Ergocub urdf gazebo models unstable in v0.7.10

[giotherobot]

I was trying to test something using gazebo and the ergoCubGazebov1_1 urdf model and noticed that the robot was unstable whn placing it in the world, to the point of falling without touching it.

Switching to release v0.7.9 fixed the issue.

cc @S-Dafarra

[S-Dafarra]

cc @Nicogene @traversaro

[traversaro]

Is this Gazebo Classic or gz-sim ?

[S-Dafarra]

Is this Gazebo Classic or gz-sim ?

Gazebo classic

[traversaro]

Did you tried with gz-sim ? Gazebo Classic is EOL since last January, see https://classic.gazebosim.org/ .

Gazebo

The Gazebo robot simulation

[giotherobot]

No tbh, I am using classic because I need the depthCamera plugin that as far as I know is not yet available for gz-sim

[Nicogene]

I will check why this is happening on gazebo classic, it is a while that I do not use it, it could be that now we are using gpu_lidar instead of ray, that should be the major change between 0.7.9 and 0.7.10.

No tbh, I am using classic because I need the depthCamera plugin that as far as I know is not yet available for gz-sim

It is also available in gz-sim!
See:

• Add usage of gz-sim DepthCamera plugin in ergocub models #292 (comment)

In this moment ergoCub yarprobotinterface launch the same sensors both of gz-sim and gazebo classic

[giotherobot]

Then we should update the table in https://github.com/robotology/gz-sim-yarp-plugins#usage

GitHub

GitHub - robotology/gz-sim-yarp-plugins: YARP plugins for Modern Gazebo (gz-sim).

YARP plugins for Modern Gazebo (gz-sim). Contribute to robotology/gz-sim-yarp-plugins development by creating an account on GitHub.

I misread the Documentation missing column

[traversaro]

Then we should update the table in https://github.com/robotology/gz-sim-yarp-plugins#usage

GitHub**GitHub - robotology/gz-sim-yarp-plugins: YARP plugins for Modern Gazebo (gz-sim).**YARP plugins for Modern Gazebo (gz-sim). Contribute to robotology/gz-sim-yarp-plugins development by creating an account on GitHub.

I misread the Documentation missing column

This sounds a job for an LLM. fyi @xela-95

GitHub

GitHub - robotology/gz-sim-yarp-plugins: YARP plugins for Modern Gazebo (gz-sim).

YARP plugins for Modern Gazebo (gz-sim). Contribute to robotology/gz-sim-yarp-plugins development by creating an account on GitHub.

[traversaro]

This sounds a job for an LLM. fyi @xela-95

I gave it a try: robotology/gz-sim-yarp-plugins#299 .

[Nicogene]

I was trying to test something using gazebo and the ergoCubGazebov1_1 urdf model and noticed that the robot was unstable whn placing it in the world, to the point of falling without touching it.

Switching to release v0.7.9 fixed the issue.

cc @S-Dafarra

Are you sure it is the v1_1? On latest master, I am experiencing instability only on the V1_3, probably due to some small inertia of the neck that has to be faked as usual (but on gz-sim this is not needed)

[giotherobot]

Am trying to move to gz-sim too, so this is less important than fixing #348 tbh. I am pretty sure that I was using the v1_1 model but if you cannot reproduce we can move forward in the meantime with the fixes for gz