Investigate if we need something like gazebo_yarp_contactforcetorques

[Nicogene]

@Nicogene commented on Thu Nov 04 2021

@traversaro pointed me out that there was a plugin under development for estimating the forces in gazebo without using wbd robotology/gazebo-yarp-plugins#457

If we want to use it we need to revamp the development of that plugin

DoD
We have defined the pro and cons of using that plugin and we decided if we want to continue its development

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@traversaro commented on Thu Nov 04 2021

If we want to use it we need to revamp the development of that plugin

Note that probably we can just merge it as it is (once we checked that it works with the latest gazebo-yarp-plugins) and just mark the known issues in robotology/gazebo-yarp-plugins#457 (comment) as future improvements.