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Choreonoid aborts in CI

https://github.com/isri-aist/MultiContactController/actions/runs/4120205495/jobs/7114695001

+ choreonoid MCC_JVRC1_SampleField.cnoid --start-simulation
...
[info] Loading additional plugin configuration: /usr/lib/x86_64-linux-gnu/mc_plugins/etc/ROS.yaml
[info] Loading additional controller configuration: /home/runner/work/MultiContactController/MultiContactController/catkin_ws/devel/.private/multi_contact_controller/lib/mc_controller/etc/MultiContactController.yaml
[info] Loading additional controller configuration: /home/runner/.config/mc_rtc/controllers/MultiContactController.yaml
[info] Create controller MultiContactController
[success] [overwriteConfig] Overwrite with configuration jvrc1.
choreonoid: /package/mc_rtc/3rd-party/RapidJSON/rapidjson/document.h:1993: bool rapidjson::GenericValue<Encoding, Allocator>::StringEqual(const rapidjson::GenericValue<Encoding, SourceAllocator>&) const [with SourceAllocator = rapidjson::CrtAllocator; Encoding = rapidjson::UTF8<>; Allocator = rapidjson::CrtAllocator]: Assertion `rhs.IsString()' failed.
/home/runner/work/_temp/fd9076cd-19f5-4bb4-a134-da7[484](https://github.com/isri-aist/MultiContactController/actions/runs/4120205495/jobs/7114695001#step:9:485)39b8c7.sh: line 29: 24184 Aborted                 (core dumped) choreonoid ${CNOID_FILE} --start-simulation
+ kill -2 24140
+ kill -2 24184
/home/runner/work/_temp/fd9076cd-19f5-4bb4-a134-da748439b8c7.sh: line 31: kill: (24184) - No such process
Error: Process completed with exit code 1.

Robot falls over when using DDP in CI simulation test

See https://github.com/isri-aist/MultiContactController/actions/runs/6061308105/job/16449873366

The regular weekly CI runs did not fail in Aug 27, but started to fail from Sep 3. The major change in mc_rtc during this period is jrl-umi3218/mc_rtc#385. It is not my intention to imply that this change is a mistake, but that the robot has started to fall over in CI simulation test due to some side effect caused by the change. (Indeed, this PR change could have an effect, since the falling point is where the robot reaches the hand while avoiding collisions)

MCC-video-DDP-MotionSampleField-standalone.mp4

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