Silvio Traversaro

The non-obvious thing to derive is the composite/locked rotational inertia of whole mechanical system. Basically we have the mixed centroidal angular velocity ${}^{G[A]} \mathrm{v}_G$ is defined, with an abuse of...

> Do you agree? Yes, sorry for the late reply.

> > > Do you agree? > > Yes, sorry for the late reply. Actually it seems that this part is wrong: > Here, $J _ { {} _ A...

fyi @Nicogene @francesco-romano @Andrea8Testa

This is particularly problematic as it prevents to load any URDF file generated by iDynTree by any library that uses `urdfdom` to load URDF files.

For the time being, a quick fix to at least being able to create a release of iDynTree that creates valid URDFs is to just add really high limits (like...

@Andrea8Testa given that you have a commit that solves this in https://github.com/Andrea8Testa/idyntree/commit/6ac5ad63af33d5290ff20c75bcbc66f10fd2adec , can you open a PR for this? If necessary I can help you doing this, otherwise you...

A proper solution is tracked in https://github.com/robotology/idyntree/issues/958 .

> Regarding this kind of performance analysis, I think it would be to worth to have cpp interface for reading the Statistics of the IK? I am not sure it...

Some non-organized notes: * The official implementation sdformat could be used if the question "Is the DOM read only or can be used also for generation?" tracked in https://github.com/osrf/sdformat/issues/292#issue-620602540 ....