Silvio Traversaro

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...

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

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...

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...

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

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...

Support Gazebo/Ignition Gazebo simulation embedded in the WB-Toolbox block, taking input over standard Simulink input/output ports

10

#### Summary This issue track the implementation of a Gazebo/Ignition Gazebo simulation embedded in a WB-Toolbox block, taking inputs (low level joint control loops setpoints, etc, etc) and providing outputs...

Provide a block for reading multiple analog sensors devices

11

Since YARP has added support for a structured system of devices for reading multiple analog sensors interfaces (http://yarp.it/devel/group__dev__iface__multiple__analog.html and https://github.com/robotology/yarp/pull/1586 ) , it would be great to have support for...

Support Gazebo simulation embedded in the WB-Toolbox block, communicating over standard YARP C++ device interfaces

13

#### Summary Support Gazebo simulation embedded in the WB-Toolbox block, communicating over standard YARP C++ device interfaces. #### Motivation Users will just need to press play to launch a simulation,...

Support for prismatic joints

1

#### Summary Both YARP motor control interfaces and iDynTree support models that contain prismatic joints. All the blocks that wrap iDynTree in the wb-toolbox should already work fine with prismatic...