Russ Tedrake

> Is its only purpose to scale velocites/torques? why? are people modeling the torque on the actual shaft of the motor? that to me seems very strange (since I believe...

ChooseBestSolver returns CLP. I'll see if I can reproduce it in C++.

Adding this test to `clp_solver_test.cc` also reproduces the error: ``` GTEST_TEST(ClpSolverTest, TestIssue16589) { MathematicalProgram prog; auto J = prog.NewContinuousVariables(2, "J"); prog.AddLinearCost(J[0] + J[1]); ClpSolver solver; if (solver.available()) { auto result...

I believe the problem is [here](https://github.com/RobotLocomotion/drake/blob/d2b3c1021949e4db8d948fcf577a40acc1622f0e/solvers/clp_solver.cc#L31-L36): If we do not have any constraints, then we are passing null pointers into Clp. @hongkai-dai -- can you take a look after your...

If we think about the GCS case, then the GCS class generates mathematical programs (in a few different forms)... but I'm pretty sure that the structure of the GCS problem...

I know that back in December, I had to change the way that I was automating the deepnote links in my coursenotes: https://github.com/RussTedrake/htmlbook/commit/95a49ae5a332bbea3bde45d167cc2fc06626ad61 The notebooks are assigned a unique ID...

https://community.deepnote.com/c/ask-anything/relative-links-from-markdown-between-notebooks

it looks like it's the \begin{align} that isn't working any more. it seems likely that deepnote has broken it broadly? https://deepnote.com/app/sebastian-kvalden/Assignment-5-09170168-e0bd-46d3-b03c-30e497a433ef

I am working with the OP to produce a better repro. I will reassign when we have it.

I’m honestly not sure what’s best. All three options seem very undesirable. Would appreciate thoughts from the other developers. On Tue, Dec 1, 2020 at 4:20 PM Eric Cousineau wrote:...