Fixes for recent Drake deprecations - Githubissues

DAIRLab / dairlib

MIT License

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Fixes for recent Drake deprecations #274

Closed mposa closed 2 years ago

mposa commented 2 years ago

Fixes errors and deprecation warnings due to upstream Drake changes

API changes for some of the autodiff utilities
Change to how YAML files are loaded

This change is

mposa commented 2 years ago

Upstream changes Drake changed the ordering of MultibodyPlant joints, which have caught a number of places in our code where we make assumptions on the ordering, or where we log the state vector without names.

Before this PR is merged, we need to be confident that these have been caught. So far, commits only touch places where unit tests caught failures @yminchen has already caught one (unfixed) example: https://github.com/DAIRLab/dairlib/blob/master/examples/Cassie/run_dircon_walking.cc#L118