QPInverseProblemSolver didn't work in Real-time

[TeoREN0217]

Hi~
I have successfully built a model with cable and sliding actuators and it worked well in the simulation time to get a target or draw some circles. But when I activate Real-time in the SOFA GUI and the model will fly away~. Here are warnings and errors:

[ERROR]   [QPInverseProblemImpl] QP infeasible at time = 1.078, iteration = 0, and final nWSR = 4
[WARNING] [QPInverseProblemImpl] Solution not feasible.
[WARNING] [QPInverseProblemImpl] QP infeasible at time = 1.197 with 3 contacts, check constraint on actuators.
[WARNING] [QPInverseProblemSolver] An actuator constraint could not be satisfied. Released the constraint. Constraint id = 0
[WARNING] [QPInverseProblemSolver] An actuator constraint could not be satisfied. Released the constraint. Constraint id = 1
[WARNING] [QPInverseProblemSolver] An actuator constraint could not be satisfied. Released the constraint. Constraint id = 2
[WARNING] [QPInverseProblemSolver] An actuator constraint could not be satisfied. Released the constraint. Constraint id = 3
[WARNING] [QPInverseProblemSolver] An actuator constraint could not be satisfied. Released the constraint. Constraint id = 4
[WARNING] [QPInverseProblemSolver] An actuator constraint could not be satisfied. Released the constraint. Constraint id = 5
[WARNING] [QPInverseProblemSolver] An actuator constraint could not be satisfied. Released the constraint. Constraint id = 6

Also, when I activate collision model and it will show:

[WARNING] [LocalMinDistance(LocalMinDistance)] Determinant is null
[WARNING] [LocalMinDistance(LocalMinDistance)] Determinant is null
[WARNING] [LocalMinDistance(LocalMinDistance)] Determinant is null

But it worked well.

[EulalieCoevoet]

Hi @TeoREN0217,

The RealTime option changes your time step to the duration of the previous simulation step. Changing the time step to a higher value (I guess it's the case here) is not without consequences.

As for the warning from LocalMinDistance, you can have a look at this discussion.

[TeoREN0217]

Thanks for your reply !