robotology/icub-models

iCubGazeboV3 model feet contacts are unstable in Gazebo v11.13

gabrielenava opened this issue · 6 comments

gabrielenava commented

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:

vokoscreen-2023-09-12_17-44-52.mp4

this is not occurring in @HosameldinMohamed (previous) configuration, with Gazebo 11.12 (see also robotology/whole-body-estimators#169 (comment)):

Screencast_20230912_235556.mp4

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

cc @traversaro

HosameldinMohamed commented

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 robotology/icub-models-generator#243

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

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traversaro commented

@gabrielenava @HosameldinMohamed can you try with the latest devel, i.e. 78b150c ? If it works, I can do a release.

HosameldinMohamed commented

For me it works from the devel branch!

image

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gabrielenava commented

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

image

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