Silvio Traversaro

> On the other side, we lose explicit typing. See this as implicit vs explicit conversion. Are we ok with this? I think that the evaluation done by @GiulioRomualdi is...

@GiulioRomualdi sorry, devel was not updated with the latest CI fix. Feel free to merge again now, thanks!

Hi @ahoarau ! In theory iDynTree::Model is already designed to support closed kinematics, the problem is that most of the algorithms does not support it, starting from [`computeFullTreeTraversal`](https://github.com/robotology/idyntree/blob/v1.1.0/src/model/src/Model.cpp#L795) that in...

> I don't what is the current status of using Pinocchio inside iDyntree, but soon, Pinocchio will support such kind of mechanisms both at the kinematic and dynamic level. >...

fyi @FabioBergonti , given that you are working on closed kinematics (even if you are not using iDynTree at the moment).

Some additional details for @lrapetti and other possible interested users (@diegoferigo @paolo-viceconte). ## Test for the feature First of all, I think we should write a basic test to exert...

fyi @francesco-romano

I think this make sense, but we need probably to be added as a option in InstallBasicPackageFiles.cmake at YCM level, because I am bit afraid there could be projects out...

See https://bitbucket.org/ignitionrobotics/ign-cmake/src/15b9092f1a11f15745db6b1e81f3f32edbbdf8a2/examples/CMakeLists.txt?at=default&fileviewer=file-view-default#CMakeLists.txt-30 for an example of such a use of ExternalProject .

I am afraid I am wrong and that is a fundamental limitation of how `ExternalProject` works: iDynTree would be compiled and installed at compilation time, but you would need to...