Silvio Traversaro

To avoid duplicating the robotinterface file, once it is ready we could use the strategy described in https://github.com/robotology/gazebo-yarp-plugins/issues/672 . The xsens root_link wrapper could be a device disable by default,...

* [ ] Easy: Check simmechancis file for failures of the type "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_REAR because of CAD constraint"

> * [ ] Easy: Verify that all the joint are either of type fixed or revolute (to avoid regression such as [robotology/icub-models#72](https://github.com/robotology/icub-models/issues/72)) Related issue: https://github.com/robotology/icub-models/issues/93 .

Another useful sanity check would be to check that the total weight of the model (that you can get from [`iDynTree::Model::getTotalMass()`](https://robotology.github.io/idyntree/master/classiDynTree_1_1Model.html#a36a23bd3f7e2740f721b87c6b2d89464) ) and check that its difference w.r.t. to the...

@Yeshasvitvs check the README in this repo and the discussion in https://github.com/robotology/QA/issues/137 .

I want separate the problem of adding hands to the model (for which we can keep this issue) and the problem of adding eyes to the model, for which we...

Brief recap: the iCub's URDF are currently generated using two possible workflows, as described in the README of this repository https://github.com/robotology-playground/icub-model-generator#icub-model-generator . Both the workflows do not support exporting a...

My two cents: for the time being I think the most reasonable solution is to isolate the hands from the model in vislab model [2] , and the resulting model...

Relevant code by @claudiofantacci : https://github.com/claudiofantacci/superimpose-hand .

> First things first: do we want to use/support URDF, SDF or both? As of now, my understanding is to use SDF. Some of our software including this generator and...