QP block stops the simulation if QP fails

[gabrielenava]

• I already updated to the latest version I can use
• I already checked similar issues using the search box
• I already checked the website for known troubleshooting
• I already cleaned my environment (by removing the wb-toolbox install folder and installing it again)
• I already excluded the possibility that system configuration files (e.g. yarp related) might be responsible
• I am sure the environment variables are correct
• I tried to reproduce the error in simulation (if it affects the real robot)

Description

QP block is supposed not to stop the simulation if the QP fails and the option stop the simulation when the solver fails is unchecked. Instead, even if the option is unchecked the simulation stops when the QP block fails to find a solution:

Platform

Verified in simulation with icubGazeboSim and iCubGazeboV2_5.

Reproducibility

git clone the whole-body-controllers repository, git checkout the branch WBToolbox4, verify all the dependencies are correctly installed and run the momentumBasedYoga simulation.

Screenshots

Additional information

• OS: [Ubuntu 16.04]
• Version / Commit: [v4.0]
• Matlab Version: [ 2017b]

[traversaro]

Downstream issue: robotology/whole-body-controllers#36 .