env----
pip3 install cvxpy -i https://pypi.tuna.tsinghua.edu.cn/simple
sudo apt install ros-galactic-tf-transformations
sudo pip3 install transforms3d
env----
pip3 install cvxpy -i https://pypi.tuna.tsinghua.edu.cn/simple
sudo apt install ros-galactic-tf-transformations
sudo pip3 install transforms3d