Silvio Traversaro

Announcement: friendly mantainance fork at https://github.com/fishbotics/urchin/

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Hello everyone! I am helping mantain a library (https://github.com/icub-tech-iit/urdf-modifiers) that depends on urdfpy, and I am the mantainer of the urdfpy recipe on conda-forge. Unfortunatly, it is currently difficult to...

Add options to enable or disable installation of mujoco samples and simulate

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The current logic uses regular CMake variables, that create confusing behavior when a CMake cache variable with the same name is set from the command line. The PR does not...

Support loading mesh specified by package:// URIs when loading URDF models

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**Is your feature request related to a problem? Please describe.** A common problem we are experiencing with users using MuJoCo with iCub models (see https://github.com/robotology/icub-models/issues/155 for a related issue) are...

MujocoDependencies: Add CMake options to use system versions of dependencies

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This PR adds options for using the system versions of MuJoCo dependencies. This options are `OFF` by default, but they can be useful for anyone packaging MuJoCo as part of...

Add visualization of a subset of frames in idyntree-model-view

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It happens quite frequently that you want to visualize how frames are oriented in a model. People are frequently using https://github.com/robotology/whole-body-controllers/blob/90ff965a523f0a120e6a8981b71326c1485e7742/utilities/plotRobotFrames.m, that however is a bit cumbersome to setup. A...

There seems to be some kind of problem in jacobian with prismatic joints, see: * https://github.com/robotology/idyntree/pull/1057#issuecomment-1479661625 * https://github.com/ami-iit/bipedal-locomotion-framework/issues/799#issuecomment-1902656664 We should ensure that tests for jacobians and KinDynComputations actually run for...

See https://manipulation.csail.mit.edu/pick.html for a soft introduction to Drake's monogram notation.

Even if it is not supported in most classes for kinematics or dynamics computations, `iDynTree::Model` supports representing graphs with loops. However, if a `iDynTree::Model` with graph with a loop is...

KinDynComputations::inverseDynamics segfaults on inputs with wrong shape

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@fils99 was affected by this.

See https://github.com/robotology/idyntree/pull/1112#discussion_r1324210366 . This is confusing in particular as to run again the tests after modificaton one needs to run `make copy_python_tests_in_build ` or `ninja copy_python_tests_in_build `.