title: Failure of solving trajectory optimization use Snopt in drake, how to fix it?
body: <p>I am trying to solve a trajectory optimization task in <strong>Drake</strong> and access initial guesses randomly. I found that if the initial guesses is not good enough then the solving procedure will fail and report a <strong>resource problem</strong> as the <strong>picture below</strong>. How do I allocate more storage for that resource? I have try to allocate more through optional parameter &quot;<strong>Total integer workspace</strong>&quot;, but it doesn't work. Is there any body tell me how to allocate more relative storage for Snopt in Drake? If it can't be set manually, what can I do when this occurs?</p>
  <p>Thanks !</p>
  <p><a href="https://i.stack.imgur.com/JQffF.png" rel="nofollow noreferrer">snopt.out</a></p>