'Drake Mathematical Program Tutorial

I am running Drake on Ubuntu 20.04 using WSL2.
I use python3.8.10 and Drake1.2.0.
I tried running the "Mathematical Program Tutorial" obtained from deepnote on my PC, but the behavior of the ipopt solver is unnatural and does not give the expected results.

The 1st error is occurred in the section using ipopt solver.
All components of the solution is printed as "nan"

The 2nd error is below about "get_solver_details().status"

RuntimeError: The solver_details has not been set yet.

I can see both errors in "Demo on manually choosing a solver" in the tutorial. The result is following

SolutionResult.kUnknownError
x* =  [nan nan]
Solver is  IPOPT
---------------------------------------------------------------------------
RuntimeError                              Traceback (most recent call last)
<ipython-input-12-2d1b3835c54a> in <module>
     25 print("x* = ", result.GetSolution(x))
     26 print("Solver is ", result.get_solver_id().name())
---> 27 print("Ipopt solver status: ", result.get_solver_details().status,
 28       ", meaning ", result.get_solver_details().ConvertStatusToString())

RuntimeError: The solver_details has not been set yet.

Thank you in advance.

P.S. I installed pydrake for venv by pip commands

python3 -m venv env
env/bin/pip install --upgrade pip
env/bin/pip install drake
sudo apt-get install --no-install-recommends \
  libpython3.8 libx11-6 libsm6 libxt6 libglib2.0-0
source env/bin/activate

I just download the folder "Tutorial" from deepnote and put it under env.

Then, I run it by Jupyter Notebook as

jupyter notebook

and open env/Tutorials/mathematical_program.ipynb

drake


Solution 1:[1]

It turns out that the pip drake == 1.2.0 version has a bug in the IpoptSolver compilation.

As a work-around, you can use SnoptSolver instead, or else use the https://drake.mit.edu/from_binary.html release (unpacking a zipped binary, instead of using pip).

Solution 2:[2]

It's possible that the pydrake.solvers.ipopt.IpoptSolver class (which is a wrapper around the https://coin-or.github.io/Ipopt/ library) does not run correctly under WSL2, due to using some odd libc API which doesn't work on Windows. We will need more information to reproduce the problem and try to debug.

Can you state exactly how you installed pydrake (i.e., show us the command lines you used). Was it via pip (https://drake.mit.edu/pip.html) or just via binary (https://drake.mit.edu/from_binary.html)?

Can you state exactly how you ran Jupyter (the command line) to launch the notebook? Was it python3 -m pydrake.tutorials or something else?

Solution 3:[3]

Looks like this may not be tied to WSL, but instead pip build (or just binary build). Ran into this on Ubuntu 20.04 (no WSL). Per Drake Slack, filed issue:

https://github.com/RobotLocomotion/drake/issues/17162

Sources

This article follows the attribution requirements of Stack Overflow and is licensed under CC BY-SA 3.0.

Source: Stack Overflow

Solution Source
Solution 1 jwnimmer-tri
Solution 2 jwnimmer-tri
Solution 3 Eric Cousineau

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