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Hi I was wondering how to warm start the snopt solver in pydrake?

In the documentation for SNOPT it says to use start =2. However I'm not sure how to feed that in properly and also send information from the previous solve into snopt

Jorge Nin
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We haven't supported all the warm-start features in Drake yet. In Drake, you can give it an initial guess

result = Solve(prog, initial_guess)

There are other API's to set the initial guess. You can refer to our tutorial in the section "Using an initial guess". You can use the previous solution as the initial guess for the current solve.

We currently don't support warm-starting with dual variable or basis vectors yet.

Hongkai Dai
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