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自碰撞问题 #64

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zsj12 opened this issue May 8, 2024 · 0 comments

zsj12 commented May 8, 2024

大佬，我将您的框架用在了双足机器人上，但是关于自碰撞的那一部分软约束添加一直有问题，加上两个脚的踝关节对应的连杆后，报错显示SQP求解器求不出来，是我哪里有问题吗？需要注意那些吗？

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