Experiencing a strange behaviour about towr HOT 1 CLOSED

I managed to solve this problem, even if I don't know why the previous code was wrong, anyway it works now. The problem is represented by this piece of code:

Eigen::Vector3d pos_ee;
for (int ee=0; ee<4; ee++){

switch(ee){
    case 0: pos_ee=dogbot->getBLpos();
    break;
    case 1: pos_ee=dogbot->getBRpos();
    break;
    case 2: pos_ee=dogbot->getFLpos();
    break;
    case 3: pos_ee=dogbot->getFRpos();
    break;
}

_formulation.initial_ee_W_.at(ee)[0]=pos_ee[0];
_formulation.initial_ee_W_.at(ee)[1]=pos_ee[1];

}

Once removed it, it works. This code just assigns the x and y component of the position to _formulation.initial (which is filled with the nominal positions passed by the kinematic model in anymal_model.h), these positions are something like 0.2831 rather than 0.28, but Ipopt gets mad with these precise values, so I removed this assignment, but remember that this piece of code works fine with Dogbot, hope this issue is useful for someone.

from towr.