Osqp 6.0 solver issue with constraints

We are trying to solve a QP problem. If we don’t add any constraint, osqp will be able to find the solutions. However, when we add some loose constraints, even the previous solution are within those constraints, osqp will fail to solve. Do you have any suggestions? Is it expected behavior for the current version? Thanks!

I attached the problem we are trying to solve in case you need it:

P_data = 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,

P_indices = 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47,

P_indptr = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,

q (without accel constraint) = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

A_data = -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, 1, -1, 1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, -1, 0.2, 1, 1, -1, 1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.02, 0.2, 1, -1, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2,

A_indices = 0, 15, 20, 0, 1, 20, 23, 1, 2, 23, 26, 2, 3, 26, 29, 3, 4, 29, 32, 4, 5, 32, 35, 5, 6, 35, 38, 6, 7, 38, 41, 7, 8, 41, 44, 8, 9, 44, 47, 9, 10, 47, 50, 10, 11, 50, 53, 11, 12, 53, 56, 12, 13, 56, 59, 13, 14, 59, 62, 14, 19, 62, 16, 20, 21, 21, 23, 24, 24, 26, 27, 27, 29, 30, 30, 32, 33, 33, 35, 36, 36, 38, 39, 39, 41, 42, 42, 44, 45, 45, 47, 48, 48, 50, 51, 51, 53, 54, 54, 56, 57, 57, 59, 60, 60, 62, 63, 18, 63, 17, 20, 21, 22, 22, 23, 24, 25, 25, 26, 27, 28, 28, 29, 30, 31, 31, 32, 33, 34, 34, 35, 36, 37, 37, 38, 39, 40, 40, 41, 42, 43, 43, 44, 45, 46, 46, 47, 48, 49, 49, 50, 51, 52, 52, 53, 54, 55, 55, 56, 57, 58, 58, 59, 60, 61, 61, 62, 63, 64, 64, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64,

A_indptr (without accel constraint) = 0, 3, 7, 11, 15, 19, 23, 27, 31, 35, 39, 43, 47, 51, 55, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 92, 95, 98, 101, 104, 107, 109, 113, 117, 121, 125, 129, 133, 137, 141, 145, 149, 153, 157, 161, 165, 169, 170, 173, 176, 179, 182, 185, 188, 191, 194, 197, 200, 203, 206, 209, 212, 215, 215,

lower_bounds = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.05, 0.6, 0, -0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

upper_bounds = 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 0, 0.05, 0.6, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,


if we add some more constraints, the A, lower_bound and upper_bound become:

A_data = -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, 1, -1, 1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 0.2, 1, 1, -1, 1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.02, 0.2, 1, 1, -1, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2, 0.00133334, 0.02, 0.2,

A_indices = 0, 15, 49, 0, 1, 49, 52, 1, 2, 52, 55, 2, 3, 55, 58, 3, 4, 58, 61, 4, 5, 61, 64, 5, 6, 64, 67, 6, 7, 67, 70, 7, 8, 70, 73, 8, 9, 73, 76, 9, 10, 76, 79, 10, 11, 79, 82, 11, 12, 82, 85, 12, 13, 85, 88, 13, 14, 88, 91, 14, 19, 91, 16, 49, 50, 20, 50, 52, 53, 21, 53, 55, 56, 22, 56, 58, 59, 23, 59, 61, 62, 24, 62, 64, 65, 25, 65, 67, 68, 26, 68, 70, 71, 27, 71, 73, 74, 28, 74, 76, 77, 29, 77, 79, 80, 30, 80, 82, 83, 31, 83, 85, 86, 32, 86, 88, 89, 33, 89, 91, 92, 18, 92, 17, 49, 50, 51, 34, 51, 52, 53, 54, 35, 54, 55, 56, 57, 36, 57, 58, 59, 60, 37, 60, 61, 62, 63, 38, 63, 64, 65, 66, 39, 66, 67, 68, 69, 40, 69, 70, 71, 72, 41, 72, 73, 74, 75, 42, 75, 76, 77, 78, 43, 78, 79, 80, 81, 44, 81, 82, 83, 84, 45, 84, 85, 86, 87, 46, 87, 88, 89, 90, 47, 90, 91, 92, 93, 48, 93, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93,

A_indptr = 0, 3, 7, 11, 15, 19, 23, 27, 31, 35, 39, 43, 47, 51, 55, 59, 62, 65, 69, 73, 77, 81, 85, 89, 93, 97, 101, 105, 109, 113, 117, 121, 123, 127, 132, 137, 142, 147, 152, 157, 162, 167, 172, 177, 182, 187, 192, 197, 199, 202, 205, 208, 211, 214, 217, 220, 223, 226, 229, 232, 235, 238, 241, 244, 244,

lower_bounds = 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.05, 0.6, 0, -0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

upper_bounds = 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 200, 0, 0.05, 0.6, 0, 1.5, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,