How to enforce the optimized motion to be consistent with the terrain about towr HOT 7 CLOSED

Thanks for the tip Alex! Switching the linear solver option to mumps made the job.

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Hi, could you kindly tell me for which terrain this is not working?
It could be there is a mismatch between the rviz visualization (rviz_terrain_builder) and the actual height map the solver is using (height_map_examples).

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This is actually happening for all the terrains, even on the default flat terrain. For a flat terrain if I set the target base pose to be under the terrain surface the robots will simply go there and penetrate the terrain (see pic). Moreover the feet during the stance phase slide horizontally whilst I expect them to have zero horizontal velocity instead.

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Thanks, I'll look into this. Can you make sure you are on the master branch and toggling different terrains with "t" through the user interface.

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Yes I confirm I am on the master branch and I am toggling the terrains using "t" in the user interface

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This issue is probably given by a wrong installation of my Ipopt. In particular, Ipopt complains about not being able to open the libhsl.so library. Whenever I optimize by pressing "o" I get the following:

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It looks like you haven't installed the MA27 solver. Either change the solver as explained here: ethz-adrl/ifopt#11
or install the solvers from here: http://www.hsl.rl.ac.uk/ipopt/

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