Silvio Traversaro

Like an automatic typemap that converts `std::vector` to a cell array of `iDynTree.ComplexObject` Matlab objects? To be honest I do not know how to handle that.

Ok, that seems to be a solution in line with the `StringVector` strategy.

Hi @fedeceola, I do not have a lot of experience lately with full-body IK, but the answers to a lot of those questions depends a lot on which kind of...

> and the python bindings of iDynTree installed via pip (version 5.0.0). Small curiosity, why are you using 5.0.0 instead of the latest release 5.2.1 ?

> Hi @traversaro, thanks for you response! The problem that I am trying to solve is to find a suitable joints configuration to reach a target pose for the _r_hand_dh_frame_...

Can you try to decrease the cost tolerance in: ~~~ self.ik.setCostTolerance(1e-4) ~~~ ?

Great catch! This is quite an important bug, let's give it the proper publicity: **the `iDynTree::InverseKinematics` class in iDynTree before release 6.0.1 was affected by a bug in the `TransformConstraint::setRotationWeight`...

> To me this extractor has to make sure to find an equivalent DH representation for a given URDF. That's a cool intership ;) I think we already have this,...

Note that `urdf2dh` tools depends on YARP and ICUB, but that is just to output a YARP compatible `.ini` file, the core of the method is already part of https://github.com/robotology/idyntree/blob/master/src/model/include/iDynTree/Model/DenavitHartenberg.h...

Apparently the main build works fine, but it breaks if iDynTree is included in a bigger project via `add_subdirectory` .