chore: update main with latest common pipeline#409
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…ious version of drake
…ing away even if letters come back out of tolerance)
… on the number of objects
* feat: use external c3 repo for sampling example * build: Pin c3 version
* chore: update Drake to v1.51.1 * fix: include header "drake/common/text_logging.h" for using "drake::log()->info" * fix: MobyLCPSolver to MobyLcpSolver as in the latest Drake's version * fix: using <> instead of "", which caused missing header error since Bazel treats "" as internal packages * fix: replace old OSQP options * fix: upgrade osqp version to 1.0.0. This osqp dependency is for our fast osqp, and it does not affect osqp that comes with Drake v1.51.1 * fix: error that the function isnan is undefined when compiling on linux * build: update image being used * fix: google library dependency --------- Co-authored-by: Hien Bui <xuanhien070594@gmail.com>
…rlib (#403) * cleanup: remove c3 from dairlib * plate-balancing: remove plate-balancing example due to dependence on c3 * fix: optional parameters * build: update c3 commit and fix options for depricated handlers * cleanup: remove redundant code
* Switch to version of C3 repo that has cost computation helpers (not currently utilized) * Fix LCS resolution change bug * Fix timestep bug affecting published C3 trajectory timestamps * Fix bug in calculating cost contribution of the last timestep * Fix indexing bugs related to different LCS discretizations for cost calculation * Introduce new cost calculation relying on C3 repo functionality; all cost types match closely; includes test printouts; to be cleaned for final use * Use x_N implied by the C3 plan's last x, u, and lambda along with the LCS matrices * Add and test cost breakdown in new cost calculation; test with printouts to be removed * Finish migrating sample cost calculations to C3-repo-based implementations * Use updated C3 commit * Update MODULE.bazel to point to C3 main branch after C3 merge
…comes in collision with an object -- Squashed commit of the following: commit de9610b Author: Bibit Bianchini <ebianchini.mit@gmail.com> Date: Fri May 22 13:55:19 2026 -0400 Fix collision checking for sample rejection commit d5f63d8 Author: Bibit Bianchini <ebianchini.mit@gmail.com> Date: Fri May 22 13:18:29 2026 -0400 Properly handle repositioning target switching case when previous target is rejected due to collision commit 29353d0 Author: Bibit Bianchini <ebianchini.mit@gmail.com> Date: Thu May 21 18:07:14 2026 -0400 Part 2 of buffer bug fix: include new samples while staying within buffer size commit 0badc88 Author: Bibit Bianchini <ebianchini.mit@gmail.com> Date: Thu May 21 17:54:21 2026 -0400 Fix sample buffer overwriting bug
* chore: remove obsolete sdf, urdf, and obj files * feat: add containerized environment for Push Anything simulation using Docker Compose * docs: add Push Anything simulation README * fix: add missing dependencies for multiyaml_rewrite in the dockerfile * fix: set visualize_drake_sim flag in sim_params.yaml to false to disable launching additional meshcat server
…406) * Resolve merge conflicts with main (#386) * Resolve merge conflicts with main * Remove obsolete codes * Remove accidentally commited files * Add external force tracking result to lcm * Add back the deleted files in Cassie example * Add back deleted files in pydairlib/cassie * Revert code formatting * Revert code formatting * Revert code formatting * Include workspace and input limits as constraints in C3 QP step * Add parameters for different contact pair configurations * Fix intended checks for resolving contact pairs and maintaining sample buffer * fix: removed depricated functions --------- Co-authored-by: Hien Bui <xuanhien070594@gmail.com> Co-authored-by: Bibit Bianchini <ebianchini.mit@gmail.com>
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Merge
push_anything_devintomainKeeps
mainin sync with the latest code actively being used in the lab. Any branches derived frompush_anything_devwill be rebased offmainfollowing this merge.Notes for reviewers: This is primarily a sanity check — some examples may be broken, but keeping
maincurrent with active lab development is the priority.Todo :
This change is