iCubGazeboV3 model feet contacts are unstable in Gazebo v11.13

[gabrielenava]

I have Gazebo v11.13. after dropping the iCubGazeboV3 model in the simulator, the robot starts to drift on the floor and the feet contacts are very unstable:

https://github.com/robotology/whole-body-estimators/assets/12396934/27f00d38-3fa0-4638-9cc4-c9b2be324ef5

this is not occurring in @HosameldinMohamed (previous) configuration, with Gazebo 11.12 (see also https://github.com/robotology/whole-body-estimators/issues/169#issuecomment-1716010096):

https://github.com/robotology/whole-body-estimators/assets/45564317/6ed58c8e-b97e-4389-8c24-7e23f0da1d0d

after he also updated to Gazebo 11.13, the same issue appeared on his laptop.

cc @traversaro

[HosameldinMohamed]

Actually, I did more tests, and I found that probably updating Gazebo version is not the cause of this issue.

When I did my test with the latest Gazebo version, I used a clean Conda environment that also installed the latest of icub-models (v2.3.0).

The reason for this issue seems to be updating icub-models from v2.2.2 to v2.3.0!

Which most likely is due to https://github.com/robotology/icub-models-generator/pull/243

@gabrielenava you can try to downgrade icub-models and check again.

[traversaro]

Fix proposed in https://github.com/robotology/icub-models-generator/pull/251 .

[traversaro]

@gabrielenava @HosameldinMohamed can you try with the latest devel, i.e. https://github.com/robotology/icub-models/commit/78b150c0441f09971a3da18fe542e624a779ee9d ? If it works, I can do a release.

[HosameldinMohamed]

For me it works from the devel branch!

[gabrielenava]

looks fine also for me! contacts are stable and the robot does not drift anymore!

[traversaro]

Fixed released in https://github.com/robotology/icub-models/releases/tag/v2.4.0 .