Investigate how to speed up the simulation of ergocub with walking-controllers

[xela-95]

#122 (comment)

Investigations routes:

• Run headless (no GUI)
• Remove collisions except for feet
• Chop away part of the robots
• Remove sensors not used for walking

[traversaro]

* [ ]  Remove collisions except for feet

We already have this model in ergocub-models, it is called ergoCubGazeboV1_1_minContacts . At this point, probably you can consider looking into adding support for gz-sim-yarp-plugins into the models generated by https://github.com/icub-tech-iit/ergocub-software, and then you will get that model to test for free (fyi @Nicogene).

[xela-95]

We already have this model in ergocub-models, it is called ergoCubGazeboV1_1_minContacts . At this point, probably you can consider looking into adding support for gz-sim-yarp-plugins into the models generated by https://github.com/icub-tech-iit/ergocub-software, and then you will get that model to test for free (fyi @Nicogene).

Opened an issue for this: #130