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ethz-adrl / towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
http://wiki.ros.org/towr
BSD 3-Clause "New" or "Revised" License
933 stars 234 forks source link

Assertion failed #93

Open ramil115 opened 2 years ago

ramil115 commented 2 years ago

Hello! Thanks for the tool. We have encountered with the following error when use with Gait Optimization flag enabled for HYQ robot

towr_ros_app: /home/robotic01/catkin_ws/src/towr/src/phasedurations.cc:86: virtual void towr::PhaseDurations::SetVariables(const VectorXd&): Assertion `durations.back()>0' failed.

How can we solve the issue? Thanks in advance!