Lorenzo Rapetti

yarpviz crashes with segmentation fault

6

**Describe the bug** We have tried to use `yarpviz`, but after launching `analyze` command. It start with the analysis but at a certain point it crashed with segmentation fault. Here...

Yarpscope not working properly on MacOS with multiple coloumns/row

3

**Describe the bug** When running a `yarpscope` with multiple rows/coloumns, only one of the plots is shown correctly. The behaviour also seems to be changing if I move the scope...

linkIndices in iDynTreeWrappers matlab visualizer differs from model

9

I noticed that when using the matlab visualizer in `iDynTreeWrappers`, there is the possibility to change the visualization options of the links using [`iDynTreeWrappers.modifyLinksVisualization`](https://github.com/robotology/idyntree/blob/master/bindings/matlab/%2BiDynTreeWrappers/modifyLinksVisualization.m) method. This method can be used...

[Bindings] baseFrame is not changed by loadReducedModel

5

I am trying to load a model using `loadReducedModel` and passing as input a chosen `baseFrame`. However, when I try to set the robot configuration with `setRobotState`, the computed pose...

Add the possibility to add/remove sensors from Berdy

1

Currently in BERDY is using internally sensors defined as [`BerdySensorTypes`](https://github.com/robotology/idyntree/blob/devel/src/estimation/include/iDynTree/Estimation/BerdyHelper.h#L118). Those sensor types can be be: - copy of [`iDynTree::sensorsType`](https://github.com/robotology/idyntree/blob/devel/src/sensors/include/iDynTree/Sensors/Sensors.h#L35) ``` SIX_AXIS_FORCE_TORQUE_SENSOR = SIX_AXIS_FORCE_TORQUE, ACCELEROMETER_SENSOR = ACCELEROMETER, GYROSCOPE_SENSOR = GYROSCOPE,...

Implement inverse velocity kinematic solver

2

I am currently working on the implementation of a solver for inverse-velocity-kinematics in view of implementing velocity integration based inverse kinematics solver. The implementation can be found in [`lrapetti/idyntree/feature/inverse-velocity-kinematics`](https://github.com/lrapetti/idyntree/tree/feature/inverse-velocity-kinematics). @traversaro...

Failing to install `scenario` on MacOS

12

- [x] I've read the [FAQ][FAQ] - [x] I've read the [Support Policy][Support Policy] - [x] I've already searched similar [issues][Issues] and [discussions][Discussions] - [x] I've already updated to the...

Add human logger device for storing data as .mat

2

This PR adds a device `HumanLogger` that can be used for saving human kinematics and dynamics data as `.mat`

Until now the calibration methods of the `HumanStateProvider` called [here](https://github.com/robotology/human-dynamics-estimation/blob/f55e70d7adebc66552f4359f62b90fbed8b8d7ae/devices/HumanStateProvider/HumanStateProvider.cpp#L315-L384) are using a single data point to compute the calibration matrices. This could be improved by using multiple data points.

In the main development branch (`add-different-target-types`) if base velocity limits are not passed trough configuration files they are set to zero (so the system is treated as fixed-base)