Silvio Traversaro

Write tutorial on loading iDynTree::Model from URDF, do some modification, and write it back to URDF

1

There is a lot of interest among several groups on this idea of programmatically modify or create URDFs models (tipically in the context of co-design or similar) so it could...

Implement algorithm to compute the C Coriolis Matrix such that dotM = C + C^T

9

It is useful to compute the Coriolis matrix in a numerical efficient manner. Two initial references are : * [On the closed form computation of thedynamic matrices and their differentiations](https://elib.dlr.de/112836/1/root.pdf)...

It was deprecated in iDynTree 3, and we promised to remove them by iDynTree 5.

~~~ CMake Warning (dev) at src/tools/CMakeLists.txt:29 (add_executable): Policy CMP0115 is not set: Source file extensions must be explicit. Run "cmake --help-policy CMP0115" for policy details. Use the cmake_policy command to...

Extend iDynTree::ModelLoader::loadReducedModelFromFullModel method to optionally take a given value for fixed joints

1

The request for this came out recently with both @francesco-romano and @VenusPasandi . Something like: ~~~cpp /** * Load reduced model from another model, specifying only the desired joints in...

For users that create iDynTree::Model instances by loading them from a file stored on a disk, it may be convenient to delete parts of the links or joints of the...

Port existing IK latex documentation to InverseKinematics class in-source docs

3

Port existing IK latex documentation to InverseKinematics class in-source docs

Support exporting models to SDF (Simulation Description Format)

2

This is a sister issue of https://github.com/robotology/idyntree/issues/481, but tracking the **export** of SDF (i.e. `iDynTree::Model` ---> `SDF file/string` ) rather then the import (i.e. `SDF file/string` ---> `iDynTree::Model`).