hpipm_dense_qp_solver fails with only equality constraints about hpipm HOT 6 OPEN

dim = hpipm_dense_qp_dim();
dim.set('nv', nv);
dim.set('ng', ne);
qp = hpipm_dense_qp(dim);
qp.set('H', H);
qp.set('C', Aeq);
qp.set('lg', beq); 
qp.set('ug', beq);

sol = hpipm_dense_qp_sol(dim);
mode = 'speed';
arg = hpipm_dense_qp_solver_arg(dim, mode);
    
solver = hpipm_dense_qp_solver(dim, arg);
    
solver.solve(qp, sol);
    
x = sol.get('v');

int hpipm_status;

int dim_size = d_dense_qp_dim_memsize();
void *dim_mem = malloc(dim_size);

struct d_dense_qp_dim dim;

d_dense_qp_dim_create(&dim, dim_mem);

d_dense_qp_dim_set_all(6, 2, 0, 0, 0, 0, &dim);


// /************************************************
// * qp
// ************************************************/

int qp_size = d_dense_qp_memsize(&dim);
void *qp_mem = malloc(qp_size);

struct d_dense_qp qp;
d_dense_qp_create(&dim, &qp, qp_mem);

double w = 0.01;
double wA = 10.0;
double wR = 10.0;
double targetA = 5.0;
double targetR = 0.0;
double t2f = 13.95 * 2.0 / 0.47;
double al = 1.0;
double ar = 1.0;
double iZ = 110.0;
double m = 200;
double lF = 0.75;
double tW = 1.15;


double H[] = {
                    w, 0.0, 0.0, 0.0, 0.0, 0.0,
                    0.0, w, 0.0, 0.0, 0.0, 0.0,
                    0.0, 0.0, w, 0.0, 0.0, 0.0,
                    0.0, 0.0, 0.0, w, 0.0, 0.0,
                    0.0, 0.0, 0.0, 0.0, wA, 0.0,
                    0.0, 0.0, 0.0, 0.0, 0.0, wR
                    };

double g[] = {0.0, 0.0, 0.0, 0.0, -wA*targetA, -wR*targetR};

double A[] = {
                    t2f*1, t2f*1, t2f*al, t2f*ar, -1*m, 0.0,
                    -0.5*tW*t2f*1, 0.5*tW*t2f*1, -0.5*tW*t2f*al, 0.5*tW*t2f*al, 0.0, -1*iZ
			};

double b[] = {0.0, 0.0};


int idxb[] = {};
double d_lb[] = {};
double d_ub[] = {};

double C[] = {};
double d_lg[] = {};
double d_ug[] = {};

double Zl[] = {};
double Zu[] = {};

double zl[] = {};
double zu[] = {};

int idxs[] = {};

double d_ls[] = {};
double d_us[] = {};

d_dense_qp_set_all(H, g, A, b, idxb, d_lb, d_ub, C, d_lg, d_ug, Zl, Zu, zl, zu, idxs, d_ls, d_us, &qp);


// /************************************************
// * qp sol
// ************************************************/

int qp_sol_size = d_dense_qp_sol_memsize(&dim);
void *qp_sol_mem = malloc(qp_sol_size);

struct d_dense_qp_sol qp_sol;
d_dense_qp_sol_create(&dim, &qp_sol, qp_sol_mem);

// /************************************************
// * ipm arg
// ************************************************/

int ipm_arg_size = d_dense_qp_ipm_arg_memsize(&dim);
void *ipm_arg_mem = malloc(ipm_arg_size);

struct d_dense_qp_ipm_arg arg;
d_dense_qp_ipm_arg_create(&dim, &arg, ipm_arg_mem);

d_dense_qp_ipm_arg_set_default(mode, &arg);


// /************************************************
// * ipm workspace
// ************************************************/

int ipm_size = d_dense_qp_ipm_ws_memsize(&dim, &arg);
void *ipm_mem = malloc(ipm_size);

struct d_dense_qp_ipm_ws workspace;
d_dense_qp_ipm_ws_create(&dim, &arg, &workspace, ipm_mem);

// /************************************************
// * ipm solver
// ************************************************/

d_dense_qp_ipm_solve(&qp, &qp_sol, &arg, &workspace);

octave:7> H
H =

    0.0100         0         0         0         0         0
         0    0.0100         0         0         0         0
         0         0    0.0100         0         0         0
         0         0         0    0.0100         0         0
         0         0         0         0   10.0000         0
         0         0         0         0         0   10.0000

octave:8> q
q =

    0
    0
    0
    0
  -50
    0

octave:9> A
A =

    59.3617    59.3617  -200.0000   -34.1330   -34.1330          0
    59.3617    59.3617          0    34.1330    34.1330  -110.0000

octave:10> b
b =

   0
   0

octave:11> qp([], H, q, A, b)
ans =

  -1.1191e+00
  -1.1191e+00
  -1.3301e+00
  -1.0975e+00
   4.9989e+00
   2.8052e-03