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RussTedrake / manipulation

Course notes for MIT manipulation class
BSD 3-Clause "New" or "Revised" License
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Update Drake to 1.28.0 and update model paths accordingly #306

Closed nepfaff closed 2 months ago

nepfaff commented 3 months ago

This change is Reviewable

nepfaff commented 2 months ago

+@RussTedrake for review please. The tests pass locally now. I'm unsure about the failing docker test.

One test fails locally but I'm unsure how my changes should have affected it. Maybe its fragile and upgrading Drake was sufficient? It is gcs_simple_2d_cspace.ipynb.py:

regions = IrisInConfigurationSpaceFromCliqueCover(checker, options, generator, [])
RuntimeError: The current center of the IRIS region is within options.configuration_space_margin of being infeasible.  Check your sample point and/or any additional constraints you've passed in via the options. The configuration space surrounding the sample point must have an interior.
RussTedrake commented 2 months ago

book/trajectories/exercises/door_opening.ipynb line 197 at r2 (raw file):

    "    gripper_sdf_path = (\n",
    "        \"package://drake_models/wsg_50_description/sdf/schunk_wsg_50_no_tip.sdf\"\n",
    "    )\n",

fyi. i missed it, but this and the other changes in examples/ subdirectories should have been made in the solutions repo, not here.