Russ Tedrake

Mujoco parser fails during CalcSpatialInertia, even when that inertia calculation is not needed.

1

### What happened? Looking more into the `IsPhysicallyValid()` errors reported in #20444, I think I've found the culprit. PR #19342 (by @rpoyner-tri and @SeanCurtis-TRI) introduced a change in detail_mujoco_parser.cc ([now...

GCSTrajectoryOptimization can reproduce the examples from the paper

1

https://arxiv.org/abs/2205.04422 @wrangelvid is making great progress! We agreed to make this issue to track the status. Still TODO: - [x] Time costs (#19301) - [x] Velocity constraints on `Subgraphs` (#19334)...

The [current implementation](https://github.com/RussTedrake/manipulation/blob/bc1a01ee864d8195fbfef878112ea221896b87e9/manipulation/station.py#L803) turns off gravity on the specified bodies. This seems elegant, and is correct for many cases. But this has one problem: the effort limits on the input...

textbook sos example that worked on v0.7.1 and fails on v0.9.0

6

We recently [upgraded Drake](https://github.com/RobotLocomotion/drake/commit/0aebc07e1b9167d4222104a3b84b9fa24cb5f82a#diff-ce091e043bb418fedbc8da242415f30833825574ea8db26a0a31540587ab39b6) from v0.7.1 to v0.9.0, and I experienced a regression in one of my "simple" examples using sums-of-squares for Lyapunov analysis. Mosek, SCS, and Clarabel v0.7.1 solved...

rerun always begins playback at 30fps, even when the dataset prescribes a different fps.

5

### System Info ```Shell - `lerobot` version: 0.1.0 (building from source: commit: 461d5472d329a6a461f56a85175d4744b8e78e61) - Platform: macOS-14.5-arm64-arm-64bit - Python version: 3.12.3 - Huggingface_hub version: 0.23.4 - Dataset version: 2.20.0 - Numpy...

This has [come up a number of times now](https://drakedevelopers.slack.com/archives/C2WBPQDB7/p1729022524445109). For me, it's specifically motivated by [#20444](https://github.com/RobotLocomotion/drake/issues/20444). In particular, I've seen a number of mujoco meshes which handle meshes for e.g....

It is possible to solve GCS problems where the original graph is infinite, or too large to fit in memory. A handful of recent papers have studied incremental search algorithms...

@iamsavva has developed an important line of work based on pushing up on polynomial lower bounds of the cost-to-go for the GCS SPP, which enables [fast multiquery planning for the...

Collada DAE support

11

**Original title: Provide tools to help convert Collada DAE to Wavefront OBJ** Related to #2941, #14436, and #18844. Request: We now have [stl2obj](https://github.com/RobotLocomotion/drake/blob/316b8201810801cb537c9c0a5f0a05d2c6cecae7/manipulation/util/BUILD.bazel#L146). I think we should provide something similar...

The multibody parsers, in particular, had a habit of being very noisy, since if an unsupported element or attribute is used once it is likely used many times. This actually...