Silvio Traversaro

Thanks @jcarpent for the useful insight and references.

Related issue in pinocchio: https://github.com/stack-of-tasks/pinocchio/issues/867 .

My guess is that the irrlicht visualizer is not taking properly taking into account the [`iDynTree::SolidShape::getLink_H_geometry`](https://github.com/robotology/idyntree/blob/db312bfe9f490f991250603f05cea84a8c156899/src/model/include/iDynTree/Model/SolidShapes.h#L76) data of visualization shapes.

> > > My guess is that the irrlicht visualizer is not taking properly taking into account the [`iDynTree::SolidShape::getLink_H_geometry`](https://github.com/robotology/idyntree/blob/db312bfe9f490f991250603f05cea84a8c156899/src/model/include/iDynTree/Model/SolidShapes.h#L76) data of visualization shapes. However, I quickly checked in https://github.com/Gepetto/example-robot-data/blob/v3.11.0/robots/talos_data/robots/talos_reduced.urdf and...

Can you check which process are listening on which ports? I guess `netstat -ltnp` should give you this info. Because in theory the `:7000` should be done exactly to avoid...

> (Not all processes could be identified, non-owned process info will not be shown, you would have to be root to see it all.) Given this, it may be useful...

> @traversaro, I think this should be automatically handled by the superbuild I just tested on a clean superbuild in Ubuntu 22.04 with apt deps, and apparently the submodule is...

cc @francesco-romano

* [x] Add 3D Center of Mass task to the class (needed by @S-Dafarra for walking)

* [ ] Add support for computing the position of the task/constraints using all the joints of a model, even if only a subset is actually used for solving the...