Russ Tedrake

You can also see when/how the upgrade happened here: https://github.com/RobotLocomotion/drake/issues/1647

This is great! I think one of the best examples I have handy that pushes on the scale is the littledog notebook [here](https://github.com/RussTedrake/underactuated/blob/master/humanoids/littledog.ipynb). Is it ok to have it in...

Based on a long discussion with @jwnimmer-tri about the maintenance cost of continued support for an old version, we've decided not to do the downgrade.

No updates from me. I agree with your assessment!

I think it will be an additional support burden (especially for Hongkai). But I agree it seems the best solution.

@FranekStark. Yes -- that's exactly the use case I have in mind. BTW -- if the MPC is using MathematicalProgram, be sure you're using e.g. UpdateCoefficients instead of constructing the...

Related to the discussion above, I had at least one very reasonable question about this from a student: "I'd be happy to just download the model repo separately into a...

@cohnt -- i think this issue is now resolved? I'll close it but please correct me if I'm wrong!

FWIW - a few students have hit this, so I'm implementing it now. Re: "should only throw when the cost is trivial (i.e., a constant like "5")." -- I would...

I've just tested the new nightlies by running the first cells of "authoring multibody simulations" tutorial on a fork of the tutorials on deepnote, and confirm that when I try...