代码运行后，list选择trot，报错了

roslaunch humanoid_controllers load_cheat_controller.launch 启动这个launch文件报错

[CppAdInterface] Compiling Shared Library: /tmp/ocs2/r_foot_heel_position/cppad_generated/r_foot_heel_position_libcppadcg_tmp78348649.so [CppAdInterface] Renaming /tmp/ocs2/r_foot_heel_position/cppad_generated/r_foot_heel_position_libcppadcg_tmp78348649.so to /tmp/ocs2/r_foot_heel_position/cppad_generated/r_foot_heel_position_lib.so [CppAdInterface] Compiling Shared Library: /tmp/ocs2/r_foot_heel_velocity/cppad_generated/r_foot_heel_velocity_libcppadcg_tmp11948649.so [CppAdInterface] Renaming /tmp/ocs2/r_foot_heel_velocity/cppad_generated/r_foot_heel_velocity_libcppadcg_tmp11948649.so to /tmp/ocs2/r_foot_heel_velocity/cppad_generated/r_foot_heel_velocity_lib.so [CppAdInterface] Compiling Shared Library: /tmp/ocs2/r_foot_heel_orientation/cppad_generated/r_foot_heel_orientation_libcppadcg_tmp56048649.so [CppAdInterface] Renaming /tmp/ocs2/r_foot_heel_orientation/cppad_generated/r_foot_heel_orientation_libcppadcg_tmp56048649.so to /tmp/ocs2/r_foot_heel_orientation/cppad_generated/r_foot_heel_orientation_lib.so WARNING: Failed to set threads priority (one possible reason could be that the user and the group permissions are not set properly.) WARNING: Failed to set threads priority (one possible reason could be that the user and the group permissions are not set properly.) WARNING: Failed to set threads priority (one possible reason could be that the user and the group permissions are not set properly.) WARNING: Failed to set threads priority (one possible reason could be that the user and the group permissions are not set properly.) [ INFO] [1724380800.602795197]: Waiting for the initial policy ... [ INFO] [1724380800.613858410]: Initial policy has been received. ERROR: Maximum number of working set recalculations performed ERROR: WeightWBC Not Solved!!! ERROR: Maximum number of working set recalculations performed ERROR: WeightWBC Not Solved!!! ERROR: Maximum number of working set recalculations performed ERROR: WeightWBC Not Solved!!! ERROR: Maximum number of working set recalculations performed ERROR: WeightWBC Not Solved!!! ERROR: Maximum number of working set recalculations performed ERROR: WeightWBC Not Solved!!! ERROR: Maximum number of working set recalculations performed

机器人静止不动，控制窗口，按空格，或者其他键也没反应

修改int nWsr = 20;这个代码，把它设置成非常大的一个数int nWsr = 200，就不会报上面的错，但机器人还是静止不动 ctrl+c后报错

ERROR: Projected Hessian matrix not positive definite ->ERROR: Removing from active set failed ->ERROR: Unable to perform homotopy step ->ERROR: Removing from active set failed ->ERROR: Initialisation failed! QP could not be solved! ERROR: WeightWBC Not Solved!!! ERROR: Projected Hessian matrix not positive definite ->ERROR: Removing from active set failed ->ERROR: Unable to perform homotopy step ->ERROR: Removing from active set failed ->ERROR: Initialisation failed! QP could not be solved! ERROR: WeightWBC Not Solved!!! ^C[normal_controller-4] killing on exit [humanoid_target-3] killing on exit ########################################################################

MPC Benchmarking

Maximum : 19.1637[ms].

Average : 7.04113[ms].

########################################################################

WBC Benchmarking

Maximum : 1.93667[ms].

Average : 0.445099[ms].[SqpSolver] Log written to '/tmp/ocs2/sqp_log/log_Fri_Aug_23_11:55:58_2024.txt'

[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete

roslaunch humanoid_dummy legged_robot_sqp.launch 这一个rviz的仿真是正常的

pocketxjl / humanoid-control