Silvio Traversaro

> @help-python @staged-recipes the PR is ready for review, it is a pure python recipe, and the Windows job is failing due to [conda-forge/libavif-feedstock#32](https://github.com/conda-forge/libavif-feedstock/issues/32), but anyhow the jobs on the...

CI error is: ~~~ conda_build.exceptions.OverLinkingError: overlinking check failed [" ERROR (libbiomechanical-analysis-framework,lib/libBiomechanicalAnalysisFrameworkLogging.so.0.0.1): .. but ['conda-forge/linux-64::libbipedal-locomotion-framework==0.18.0=h77cefc7_9'] not in reqs/run, (i.e. it is overlinking) (likely) or a missing dependency (less likely)", " ERROR...

Can this be used to set the model state of a model in which no `gz-sim-set-model-state-system`, for example to permit to have a generic model for a robot, that is...

Related to https://github.com/gazebosim/gz-sim/issues/2268 .

I tried to quickly solve this in https://github.com/gazebosim/gz-sim/pull/2392, but it turned out to be quite complex to handle correctly the process shutdown, due to intrinsic complexity of Windows signal system...

> Note that to handle easily the routing of Ctrl+C events to the server and/or gui processes, it may be convenient to use a third party library such as `tiny-process-library`...

> Actually we can use [gazebosim/gz-utils#98](https://github.com/gazebosim/gz-utils/pull/98), hopefully `subprocess.h` is able to handle well Ctrl+C on Windows. This seems related: https://github.com/gazebosim/gz-utils/pull/127, and I am afraid it is hitting all the problems...

> Signal handling and propagation on Windows is incredibly dumb. I honestly think finishing up standalone executables is the better approach. I totally agree, the problem that also in that...

> I think that tiny_process_library also uses `ProcessTerminate`, which is the equivalent of `sigkill` on Windows. That will certainly stop the process, but it's not necessarily a clean way of...

This seems a great idea, especially decoupling gz-sensors and transport. I guess https://github.com/gazebosim/gz-sim/issues/2268 is kind of related.