Nicolò Genesio (二コゲネ)

The icub-firmware PRs have been merged, once the CI is happy we can merge also this one

Here are some functions that may be useful for this: - https://yarp.it/latest/Log_8h.html#a244e6ef02b9d0bc2ff9503c49980054a cc @martinaxgloria @MSECode

Once tackle this, we could check if this mitigates, or solves this problem: - https://github.com/robotology/icub-tech-support/issues/1543

> Thanks [@marcoaccame](https://github.com/marcoaccame) for the clarification! > > I think we don't want to completely ignore those messages, but the idea was to reduce the number of printings to avoid...

> Can it be worth updating the [iCubTemplates](https://github.com/robotology/robots-configuration/tree/master/iCubTemplates/iCubTemplateV6_0) to add this info there? Yes!

This comment can be of interest of @S-Dafarra: - https://github.com/robotology/icub-main/issues/1024#issuecomment-2965931677 maybe it makes sense what is the combination of factors that makes the yarprobotinterface not run via yarpmanager

For concluding this issue we may open PRs for adding this section in all the ergocubs: - https://github.com/robotology/icub-main/issues/1024#issuecomment-2965931677

We can close this issue

> The `exportFirstBaseLinkAdditionalFrameAsFakeURDFBase` option of `ModelExporterOptions` ([robotology.github.io/idyntree/structiDynTree_1_1ModelExporterOptions.html#a776c8f98ae5c58e038e3a1962f9fd318](https://robotology.github.io/idyntree/structiDynTree_1_1ModelExporterOptions.html#a776c8f98ae5c58e038e3a1962f9fd318)) controls this behavior. The history behind it is a bit convoluted, but the basic reason is that one of the URDF parser used...

cc @MariaLombardi @CarmelaCalabrese