Why does my robot status update incorrectly after adding dynamic obstacles

[ruanruan0313]

hello, I added an obstacle in the air, hoping that the robot would pass under the obstacle, but unfortunately, the walking rate of the robot was completely wrong and could not be updated normally, but if I did not add the obstacle, everything would be normal.

[zita-ch]

Did you change the number of obstacles? (what is your code change?)
In that case the indices of fetching robot states from all states might be wrong.