Russ Tedrake
Russ Tedrake
I've read through more of the code, and found aabb.h and obb.h. I'm hoping to have access to both, please. (will update the issue title)
Good point. My use case only requires `double` for now, and if supporting `T` is a challenge, I'd be happy to see the double-only version land first.
Thanks for reporting this. On my system (also ubuntu 22.04), I get the output ``` Vertex representation of unit square: [[ 0.54 0.04 0. ] [ 0.46 0.04 0. ]...
Looking more, `AffineSubspace` _does_ call a solver in this code path (It should be a linear program). It should use the first available solver from this list : `GurobiSolver, MosekSolver,...
Is https://github.com/RobotLocomotion/drake/pull/21527 related in any way? I'm surprised by 1. Yes, I think we should definitely make sure we understand that.
you convinced me during a f2f that "vertex isa MathematicalProgram" would not help with Edge slack variables. So i do think we should proceed with this change.
This PR covers what we're calling IRIS-ZO (Zero Order Optimization), correct? (not the IRIS-NP2 improvements?). Ok if I update the title to reflect that?
Here is another URDF/code snippet. It fails with TAMSI (still the default, though I know that's changing), but works with the SAP variants. (to reproduce, just comment out the line...
> RussTedrake Can you try this on your example that was failing? It turns out the test that was failing (only on CI and only for a particular flavor of...
This is _probably_ going to be resolved by IRIS-NP2 (#21822).