Russ Tedrake

Parse closed kinematic chains from SDF (and perhaps also URDF)

19

SAP now supports constraints, but currently users can only define those constraints programmatically. Closed kinematic chains are a common feature in robots (e.g. Cassie, or in many underactuated hands). We...

Support "mechanical reduction" in MultibodyPlant urdf parser

9

I've found myself wanting to parse a urdf that has actuators specified with a [``](https://wiki.ros.org/urdf/XML/Transmission) tag whose value is far from 1. The URDF parser current warns ``` warning: A...

[IRIS] Implement "clique inflation"

2

@wernerpe has a variant of IRIS-ZO which uses a distance metric based on point-to-VPolytope instead of the ellipsoidal metric that we typically use in IRIS. One primary feature of this...

Serialize (and deserialize) a MathematicalProgram (e.g. to Yaml)

4

For mathematical programs using only built-in types for costs and constraints (e.g. `LinearCost`, `LinearConstraint`, ...)... it should be possible to serialize an entire program to yaml... and load it again....

this trivial linear program causes a core dump in CLP

6

``` from pydrake.solvers.mathematicalprogram import MathematicalProgram, Solve prog = MathematicalProgram() J = prog.NewContinuousVariables(2, "J") prog.AddLinearCost(J[0] + J[1]) result = Solve(prog) ``` both on deepnote and my local machine i get a...

Add ResolveConstraints logic to JointSliders (=> ModelVisualizer)

6

Updates JointSliders to have discrete state (previously it was stateless). Additionally, if the new ResolveConstraints logic is active, we publish the (rounded) resolved constraints back to Meshcat, so that the...

pydrake: Segfault when using `RigidTransform_[Expression].multiply(ndarray[Variable])`

4

This one is a blocker for me. Would really appreciate some help: ``` from pydrake.all import RigidTransform_, MathematicalProgram, Expression prog = MathematicalProgram() p_A = prog.NewContinuousVariables(3) X_WA = RigidTransform_[Expression]() print(X_WA.multiply([0,0,0])) print(X_WA.multiply(p_A))...