ARE module failed to run when simulating iCub in GZ-sim

[MissingSignal]

Bug description

I am trying to launch actionRenderingEngine module with GZ-sim. I get the following error:

[ERROR] |yarp.device.multipleanalogsensorsclient| Failure connecting port /actionsRenderingEngine/tactile/left_hand/MAIS/rpc:i to /icubSim/left_hand/MAIS/rpc:o.
[ERROR] |yarp.device.multipleanalogsensorsclient| Check that the specified MultipleAnalogSensorsServer is up.
[DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete
[ERROR] |yarp.dev.PolyDriver|multipleanalogsensorsclient| Driver <multipleanalogsensorsclient> was found but could not open
[ERROR] *** actionsRenderingEngine/tactile: unable to connect to /icubSim/left_hand/MAIS

This error is similar to this old (gazebo classic) issue from my colleague https://github.com/robotology/icub-main/issues/993

Steps to reproduce

OS: Ubuntu 24.04.2 LTS Superbuild: latest stable version (YARP version 3.11.2+11-20250326.3+git67ec69887) Gazebo Sim Harmonic 8.9.0 Using the following process

    $ yarpserver
    $ gz sim
    Placing iCub Model -> iCubGazeboV2_5 VISUOMANIP
    $yarprobotinterface --context gazeboCartesianControl --config no_legs.xml
    $ iKinCartesianSolver --context gazeboCartesianControl --part right_arm
    $ iKinCartesianSolver --context gazeboCartesianControl --part left_arm
    $ iKinGazeCtrl --context gazeboCartesianControl --from iKinGazeCtrl.ini
    $wholeBodyDynamics --robot icubSim --autoconnect --dummy_ft --headV2 --no_legs
    $actionsRenderingEngine --from gazebo/config.ini

Expected behavior

It's not clear to me whether I should run actionsRenderingEngine with sim/config.ini or gazebo/config.ini In both cases, I encounter errors due to the grasping methods "springy" and "tactile".

Example repository

No response

Additional context

No response

[pattacini]

Hi @MissingSignal

Thanks for reporting 👍🏻

I've briefly talked to @Nicogene about this issue and, as of now, the MAIS device is not yet implemented for gz-sim. Most likely, this explains what you've been observing.

You could then fall back to the classic Gazebo for the time being. Although it's no longer supported, it is still a viable option. The feat of upgrading the devices is mostly complete thanks to the great work of @xela-95 @traversaro and @Nicogene but we ought to update/test what relies on it (e.g., components, launchers, tutorials, sandboxes...).

[MissingSignal]

Thank you @pattacini , I had actually imagined a similar situation. In the meantime, I will try using gazebo Classic in a docker.

Thank you all for the valuable work on migrating to gz-sim!

Keep us updated 😁