I use OCS2 on my own biped robot

[Zcyyy]

Describe the bug
When I use the SQP method for my biped robot, the base height differs from my set value, and the leg joint movements are chaotic. What could be causing this issue?

To Reproduce
Steps to reproduce the behavior:

1. launch ocs2_xxx_sqp.launch
   and the error occur

Screenshots
https://github.com/user-attachments/assets/d7adbfcc-5130-43cd-aed5-c604e14f24ef

Desktop (please complete the following information):

• OS: ubuntu20.04