Skip to content

Instantly share code, notes, and snippets.

View cohnt's full-sized avatar

Thomas Cohn cohnt

17 followers · 13 following
View GitHub Profile
@cohnt
cohnt / box_small.urdf
Last active March 26, 2024 01:20
PointOnBoxSurfaceHelper Failure Reproduction
<?xml version="1.0"?>
<robot name="box_scene">
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="Green">
@cohnt
cohnt / regions.pickle
Last active February 2, 2024 21:50
GcsTrajectoryOptimization Bug
@cohnt
cohnt / regions.pickle
Last active January 31, 2024 21:49
GcsTrajectoryOptimization::GetGraphvizString Crash
@cohnt
cohnt / bad_hpolyhedron.py
Last active January 29, 2024 19:50
HPolyhedron where MaximumVolumeInscribedEllipsoid Fails
import numpy as np
from pydrake.all import HPolyhedron
A=np.array([[ 1.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00 ],\
[ 0.000000000000000000e+00, 0.000000000000000000e+00, -1.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00 ],\
[ 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, -1.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00 ],\
[ 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, -1.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00 ],\
[ 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e
@cohnt
cohnt / main.py
Last active December 2, 2023 17:43
Toppra Failure Example
import numpy as np
from pydrake.all import (
StartMeshcat,
PiecewisePolynomial,
Toppra,
DiagramBuilder,
AddMultibodyPlantSceneGraph,
Parser,
LoadModelDirectivesFromString,
ProcessModelDirectives
@cohnt
cohnt / error.py
Last active September 5, 2023 18:46
Segmentation Fault in KinematicTrajectoryOptimization when Using MinimumDistanceConstraint 1
#!/usr/bin/env python
# coding: utf-8
# # Kinematic Trajectory Optimization
#
# This notebook provides examples to go along with the [textbook](http://manipulation.csail.mit.edu/trajectories.html). I recommend having both windows open, side-by-side!
#
# In[ ]:
@cohnt
cohnt / break2.py
Created April 27, 2023 13:56
Simpler Terrible Linear System
# Built off of commit hash 8ddd6672b1
import numpy as np
from pydrake.all import ContinuousAlgebraicRiccatiEquation
A = np.fromstring("0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 \
0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.00000000
@cohnt
cohnt / break.py
Last active April 26, 2023 23:57
Terrible Linear System
# Built off of commit hash 8ddd6672b1
import numpy as np
from pydrake.all import ContinuousAlgebraicRiccatiEquation
A = np.fromstring("0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.0000000000
@cohnt
cohnt / user.bazelrc
Created April 21, 2023 17:47
user.bazelrc File for My Drake Installation
# Use proprietary solvers
build --config gurobi
build --config mosek
build --config snopt
@cohnt
cohnt / gen_world.py
Created August 5, 2022 20:01
# Experimenting with alphashapes to generate 2D worlds with randomly sized and shaped obstacles.
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.patches import Polygon
from descartes import PolygonPatch
import alphashape
n_points = 200
alpha = 25.