ca.Opti(): Mobile robot optimization error

[MRL]

Hi, I'm writing python code using CasADi to control two wheel differential robots.

I have 3 robots. They have a priority while calculating the collision using Euclidean distance.

For example, robot 1 calculates its own trajectory, but robot 2 calculates its own trajectory with checking collision with robot1. Robot 3 calculates its own trajectory with checking collision with both robot1 and robot2.

When running the code, error messaged poped up.

Can you help me??

CasADi - 2023-03-17 19:10:21 WARNING("solver:nlp_hess_l failed: NaN detected for output hess_gamma_x_x, at nonzero index 33 (row 1, col 32).") [.../casadi/core/oracle_function.cpp:265]
Traceback (most recent call last):
  File "/home/scpark/catkin_ws/src/formation_casadi/nodes/ugv.py", line 549, in <module>
    mrnmpc.run()
  File "/home/scpark/catkin_ws/src/formation_casadi/nodes/ugv.py", line 353, in run
    self.solve()
  File "/home/scpark/catkin_ws/src/formation_casadi/nodes/ugv.py", line 279, in solve
    sol = self.opti.solve()
  File "/home/scpark/.local/lib/python3.8/site-packages/casadi/casadi.py", line 27550, in solve
    return _casadi.Opti_solve(self, *args)
RuntimeError: Error in Opti::solve [OptiNode] at .../casadi/core/optistack.cpp:159:
.../casadi/core/optistack_internal.cpp:999: Assertion "return_success(accept_limit)" failed:
Solver failed. You may use opti.debug.value to investigate the latest values of variables. return_status is 'Invalid_Number_Detected'