Hosameldin Mohamed

@traversaro I'll try to address this, can you give me some pointers?

Hi @GiulioRomualdi I don't know a solution. If this helps. I was able to replicate the same error you got by running [the script](https://github.com/robotology/idyntree/issues/826#issue-803787948). My iDynTree is at the commit...

I am not sure why, but this piece of script runs with no error. I got it from the [examples](https://github.com/robotology/idyntree/tree/master/examples/matlab) with modifications if I remember well. The difference here is...

> Besides removing `.bashrc`, even the flag `remove-profiles` is set to `false`, it still edits `.profile`. Same here!

The interface can be similar to what had been done in https://github.com/robotology/gazebo-yarp-plugins/pull/418 Where the user can write a command: ``` orient_local ``` And the mode will change to "orient_local" where...

I have made a draft of the feature, It's in a Fork and a branch https://github.com/HosameldinMohamed/gazebo-yarp-plugins/tree/feature/addOrientOption if it's okay I can open a pull request. CC @prashanthr05 @traversaro

> I have made a draft of the feature, It's in a Fork and a branch https://github.com/HosameldinMohamed/gazebo-yarp-plugins/tree/feature/addOrientOption The following GIF shows the current status in the forked repo (https://github.com/HosameldinMohamed/gazebo-yarp-plugins/commit/b674a933bc6d5950fa603269c475da25e7b60eb7) when...

> Please open a PR, thanks! Done [here](https://github.com/robotology/gazebo-yarp-plugins/pull/463).

> Doesn't the force on the left hand that is applied along the x, seem a bit skewed in mode orient_local? @prashanthr05, Here's a zoomed screenshot where the link frame...