ggould-tri

"origin is outside of the polytope" error

1

Identified during unit testing of code for Drake. The configuration is from an intermediate step in an optimizer, so I don't know exactly what it looks like, but it is...

Homebrew periodically breaks mac unprovisioned builds

1

Mac unprovisioned builds pull the latest homebrew; this occasionally breaks Drake by introducing a new dependency version that we do not support, or occasionally an outright version conflict. * Errors...

Matplotlib breaks bazel test isolation by allowing a local font cache to influence builds. This cache can occasionally be corrupted, causing a build failure. The build failure will contain the...

kcov fails ("status: 0x85") reproducibly on some binaries (tracker for kcov bug 339)

1

In effect this issue tracks the fact that all of our supported platforms use versions of kcov that suffer from bug https://github.com/SimonKagstrom/kcov/issues/339 . This bug causes binaries with a particular...

Mac build steps sometimes timeout / take unreasonable time

13

## Description The following examples show cases where build steps that normally take less than a second time out at 350 seconds: * https://drake-jenkins.csail.mit.edu/view/Nightly%20Production/job/mac-highsierra-clang-bazel-nightly-debug/230/console : primitives_test and rendering_test each normally...

### Affected Rule The issue is caused by the rule: `pip_parse` ### Is this a regression? No ### Description If two packages install submodules of the same parent module, and...

Some Drake stochastics are not closed under `Sample()`

3

**Is your feature request related to a problem? Please describe.** `DistributionVariant` and `DistributionVectorVariant` sample to instances of themselves -- that is, given `DistributionVariant a`, `DistributionVariant(a.Sample())` is valid and `IsDeterministic`. This...

MbP actuation/state (non-)ordering makes correct code unlikely

8

This is a long-simmering gripe of mine that @rpoyner-tri asked me to scribe here. Apologies if this duplicates an existing issue. It clearly relates to #15462, #13509, and #10546, but...

Ability to lock/unlock joints from within a simulation

11

We are now at n=2 cases where someone has wanted to do joint locking/unlocking based on the current state of a simulation: * https://drakedevelopers.slack.com/archives/C2WBPQDB7/p1697058667553179 * https://drakedevelopers.slack.com/archives/C2CHRT98E/p1700593913640549 Currently joints can only...

`default_dissipation >= 0.0` is not a helpful error message for urdf typos

5

TL;DR: A trivial urdf typo leads to an insane yak shave that no naive user will ever win. We need to reject syntactically bogus elements or physically bogus objects or...