I found that if I use sqrt or power 0.5 in acados_python with casadi it produces nan

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Hi~ I encounter the same problem as well. According to OCP solver fails after adding nonlinear constraint - #2 by FreyJo, if you initialize v as 0, sqrt() can not be linearized at 0. So, to solve the problem, just initializing v as a small positive number, such as 0.001.