Drake’s Toronto mansion was taped off by police last night following a shooting near the property.

According to a report from Page Six, the victim has now been identified as a security guard employed by Drake. The 48-year-old is believed to be in stable condition.

According to a tweet from Toronto police, shots were fired around 2:10 a.m. ET near the corner of Bayview and Lawrence Avenues.

The suspect is believed to have fled in a car immediately after the shots were fired.

Shooting Near Drake’s Home: Everything We Know So Far

The officers who responded to the call discovered a seriously wounded man who was taken to a nearby hospital.

Thankfully, no one else was harmed. Drake was not injured, and it’s unclear if he was at home at the time of the shooting.

The security guard’s injuries have been described by The New York Post as non-life-threatening.

Initially, it was hoped that the conflict that led to the shooting had nothing to do with Drake.

The cause of the dispute remains unclear, but it looks increasingly as though the rapper was being targeted.

Social media speculators are already jumping to the conclusion that the incident was related to the ongoing feud between Drake and Kendrick Lamar.

The war of words between Drake and Kendrick is the most high-profile hip hop beef in recent memory.

Many have compared the situation to the deadly war between Tupac Shakur and the Notorious B.I.G. that played out in the mid-nineties.

Earlier this week, Kendrick released a scathing diss track titled “Not Like Us.” The song featured an aerial photo of Drake’s home on its cover.

Drake vs. Kendrick Lamar Feud: Already Over, or Just Getting Started?

The bad blood between the rappers has been simmering at least since last year. It boiled over in a big way in recent weeks, with both artists releasing multiple diss tracks directed at one another.

“Not Like Us,” the latest from Kendrick, begins with the line “I see dead people” and contains ominous references to the ways in which Drake’s recent remarks have sparked outrage.

It’s important to note that these are just lines in a song, and at present, there’s no reason to believe that last night’s shooting had anything to do with the feud between Kendrick and Drake.

According to the Post, Drake’s house is at the center of the investigation. But that does not mean that the rapper was being targeted.

That said, Drake and his loved ones are likely taking extra precautions today.

We’ll have further updates on this developing story as new information becomes available.

Drake: Shooting Near Rapper’s Toronto Home Leaves Security Guard Wounded was originally published on The Hollywood Gossip.

In our robotics project, we use pydrake query object to check wether we have collisions in our iiwa arm (this is necessary for our RRT and useful for double-checking that the output of our inverse kinematics module is good).

However, with standard settings, we detect some non-existant collisions that limit our robot's motion. In particular, when using the following sdf for an iiwa arm (the scenario contains only this iiwa arm and nothing else):

- add_model:
    name: iiwa
    file: package://drake/manipulation/models/iiwa_description/iiwa7/iiwa7_with_box_collision.sdf

And setting its angles with

example_joint_angles = np.array([0., 0., 0., 0., 0., 1.95, 0.])
environment.model.robot_arm.set_joint_angles(example_joint_angles)
print(environment.model.has_collisions())

we are told that there is a collision, but setting the 6th angle to be 1.9 says no collisions (for reference, the implementation of our methods are included below).

I think that these angles should not result in a collision for two reasons. First, just looking at the meshcat, I see that the arm is still far from folding on itself. Second, we did not expect this kind of collision in first place, because we set the angle limits on our inverse kinematics according to the joint limits listed in the sdf of the iiwa arm (which allow for an angle of up to 2.0944 on this joint).

So I guess the first question is: is there a better way of checking for collisions with an iiwa arm (e.g., using a different sdf that has slightly more refined collisions)?

If not, is there some way of telling the query object / scene_graph / etc. to skip collisions between these two objects?

class IIWAArm:
    #...
    def set_joint_angles(self, q: np.ndarray, visualize: bool = True):
    '''
    Instantaneously moves the arm to the given angles (for visualization / motion planning).

    Args:
        q (np.ndarray): Angles to move to.
    '''
    self.iiwa = self.plant.GetModelInstanceByName("iiwa")
    self.plant.SetPositions(self.plant_context, self.iiwa, q)
    if visualize:
        self.diagram.ForcedPublish(self.context)


class SimulationModel:
    robot_arm: IIWAArm
    #...
    def has_collisions(self) -> bool:
        scene_graph = self.station.GetSubsystemByName("scene_graph")
        context = self.context
        scene_graph_context = scene_graph.GetMyMutableContextFromRoot(context)
        query_object = scene_graph.GetOutputPort("query").Eval(scene_graph_context)
        return query_object.HasCollisions()

    def get_collisions(self) -> List[PenetrationAsPointPair]:
        scene_graph = self.station.GetSubsystemByName("scene_graph")
        context = self.context
        scene_graph_context = scene_graph.GetMyMutableContextFromRoot(context)
        query_object = scene_graph.GetOutputPort("query").Eval(scene_graph_context)
        res = query_object.ComputePointPairPenetration()
        return res

I also tried using the function get_collisions listed above, which lets me extract the GeometryId's of the objects in a collision. So, in theory, I think that I should be able to use get_collisions and then skip the collisions that don't make sense (e.g. between joints 6 and 7 of the iiwa). I got stuck with that strategy, because I couldn't find a function that lets me extract "human readable" information about what object a given GeometryId corresponds to (e.g., there is a scene_graph.RenameGeometry that allows me to set the name corresponding to a GeometryId, but I couldn't find a similar "getter function").

My current (extremely hacky) approach is to change the const'r of SimulationModel to purposefully cause this false collision on purpose to find its corresponding GeometryId's and make has_collisions skip them. I.e., something like:

class SimulationModel:
    def __init__(self, ...):
        # ...
        self.robot_arm.set_joint_angles(BAD_ANGLES)
        self.fake_collisions = self.get_collisions()
        self.robot_arm.set_joint_angles(DEFAULT_ANGLES)

    def new_has_collisions(self) -> bool:
        suspected_collisions = self.get_collisions()
        filtered_collisions = filter_out(suspected_collisions, self.fake_collisions)
        return len(filtered_collisions) != 0

90 Day Fiance superfans are real. And we’re not just talking about Ms. Kimberly.

Rihanna has DMed multiple cast members — from the worst to the best. Lady Gaga is a huge fan of the series, too.

Most don’t view the cast as a potential dating pool. For so, so many good reasons.

We’ve all heard that Drake may be an exception. And Chantel Everett has basically confirmed that he was trying to smash.

In a recent episode of The Family Chantel‘s final season, the titular Chantel Everett discussed her divorce era.

And she touched upon the attention that’s come with it.

During the episode, Chantel admitted to the cameras that “a lot of great guys” had been messaging her.

In fact, Chantel also let it slip that one of the individuals in question was none other than a “Canadian rapper.”

Now, Canada is home to tens of millions of people. Obviously, there are multiple rappers.

But there’s only one who very famously slid into her DMs, according to reports from earlier this year. That would be Drake.

In the same episode, bitter ex-husband (even though he’s the one who wanted out of the marriage, he seems the angier of the two) mocked the rumors about Drake.

“I heard the rumor that Drake slipped into Chantel’s DM,” he taunted.

Pedro jeered: “Go with Drake, the famous rapper, you know? Go with him.”

Previously, Chantel had teased the idea — without naming names, or countries of origin — in interviews ahead of this season.

“I’ve had people sliding into my DMs, I’ve been talking to a couple of athletes, some actors, some rappers as well,” she said coyly at the time.

Chantel added: “Also, a lot of health care, doctors, like all kinds of people … So I’m enjoying this attention from men.”

Rumors surrounding Chantel and Drake actually began back in the summer of 2022.

At the time, their marriage’s ending was obviously a much newer matter.

Yet reports claimed that Drake, one of the most famous rappers on the planet, had been sliding into Chantel’s DMs almost from the moment that he heard about the breakup.

Just to be clear, it’s not like Chantel opened her DMs one day to see a very famous dong pic.

She reportedly saw that he had reached out to her just to see how she was doing.

By all accounts, they never actually med up … but, allegedly, they did make tentative plans to. Things just never materialized for them.

Truth be told, it sounds like Drake may have done her a huge favor.

Pedro has seemingly been foaming at the mouth with unhappiness since these reports came out.

His repeated digs at Drake, who has never said a word to him, frankly seem pathetic. (And I say that as someone who is not a fan of Drake)

That said … some wonder if these rumors about Drake are manufactured.

It’s true that multiple outlets reported on them. And it does seem unlikely that Chantel would say “Canadian rapper” without there being some truth to it.

But it seems awfully convenient for any recent divorcee to have a famous guy blowing up their phone in a way that makes it look like they’re “winning” the divorce.

That said … Chantel does seem to be happier than Pedro. Albeit only a little bit.

As miserable and toxic as their marriage was, divorce is a miserable process.

We’re glad that their marital nightmare is over. Even though it was fun to watch, it just wasn’t good for anyone. Except, you know, for TLC.

Chantel Everett Basically Confirms that Drake Slid Into Her DMs was originally published on The Hollywood Gossip.