debug enter ContactsVelocityConstraint::update() contacts.names[i]:LLAnkle_FT terminate called after throwing an instance of 'std::invalid_argument' what(): Several frames match the filter - please specify the FrameType

[dbdxnuliba]

robot@robot~/refer/wbc-master/wbc/build/tutorials/rh5$ ./rh5_legs_floating_base debug rht_leg_floating_base 000

################### qpOASES -- QP OPTIONS ##################

printLevel = PL_NONE

enableRamping = BT_FALSE enableFarBounds = BT_FALSE enableFlippingBounds = BT_FALSE enableRegularisation = BT_TRUE enableFullLITests = BT_FALSE enableNZCTests = BT_FALSE enableDriftCorrection = 0 enableCholeskyRefactorisation = 0 enableEqualities = BT_TRUE enableInertiaCorrection = BT_TRUE rcondSMin = 1.000000e-14

terminationTolerance = 2.221000e-07 boundTolerance = 2.221000e-10 boundRelaxation = 1.000000e+04 epsNum = -2.221000e-13 epsDen = 2.221000e-13 maxPrimalJump = 1.000000e+08 maxDualJump = 1.000000e+08

initialRamping = 5.000000e-01 finalRamping = 1.000000e+00 initialFarBounds = 1.000000e+06 growFarBounds = 1.000000e+03 initialStatusBounds = ST_INACTIVE epsFlipping = 2.221000e-13 numRegularisationSteps = 1 epsRegularisation = 2.221000e-13 numRefinementSteps = 0 epsIterRef = 2.221000e-14 epsLITests = 2.221000e-11 epsNZCTests = 6.663000e-13

debug rht_leg_floating_base 001 debug rht_leg_floating_base 002 debug rht_leg_floating_base 003 debug enter VelocitySceneQP::update() 001 debug enter VelocitySceneQP::update() 002 debug enter VelocitySceneQP::update() 003 debug enter ContactsVelocityConstraint::update() 001 debug enter ContactsVelocityConstraint::update() 002 debug enter ContactsVelocityConstraint::update() robot_model->worldFrame():world debug enter ContactsVelocityConstraint::update() contacts.names[i]:LLAnkle_FT terminate called after throwing an instance of 'std::invalid_argument' what(): Several frames match the filter - please specify the FrameType 已放弃 (核心已转储)

[dmronga]

Thanks for submitting the issue. Unfortunately I cannot reproduce the error. Can you give me more information e.g. what WBC branch and OS are you using?