Silvio Traversaro

I completed the codegen part and switched `test_postpone_expand` to use proxqp instead of osqp, the PR is ready for review.

> Works for me, I'll add this in nixpkgs, thanks ! Thanks for testing!

> builds upon CERNs [ROOT](https://github.com/root-project/root) Perhaps someone from @conda-forge/root could be interested in checking this out? Thanks!

As a possibibly related (but perhaps different issues) the `target_platform` env variable on conda-build is `linux-64`, `osx-64` etc etc, while on rattler-build is `noarch`, so any check `if [[ "${target_platform}"...

> As a possibibly related (but perhaps different issues) the `target_platform` env variable on conda-build is `linux-64`, `osx-64` etc etc, while on rattler-build is `noarch`, so any check `if [[...

It seems your GPU driver is failing to load: ~~~ _amdgpu_device_initialize: amdgpu_get_auth (1) failed (-1) amdgpu: amdgpu_device_initialize failed. glx: failed to create dri3 screen failed to load driver: radeonsi _amdgpu_device_initialize:...

Finally @DanielePucci and @francesco-romano will be able to implement https://ieeexplore.ieee.org/abstract/document/7299688 on top of iDynTree . : )

There is a problem with the build of the wheels: ~~~ 2025-12-16T09:17:52.8286100Z | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2025-12-16T09:17:53.5630119Z [91/152] Building CXX object src/estimation/CMakeFiles/idyntree-estimation.dir/src/BipedFootContactClassifier.cpp.o 2025-12-16T09:17:53.8852045Z [92/152] Building CXX object src/high-level/CMakeFiles/idyntree-high-level.dir/src/KinDynComputations.cpp.o 2025-12-16T09:17:53.8871982Z FAILED: [code=1] src/high-level/CMakeFiles/idyntree-high-level.dir/src/KinDynComputations.cpp.o...

> @traversaro Hello, just to understand why you mentioned me?

Thanks! Probably you may want to post this in https://github.com/robotology-legacy/gym-ignition/issues/430 . If you want to add the link to mantained fork in the main README, feel free to propose a...