Russ Tedrake

[MuJoCo parser] Support parsing models from mujoco menagerie

3

The MuJoCo XML parser loads and properly displays all of the models in the DeepMind Control Suite (or will after my upcoming set of PRs) except for [dog.xml](https://github.com/google-deepmind/dm_control/blob/4d356d350b4c98921a92252bb58fc70df98cfa5b/dm_control/suite/dog.xml), which is...

Confirm (change?) and document the units of MultibodyPlant's actuation input

17

The recent addition of [support for reflected inertia](https://github.com/RobotLocomotion/drake/pull/14167) introduced the concept of a gear ratio. Before this PR, the actuation input port clearly had units of generalized force (e.g. joint...

std::normal_distribution produces different numbers on mac clang vs ubuntu

5

Based on quick testing in #4358, it appears that the uniform distribution produces consistent results across the platforms, but that I'm seeing different results from std::normal_distribution on mac and linux...

word on the street is that they don't run out of the box anymore. https://github.com/osrf/drcsim/blob/master/drcsim_model_resources/worlds/

orbital transfer notebook is sensitive to the solver / order of constraints.

1

https://drakedevelopers.slack.com/archives/C3L92BM2Q/p1679052494852649

I've pegged the version of `trimesh` to be `

Clarabel 7.1 errors with insufficient progress on a seemingly simple SOCP

1

While upgrading Drake to clarabel 7.1 (https://github.com/RobotLocomotion/drake/pull/21053), one of our (seemingly simple) unit tests started falling down with "insufficient progress". Mosek solves it fine. I've carved out the following reproduction...

geometry: Retrieve AABB and OBB for a GeometryId from QueryObject

10

I would like to be able to get an oriented bounding box (just the actual box, not the OBB tree) for a GeometryId given a SceneGraph and a Context. Presumably...

In @TobiaMarcucci 's thesis and in [gcspy](https://github.com/TobiaMarcucci/gcspy/blob/d6cb5a59d71fc9467eb1a822f6b88d0f74b19786/gcspy/graph_of_convex_sets.py#L143-L156), he has developed the GCS transcriptions of many common problems that can be formulated on a graph: - [ ] SolveTravelingSalesperson - [...