Cannot read encoders after resetting world

[PasMarra]

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    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
tomlplusplus              3.3.0                hcb278e6_0    conda-forge
tornado                   6.4.1           py310hc51659f_0    conda-forge
tqdm                      4.66.4                   pypi_0    pypi
traitlets                 5.14.3             pyhd8ed1ab_0    conda-forge
typing-extensions         4.12.2               hd8ed1ab_0    conda-forge
typing_extensions         4.12.2             pyha770c72_0    conda-forge
tzcode                    2024a                h3f72095_0    conda-forge
tzdata                    2024.1                   pypi_0    pypi
u-msgpack-python          2.8.0              pyhd8ed1ab_0    conda-forge
unicodedata2              15.1.0          py310h2372a71_0    conda-forge
unixodbc                  2.3.12               h661eb56_0    conda-forge
urdfdom                   4.0.0                hee28ff1_1    conda-forge
urdfdom_headers           1.1.1                h00ab1b0_0    conda-forge
uriparser                 0.9.8                hac33072_0    conda-forge
urllib3                   2.2.2                    pypi_0    pypi
utfcpp                    4.0.5                ha770c72_0    conda-forge
visit_struct              1.1.0                hcb278e6_0    conda-forge
vtk                       9.2.6           qt_py310h1234567_223    conda-forge
vtk-base                  9.2.6           qt_py310h1234567_223    conda-forge
vtk-io-ffmpeg             9.2.6           qt_py310h1234567_223    conda-forge
wayland                   1.22.0               h8c25dac_1    conda-forge
wayland-protocols         1.36                 hd8ed1ab_0    conda-forge
wcwidth                   0.2.13             pyhd8ed1ab_0    conda-forge
werkzeug                  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]

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

[traversaro]

Are you setting the YARP_CLOCK when launching yarpmotorgui ?

[traversaro]

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

[PasMarra]

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]

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]

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]

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]

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

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

[traversaro]

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.