{"action":"opened","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8061","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8061/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8061/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8061/events","html_url":"https://github.com/RobotLocomotion/drake/issues/8061","id":296849730,"number":8061,"title":"SCS fails to solve QPInverseDynamics problem","user":{"login":"rdeits","id":591886,"avatar_url":"https://avatars0.githubusercontent.com/u/591886?v=4","gravatar_id":"","url":"https://api.github.com/users/rdeits","html_url":"https://github.com/rdeits","followers_url":"https://api.github.com/users/rdeits/followers","following_url":"https://api.github.com/users/rdeits/following{/other_user}","gists_url":"https://api.github.com/users/rdeits/gists{/gist_id}","starred_url":"https://api.github.com/users/rdeits/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rdeits/subscriptions","organizations_url":"https://api.github.com/users/rdeits/orgs","repos_url":"https://api.github.com/users/rdeits/repos","events_url":"https://api.github.com/users/rdeits/events{/privacy}","received_events_url":"https://api.github.com/users/rdeits/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-02-13T19:02:09Z","updated_at":"2018-02-13T19:02:09Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"Replacing Gurobi with the SCS solver results in two issues. The first is that transforming the costs into rotated Lorenz cone constraints causes `DecomposePSDmatrixIntoXtransposeTimesX` to fail because SCS sets its minimum eigenvalue to `-1e-10`, but the QPInverseDynamics body motion costs are around `-3e-10`. We can fix that by changing the tolerance in `ScsSolver.cc`, but that just results in SCS itself failing with `SCS returns code -6, with message \"SCS unbounded inaccurate\".` (this is using the new SCS on the `upgrade_scs` branch). \r\n\r\nVastly decreasing the contact cost weights (from 1e5 to 1e0) gets SCS from `SCS unbounded inaccurate` to `SCS solved inaccurate`, which still causes the controller to fail with `QpInverseDynamicsSystem: QP cannot solve`. \r\n"}}
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