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Did you tried with swig master? I think the fix for swig/swig#2783 should have fixed yarp generation, but perhaps I was testing an earlier version of YARP.
Swig 4.2.0 seems not to work properly with yarp master: when compiling I get this error "Type Error. Expecting an integral type" on some enums.
I reported the error here: swig/swig#2796
The recommended version of swing to use is thus 4.0.2
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