Failed to run manipulator example

[yakunsjtu]

Hi developer,
I got the following error after running the script Simu_Matlab.m

>> Simu_Matlab
Error using f_fu_fx_Wrapper (line 7)
Output argument "dx" (and possibly others) not assigned a value in the execution with
"f_Wrapper" function.

Error in OCP_GEN_fdt_fudt_fxdt (line 2)
   [f,fu,fx] = f_fu_fx_Wrapper(u,x,p,parIdx);

Error in OCP_F_Fu_Fx (line 57)
                [fdt,fudt,fxdt] = OCP_GEN_fdt_fudt_fxdt(u,x,p,parIdx);

Error in coarse_update_func (line 58)
            [F_j_i,Fu_j_i,Fx_j_i] = OCP_F_Fu_Fx(u_j_i,x_j_i,p_j_i,discretizationMethod,isMEnabled,i);

Error in NMPC_Solve_SearchDirection (line 64)
    parfor (i=1:DoP,numThreads)

Error in NMPC_Solve (line 76)
            NMPC_Solve_SearchDirection(x0,pSplit,rho,lambdaSplit,muSplit,uSplit,xSplit,zSplit,LAMBDASplit);

Error in Simu_Matlab (line 73)
    [solution,output] = NMPC_Solve(x0Measured,p,options);

The matlab version I am using is 2021b. And I did not find any other script that can generate the figure in the README file.