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?