Optimization reporting infeasibility on simple terrains

[Hersh500]

I am trying to use the TOWR standalone to generate some reference footstep planning data for the Cassie robot on arbitrary height map terrains. I have implemented a class that reads CSV files to generate discrete heightmaps, and I’ve adapted the biped robot’s EE workspaces and mass for Cassie. I am running into a problem where the optimizer is reporting infeasibility (return code 2) even for motions that should be simple (5-7 footsteps over 5-10 seconds, 1 meter forward over a single stair of 0-5 cm). Do you have any suggestions on how to debug this? Thanks!