[Question] Error "corrupted size vs. prev_size" when using qpOASES

[tbanus]

Describe the bug

Firstly, my bug is related to my custom implementation that uses external tools. I need help from the creators to resolve this.

I am trying to create a custom environment, in which I want to use the qpOASES C++ library. When I deploy this with one environment it works perfectly fine. However when I call it multiple environments I get the error "corrupted size vs. prev_size " and the code crashes.

To Reproduce

I think you need to import and utilize the qpoases c++ library within the code.

Expected behavior

I expect the code to create multiple qpoases intances and solve them simulatenously at the same time.

System info

I am running on an Amd Ryzen 5 CPU.

Additional context

I can use Goldfarb optimizer and similar tools. Yet using qpoases's MPC tool causes a crash that I can't resolve.

Reason and Possible fixes

I believe multiple instances of qpoases interact with each other at the same time. I want to know is there any way to prevent it.

Checklist

• [ x] I have checked that there is no similar issue in the repo (required)
• [ x] I have read the documentation (required)
• I have provided a minimal working example to reproduce the bug (required)