Silvio Traversaro

I prefer to solve the iCubNancy01 problem before closing this issue, see also https://github.com/robotology/yarp-wholebodyinterface/issues/89 .

Please note that the limits in the robots-configuration files are sometimes even inconsistent among different robots, even if the different robots are the same version of the iCub (i.e. we...

Once we have the "actual" limits for the iCub 2.5, we can update the file https://github.com/robotology-playground/icub-model-generator/blob/master/simmechanics/data/icub2_5/ICUB_2-5_BB_joint_parameters.csv to propagate this changes to all generated models.

cc @DanielePucci

👍 for finalizing that table in the current location, differentiating it for iCub version if necessary.

I would go for CAD RoM, while the software limits should go in the Gazebo configuration files. However it is commont practice to use the URDF limits for planning movements,...

As Simscape Multibody Link is a closed source software, I think it is quite difficult to fix this. Consider also that we are currently using a legacy format in the...

The amount of configuration is extremely limited:  If it ever worked (and I am not sure about this, to be honest) it was probably broken by either an update...

See http://wiki.icub.org/wiki/Creo_Mechanism_to_URDF for more info.

As a personal opinion, I am definitely against option 2. Option 2 has a lot of drawbacks: * No one expects the build system to mess with the git state...