wb-toolbox

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Deterioration of performances when Simulink runs with an open scope (with real robot).

3

- [x] I already updated to the latest version I can use - [x] I already checked similar issues using the search box - [x] I already checked the website...

Giulero

Expose adaptive_rho option in OSQP block

4

#### Summary We would like to expose the adaptive_rho option (and eventually other options in the OSQP block. #### Motivation By default, OSQP is not deterministic, but if you set...

traversaro

We should clarify in documentation the meaning of `robotName`, that is just the `portprefix`, so it can be ignored by YARP-less Simulink models, see https://github.com/robotology/wb-toolbox/blob/b776e49673abad3f697170648703532b57223570/toolbox/base/src/RobotInterface.cpp#L175 . fyi @VenusPasandi

traversaro

Solve osqp-eigen warning

2

Solve osqp warning: ~~~ /__w/robotology-superbuild/robotology-superbuild/src/WBToolbox/toolbox/library/src/OSQP.cpp: In member function 'virtual bool wbt::block::OSQP::output(const blockfactory::core::BlockInformation*)': /__w/robotology-superbuild/robotology-superbuild/src/WBToolbox/toolbox/library/src/OSQP.cpp:549:50: warning: 'bool OsqpEigen::Solver::solve()' is deprecated: Use solveProblem() instead. [-Wdeprecated-declarations] bool solveReturnVal = pImpl->sqSolver->solve(); ^ ~~~ I think...

traversaro

Add relative Jacobian block

2

#### Summary A block similar to the `Jacobian` block,  but provided with 2 frame names as inputs, it gives the relative Jacobian between the 2 frames....

HosameldinMohamed

Allow possibility to specify carrier in ports

3

francesco-romano

QUESTION: what is the minimum MATLAB/Simulink version WBToolbox should support in the DIC organization?

4

What is the minimum MATLAB/Simulink version WBToolbox should support in the DIC organization? Actually I asked a more general question in Teams General, about the supported MATLAB version w.r.t. all...

nunoguedelha

Clarification on contributing process

11

I have a doubt on how to work (especially with multiple developers/contributors) on WB-Toolbox. The repo contains two Simulink models: * `wb-toolbox/matlab/library/WBToolboxLibrary_repository.mdl`: This is the file that is meant to...

traversaro

See https://github.com/robotology/wb-toolbox/pull/209#discussion_r637747572 .

traversaro

Set/expose qpOASES's setToReliable option?

16

#### Summary The qpOASES QP solver with default options sometimes mark as unfeasible problems that are feasible, see https://github.com/coin-or/qpOASES/issues/85 . However, from https://github.com/coin-or/qpOASES/issues/85#issuecomment-778382108 and https://raw.githubusercontent.com/coin-or/qpOASES/master/doc/manual.pdf page 30, it seems that...

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