forge liblapacke 3.9.0 22_linux64_openblas conda-forge liblie-group-controllers 0.2.0 hcb278e6_0 conda-forge libllvm15 15.0.7 hb3ce162_4 conda-forge libllvm18 18.1.8 h8b73ec9_1 conda-forge libmatio 1.5.26 h31675a7_0 conda-forge libmatio-cpp 0.2.3 h5d63741_1 conda-forge libnetcdf 4.9.2 nompi_h135f659_114 conda-forge libnghttp2 1.58.0 h47da74e_1 conda-forge libnsl 2.0.1 hd590300_0 conda-forge libode 0.16.2 hc6cd4ac_14 conda-forge libogg 1.3.5 h4ab18f5_0 conda-forge libopenblas 0.3.27 pthreads_hac2b453_1 conda-forge libopencv 4.9.0 py310hfbccb02_9 conda-forge libopenvino 2023.3.0 h2e90f83_4 conda-forge libopenvino-auto-batch-plugin 2023.3.0 hd5fc58b_4 conda-forge libopenvino-auto-plugin 2023.3.0 hd5fc58b_4 conda-forge libopenvino-hetero-plugin 2023.3.0 h3ecfda7_4 conda-forge libopenvino-intel-cpu-plugin 2023.3.0 h2e90f83_4 conda-forge libopenvino-intel-gpu-plugin 2023.3.0 h2e90f83_4 conda-forge libopenvino-ir-frontend 2023.3.0 h3ecfda7_4 conda-forge libopenvino-onnx-frontend 2023.3.0 h469e5c9_4 conda-forge libopenvino-paddle-frontend 2023.3.0 h469e5c9_4 conda-forge libopenvino-pytorch-frontend 2023.3.0 h59595ed_4 conda-forge libopenvino-tensorflow-frontend 2023.3.0 he1e0747_4 conda-forge libopenvino-tensorflow-lite-frontend 2023.3.0 h59595ed_4 conda-forge libopus 1.3.1 h7f98852_1 conda-forge libosqp 0.6.3 h59595ed_0 conda-forge libpciaccess 0.18 hd590300_0 conda-forge libpng 1.6.43 h2797004_0 conda-forge libpq 16.3 ha72fbe1_0 conda-forge libprotobuf 4.25.2 h08a7969_1 conda-forge libpsl 0.21.2 h3253dac_2 conda-forge libqdldl 0.1.5 h27087fc_1 conda-forge libraw 0.21.1 h2a13503_2 conda-forge libre2-11 2023.09.01 h5a48ba9_2 conda-forge librealsense 2.54.2 py310h2ab81a5_1_cuda conda-forge librobometry 1.2.3 ha7a93de_0 conda-forge librsvg 2.56.3 he3f83f7_1 conda-forge librttopo 1.1.0 h8917695_15 conda-forge libsanitizer 12.4.0 h46f95d5_0 conda-forge libscotch 7.0.4 h2fe6a88_5 conda-forge libsdformat 9.8.0 h169342d_6 conda-forge libsndfile 1.2.2 hc60ed4a_1 conda-forge libsodium 1.0.18 h36c2ea0_1 conda-forge libsoup 3.4.4 h5006749_2 conda-forge libspatialite 5.1.0 h7bd4643_4 conda-forge libspral 2024.05.08 hdf4021c_2 conda-forge libsqlite 3.46.0 hde9e2c9_0 conda-forge libssh2 1.11.0 h0841786_0 conda-forge libstdcxx-devel_linux-64 12.4.0 ha4f9413_100 conda-forge libstdcxx-ng 14.1.0 hc0a3c3a_0 conda-forge libsystemd0 255 h3516f8a_1 conda-forge libtar 1.2.20 h7f98852_1004 conda-forge libtasn1 4.19.0 h166bdaf_0 conda-forge libtheora 1.1.1 h4ab18f5_1006 conda-forge libtiff 4.6.0 ha9c0a0a_2 conda-forge libudev1 255 h3f72095_1 conda-forge libunicycle-footstep-planner 0.7.0 ha7ca08e_2 conda-forge libunistring 0.9.10 h7f98852_0 conda-forge libusb 1.0.27 h520f47e_100 conda-forge libuuid 2.38.1 h0b41bf4_0 conda-forge libva 2.21.0 h4ab18f5_2 conda-forge libvorbis 1.3.7 h9c3ff4c_0 conda-forge libvpx 1.13.1 h59595ed_0 conda-forge libwebp 1.4.0 h2c329e2_0 conda-forge libwebp-base 1.4.0 hd590300_0 conda-forge libx11-common-cos6-x86_64 1.6.4 h9b0a68f_1105 conda-forge libx11-cos6-x86_64 1.6.4 h9b0a68f_1105 conda-forge libxcb 1.15 h0b41bf4_0 conda-forge libxcrypt 4.4.36 hd590300_1 conda-forge libxkbcommon 1.7.0 h662e7e4_0 conda-forge libxml2 2.12.7 h4c95cb1_3 conda-forge libyarp 3.9.0 he3b8073_3 conda-forge libzip 1.10.1 h2629f0a_3 conda-forge libzlib 1.3.1 h4ab18f5_1 conda-forge loguru 0.7.2 py310hff52083_1 conda-forge lz4-c 1.9.4 hcb278e6_0 conda-forge lzo 2.10 hd590300_1001 conda-forge manif 0.0.4 he02047a_17 conda-forge manifpy 0.0.4 py310hf5d888b_17 conda-forge markupsafe 2.1.5 pypi_0 pypi matplotlib 3.9.1 py310hff52083_0 conda-forge matplotlib-base 3.9.1 py310h0b1de36_0 conda-forge matplotlib-inline 0.1.7 pyhd8ed1ab_0 conda-forge mesa-dri-drivers-cos6-x86_64 11.0.7 h9b0a68f_1105 conda-forge mesa-dri1-drivers-cos6-x86_64 7.11 h9b0a68f_1105 conda-forge mesa-libgl-cos6-x86_64 11.0.7 h9b0a68f_1105 conda-forge meshcat-python 0.3.2 pyhd8ed1ab_0 conda-forge metis 5.1.0 h59595ed_1007 conda-forge minizip 4.0.7 h401b404_0 conda-forge mpg123 1.32.6 h59595ed_0 conda-forge msgpack-python 1.0.8 py310h25c7140_0 conda-forge multidict 6.0.5 py310h2372a71_0 conda-forge mumps-include 5.7.2 ha770c72_0 conda-forge mumps-seq 5.7.2 h6e8dedb_0 conda-forge munkres 1.1.4 pyh9f0ad1d_0 conda-forge mysql-common 8.0.33 hf1915f5_6 conda-forge mysql-libs 8.0.33 hca2cd23_6 conda-forge nbformat 5.10.4 pypi_0 pypi ncurses 6.5 h59595ed_0 conda-forge nest-asyncio 1.6.0 pypi_0 pypi nettle 3.9.1 h7ab15ed_0 conda-forge nlohmann_json 3.11.3 h59595ed_0 conda-forge nlopt 2.7.1 py310h236f06b_5 conda-forge nspr 4.35 h27087fc_0 conda-forge nss 3.102 h593d115_0 conda-forge numpy 1.26.4 py310hb13e2d6_0 conda-forge ocl-icd 2.3.2 hd590300_1 conda-forge octomap 1.9.8 h924138e_0 conda-forge ogre 1.10.12.1 hb5e08f3_1 conda-forge onnxruntime-cpp 1.17.1 h7b6976b_202_cuda conda-forge open3d 0.18.0 pypi_0 pypi openal-soft 1.23.1 h00ab1b0_0 conda-forge openexr 3.2.2 haf962dd_1 conda-forge openh264 2.4.1 h59595ed_0 conda-forge openjpeg 2.5.2 h488ebb8_0 conda-forge openssl 3.3.1 h4bc722e_2 conda-forge osqp-eigen 0.8.1 hdd734ac_1 conda-forge p11-kit 0.24.1 hc5aa10d_0 conda-forge packaging 24.1 pyhd8ed1ab_0 conda-forge pagmo 2.9 hfc679d8_0 conda-forge pandas 2.2.2 pypi_0 pypi pango 1.52.1 ha41ecd1_0 conda-forge parso 0.8.4 pyhd8ed1ab_0 conda-forge pcl 1.14.0 h4836831_0 conda-forge pcre 8.45 h9c3ff4c_0 conda-forge pcre2 10.42 hcad00b1_0 conda-forge pexpect 4.9.0 pyhd8ed1ab_0 conda-forge pickleshare 0.7.5 py_1003 conda-forge pillow 10.4.0 pypi_0 pypi pip 24.0 pyhd8ed1ab_0 conda-forge pixman 0.43.2 h59595ed_0 conda-forge platformdirs 4.2.2 pypi_0 pypi plotly 5.22.0 pypi_0 pypi ply 3.11 pyhd8ed1ab_2 conda-forge poppler 24.02.0 h590f24d_0 conda-forge poppler-data 0.4.12 hd8ed1ab_0 conda-forge portaudio 19.6.0 h7c63dc7_9 conda-forge postgresql 16.3 h8e811e2_0 conda-forge proj 9.3.1 h1d62c97_0 conda-forge prompt-toolkit 3.0.47 pyha770c72_0 conda-forge proxsuite 0.6.6 py310h25c7140_0 conda-forge pthread-stubs 0.4 h36c2ea0_1001 conda-forge ptyprocess 0.7.0 pyhd3deb0d_0 conda-forge pugixml 1.14 h59595ed_0 conda-forge pulseaudio-client 16.1 hb77b528_5 conda-forge pure-eval 0.2.2 pypi_0 pypi pure_eval 0.2.3 pyhd8ed1ab_0 conda-forge pybind11-abi 4 hd8ed1ab_3 conda-forge pygments 2.18.0 pyhd8ed1ab_0 conda-forge pyngrok 7.2.0 pyhd8ed1ab_0 conda-forge pyparsing 3.1.2 pyhd8ed1ab_0 conda-forge pyqt 5.15.9 py310h04931ad_5 conda-forge pyqt5-sip 12.12.2 py310hc6cd4ac_5 conda-forge pyqtconsole 1.2.3 pyhd8ed1ab_0 conda-forge pyqtwebengine 5.15.9 py310h704022c_5 conda-forge pyquaternion 0.9.9 pypi_0 pypi python 3.10.14 hd12c33a_0_cpython conda-forge python-dateutil 2.9.0.post0 pypi_0 pypi python_abi 3.10 4_cp310 conda-forge pytz 2024.1 pypi_0 pypi pyyaml 6.0.1 py310h2372a71_1 conda-forge pyzmq 26.0.3 py310h6883aea_0 conda-forge qhull 2020.2 h434a139_5 conda-forge qt-main 5.15.8 h5810be5_19 conda-forge qt-webengine 5.15.8 h7517aa4_5 conda-forge qtpy 2.4.1 pyhd8ed1ab_0 conda-forge qwt 6.2.0 h1a478b3_6 conda-forge re2 2023.09.01 h7f4b329_2 conda-forge readline 8.2 h8228510_1 conda-forge referencing 0.35.1 pypi_0 pypi requests 2.32.3 pypi_0 pypi retrying 1.3.4 pypi_0 pypi robot-log-visualizer 0.8.0 pyha21c71c_122 robotology robot-testing-framework 2.0.1 hcb278e6_1 conda-forge rpds-py 0.19.0 pypi_0 pypi ruby 3.3.3 h3da8d8b_0 conda-forge s2n 1.4.12 h06160fa_0 conda-forge scikit-learn 1.5.1 pypi_0 pypi scipy 1.14.0 py310h93e2701_1 conda-forge sdl 1.2.68 h293081c_0 conda-forge sdl2 2.28.5 h77f46ba_0 conda-forge setuptools 70.3.0 pyhd8ed1ab_0 conda-forge simbody 3.7 h64f3f5a_3 conda-forge simde 0.8.2 h297d8ca_0 conda-forge sip 6.7.12 py310hc6cd4ac_0 conda-forge six 1.16.0 pyh6c4a22f_0 conda-forge snappy 1.1.10 hdb0a2a9_1 conda-forge soxr 0.1.3 h0b41bf4_3 conda-forge spdlog 1.12.0 hd2e6256_2 conda-forge sqlite 3.46.0 h6d4b2fc_0 conda-forge stack-data 0.6.3 pypi_0 pypi stack_data 0.6.2 pyhd8ed1ab_0 conda-forge svt-av1 1.8.0 h59595ed_0 conda-forge swig 4.2.0 h1bc8f3f_1 conda-forge sysroot_linux-64 2.12 he073ed8_17 conda-forge tbb 2021.12.0 h434a139_2 conda-forge tbb-devel 2021.12.0 h2069b90_2 conda-forge tenacity 8.5.0 pypi_0 pypi threadpoolctl 3.5.0 pypi_0 pypi tiledb 2.20.1 hcf523ab_7 conda-forge tinyxml 2.6.2 h4bd325d_2 conda-forge tinyxml2 10.0.0 h59595ed_0 conda-forge tk 8.6.13 noxft_h4845f30_101 conda-forge tl-optional 1.1.0 hf52228f_1 conda-forge toml 0.10.2 pyhd8ed1ab_0 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3.0.3 pypi_0 pypi wheel 0.43.0 pyhd8ed1ab_1 conda-forge widgetsnbextension 4.0.11 pypi_0 pypi wslink 2.1.1 pyhd8ed1ab_0 conda-forge x264 1!164.3095 h166bdaf_2 conda-forge x265 3.5 h924138e_3 conda-forge xcb-util 0.4.0 hd590300_1 conda-forge xcb-util-image 0.4.0 h8ee46fc_1 conda-forge xcb-util-keysyms 0.4.0 h8ee46fc_1 conda-forge xcb-util-renderutil 0.3.9 hd590300_1 conda-forge xcb-util-wm 0.4.1 h8ee46fc_1 conda-forge xerces-c 3.2.5 hac6953d_0 conda-forge xkeyboard-config 2.42 h4ab18f5_0 conda-forge xorg-compositeproto 0.4.2 h7f98852_1001 conda-forge xorg-damageproto 1.2.1 h7f98852_1002 conda-forge xorg-fixesproto 5.0 h7f98852_1002 conda-forge xorg-inputproto 2.3.2 h7f98852_1002 conda-forge xorg-kbproto 1.0.7 h7f98852_1002 conda-forge xorg-libice 1.1.1 hd590300_0 conda-forge xorg-libsm 1.2.4 h7391055_0 conda-forge xorg-libx11 1.8.9 h8ee46fc_0 conda-forge xorg-libxau 1.0.11 hd590300_0 conda-forge xorg-libxaw 1.0.14 h7f98852_1 conda-forge xorg-libxcomposite 0.4.6 h0b41bf4_1 conda-forge xorg-libxdamage 1.1.5 h7f98852_1 conda-forge xorg-libxdmcp 1.1.3 h7f98852_0 conda-forge xorg-libxext 1.3.4 h0b41bf4_2 conda-forge xorg-libxfixes 5.0.3 h7f98852_1004 conda-forge xorg-libxi 1.7.10 h7f98852_0 conda-forge xorg-libxinerama 1.1.5 h27087fc_0 conda-forge xorg-libxmu 1.1.3 h4ab18f5_1 conda-forge xorg-libxpm 3.5.17 hd590300_0 conda-forge xorg-libxrandr 1.5.2 h7f98852_1 conda-forge xorg-libxrender 0.9.11 hd590300_0 conda-forge xorg-libxt 1.3.0 hd590300_1 conda-forge xorg-libxtst 1.2.4 h4bc722e_0 conda-forge xorg-randrproto 1.5.0 h7f98852_1001 conda-forge xorg-recordproto 1.14.2 h7f98852_1002 conda-forge xorg-renderproto 0.11.1 h7f98852_1002 conda-forge xorg-util-macros 1.19.3 h7f98852_0 conda-forge xorg-xextproto 7.3.0 h0b41bf4_1003 conda-forge xorg-xf86vidmodeproto 2.3.1 h7f98852_1002 conda-forge xorg-xproto 7.0.31 h7f98852_1007 conda-forge xz 5.2.6 h166bdaf_0 conda-forge yaml 0.2.5 h7f98852_2 conda-forge yarl 1.9.4 py310h2372a71_0 conda-forge yarp 3.9.0 ha770c72_3 conda-forge yarp-python 3.9.0 py310h204aa52_3 conda-forge ycm-cmake-modules 0.16.4 hac33072_0 conda-forge zeromq 4.3.5 h75354e8_4 conda-forge zipp 3.19.2 pypi_0 pypi zlib 1.3.1 h4ab18f5_1 conda-forge zstd 1.5.6 ha6fb4c9_0 conda-forge zziplib 0.13.69 he45264a_2 conda-forge ```

Terminal 1:

conda activate metaCub
yarpserver

Terminal 2:

conda activate metaCub
export YARP_CLOCK=/clock && gazebo -s libgazebo_yarp_clock.so

Insert the ergoCubGazeboV1_1 model, then ctrl+R.

Terminal 3:

(metaCub) pasquale@IITICB001LW003:~$ yarpmotorgui --robot ergocubSim
[ERROR] |yarp.os.Property| cannot read from yarpmotorgui.ini
[WARNING] robotDescriptionServer not found, robot parts will be set manually.
[DEBUG] Appending /ergocubSim/head
[DEBUG] Appending /ergocubSim/torso
[DEBUG] Appending /ergocubSim/left_arm
[DEBUG] Appending /ergocubSim/right_arm
[DEBUG] Appending /ergocubSim/left_leg
[DEBUG] Appending /ergocubSim/right_leg
[DEBUG] Checking the existence of: /yarpmotorgui0//ergocubSim/head/rpc:o 
[DEBUG] ADDRESS is:  
[DEBUG] |yarp.dev.PolyDriver|remote_controlboard| Parameters are (carrier udp) (device remote_controlboard) (local "/yarpmotorgui0//ergocubSim/head") (remote "/ergocubSim/head")
[INFO] |yarp.os.Port|/yarpmotorgui0//ergocubSim/head/rpc:o| Port /yarpmotorgui0//ergocubSim/head/rpc:o active at tcp://10.240.78.138:10052/
[INFO] |yarp.os.Port|/yarpmotorgui0//ergocubSim/head/command:o| Port /yarpmotorgui0//ergocubSim/head/command:o active at tcp://10.240.78.138:10053/
[INFO] |yarp.os.Port|/yarpmotorgui0//ergocubSim/head/stateExt:i| Port /yarpmotorgui0//ergocubSim/head/stateExt:i active at tcp://10.240.78.138:10054/
[INFO] |yarp.os.impl.PortCoreOutputUnit|/yarpmotorgui0//ergocubSim/head/rpc:o| Sending output from /yarpmotorgui0//ergocubSim/head/rpc:o to /ergocubSim/head/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreOutputUnit|/yarpmotorgui0//ergocubSim/head/command:o| Sending output from /yarpmotorgui0//ergocubSim/head/command:o to /ergocubSim/head/command:i using udp
[INFO] |yarp.os.impl.PortCoreInputUnit|/yarpmotorgui0//ergocubSim/head/stateExt:i| Receiving input from /ergocubSim/head/stateExt:o to /yarpmotorgui0//ergocubSim/head/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|remote_controlboard| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[DEBUG] Setting a valid finder 
[INFO] |yarp.os.Port|/yarpmotorgui/head/sequence:o| Port /yarpmotorgui/head/sequence:o active at tcp://10.240.78.138:10055/
[DEBUG] Initializing interfaces...
[DEBUG] Opening interfaces...
[ERROR] head iencs->getEncoders() failed, retrying...
[ERROR] head iencs->getEncoders() failed, retrying...
[ERROR] head iencs->getEncoders() failed, retrying...
traversaro commented 2 months ago

Thanks for reporting the issue. Which version of YARP are you using?

traversaro commented 2 months ago

Are you setting the YARP_CLOCK when launching yarpmotorgui ?

traversaro commented 2 months ago

If you read the data from the port with yarp read ... /ergocubSim/head/stateExt:o is the data published after a Ctrl+R ?

PasMarra commented 2 months ago

Thanks for reporting the issue. Which version of YARP are you using?

yarp 3.9.0 and libgazebo-yarp-plugins 4.10.0.

Are you setting the YARP_CLOCK when launching yarpmotorgui ?

No, but it does not work even if I do so.

If you read the data from the port with yarp read ... /ergocubSim/head/stateExt:o is the data published after a Ctrl+R ?

No, it stops as soon as I press Ctrl+R. And if I try to read it again, it gets stuck as follows:

(metaCub) pasquale@IITICB001LW003:~$ yarp read ... /ergocubSim/head/stateExt:o
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://10.240.78.150:10077/
[INFO] |yarp.os.impl.PortCoreInputUnit|/tmp/port/1| Receiving input from /ergocubSim/head/stateExt:o to /tmp/port/1 using tcp
traversaro commented 2 months ago

Ok, then there is something strange going on in the wrapper. I do not see anything strange in the code that changed recently, does the gazebo terminal output some error or similar?

PasMarra commented 2 months ago

If you read the data from the port with yarp read ... /ergocubSim/head/stateExt:o is the data published after a Ctrl+R ?

I've just noticed that even if it stops as soon as I press Ctrl+R, if I wait about 3 min it starts streaming data again.

does the gazebo terminal output some error or similar?

If export YARP_CLOCK=/clock && gazebo -s libgazebo_yarp_clock.so --verbose, then this is what I get right after spawning the robot:

[INFO] All actions for action level 10 of startup phase started. Waiting for unfinished actions.
[INFO] All actions for action level 10 of startup phase finished.
[INFO] startup phase finished.
[Err] [Plugin.hh:212] Failed to load plugin gz-sim-yarp-robotinterface-system: gz-sim-yarp-robotinterface-system: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin gz-sim-forcetorque-system: gz-sim-forcetorque-system: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin gz-sim-imu-system: gz-sim-imu-system: cannot open shared object file: No such file or directory

while this is what appears right after Ctrl+R:

[INFO] |yarp.os.impl.PortCoreOutputUnit|/ergocubSim/head/stateExt:o| Sending output from /ergocubSim/head/stateExt:o to /tmp/port/1 using tcp
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1844] Conversion of sensor type[force_torque] not supported.
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| INITIAL CONFIGURATION IS:  -0.520000    0.520000    0.000000    0.785000    0.000000    0.000000    0.000000
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with default values
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| INITIAL CONFIGURATION IS:  -0.520000    0.520000    0.000000    0.785000    0.000000    0.000000    0.000000
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with default values
[DEBUG] |gazebo-yarp-plugins.plugins.GazeboYarpControlBoard| Initializing Trajectory Generator with current values
traversaro commented 2 months ago

Ok, thanks. Probably there is some kind of comparison on the current time in the network wrapper server, and if you reset at instance t=100s, it then waits again for t=100s to start again. By the way, I wonder if you tried to do Reset World States (I can't recall the exact name) instead of doing Reset World?

PasMarra commented 2 months ago

I guess you're referring to Ctrl+Shift+R that is Reset Model Poses which

image

I've tried this one, but it seems not to have any effect on the model.

traversaro commented 2 months ago

Unfortunatly I will not be able to look into this in the next week, if you want to debug yourself I suggest to look into https://github.com/robotology/yarp/blob/yarp-3.9/src/devices/controlBoard_nws_yarp/ControlBoard_nws_yarp.cpp#L454-L552 and understand at which point the code blocks when there is a Gazebo reset.