Toppra failed to find lower bound of controllable set at knot 127/128.

[Jakeisthesnake]

It seems that there is a bug in Drake

[pendulum_motion_planning_pipeline_tutorial-3] [2025-02-05 07:53:13.422] [console] [error] Toppra failed to find lower bound of controllable set at knot 127/128.
[pendulum_motion_planning_pipeline_tutorial-3] [ERROR] [1738770793.422546469] [pendulum_motion_planning_pipeline_tutorial.moveit.drake.toppra]: Failed to calculate a trajectory with toppra
[pendulum_motion_planning_pipeline_tutorial-3] [ERROR] [1738770793.422913916] [pendulum_motion_planning_pipeline_tutorial]: PlanningRespo

which is the same thing I get on the panda arm demo
[pipeline_testbench_example-4] [2025-02-05 08:06:26.886] [console] [error] Toppra failed to find lower bound of controllable set at knot 127/128.

This bug seems to be somewhat documented here:
RobotLocomotion/drake#20619

I have a source build of Drake that runs the pendulum toppra optimization successfully directly in Drake (no MoveIt), so I'll try to figure out what is missing between the two.

[kamiradi]

@Jakeisthesnake Feel free to put up a PR if you manage to fix it.