Russ Tedrake

I agree we should clean up the usages of `query_object` vs `geometry_query` across the codebase. Sorry if I've added to the noise! FWIW -- The python manipulation station has been...

+@hongkai-dai , +@jwnimmer-tri ... seeking your feedback on this concept. I was shocked when I dug in to find that we were calling `InitializeAutoDiffXd` in snopt_solver on every evaluation of...

___ *[solvers/evaluator_base.cc, line 42 at r1](https://reviewable.io/reviews/robotlocomotion/drake/16635#-MwMaRgH13dA9nNMjm83:-MwMaRgH13dA9nNMjm84:b4bdxvr) ([raw file](https://github.com/robotlocomotion/drake/blob/7abb40e5ea863b712070d20a10b2df2af75196f1/solvers/evaluator_base.cc#L42)):* > ```cpp > DoEval(x_ad, &y_ad); > *y = math::ExtractValue(y_ad); > *dydx = math::ExtractGradient(y_ad, x.size()); > ``` btw -- there is a program...

I'm having trouble reproducing the snopt_solver failure on focal. Will try more tomorrow.

___ *[solvers/evaluator_base.cc, line 37 at r3](https://reviewable.io/reviews/robotlocomotion/drake/16635#-MyBq_YI0KacDVgygtOQ:-MyBq_YI0KacDVgygtOR:bwjg4ei) ([raw file](https://github.com/robotlocomotion/drake/blob/497ed52ce8404a6d7cf124f1e1cf6162d60d7e8a/solvers/evaluator_base.cc#L37)):* > ```cpp > Eigen::MatrixXd* dydx) const { > // TODO(russt): InitializeAutoDiff here is doing expensive and trivial work. > // How can...

Great! I did finish https://github.com/RobotLocomotion/drake/blob/master/multibody/inverse_kinematics/position_constraint_benchmark.cc and pushed it to master (as the conflicting files message notes here). But that's the only benchmark I've landed so far.

i see. this works: ``` context.set_time(0.) simulator.Initialize() ``` but this (which I had tried) does not: ``` simulator.Initialize() context.set_time(0.) ```

i understand. thanks. just to collect all of these thoughts in one place... the other alternative, I would think, is to have gurobi_solver.o always in the binary release, and have...

correct. and that happens to account for most of the academic world, as gurobi is free for academics, but SNOPT is not.

Just noticed this for the first time: https://www.gurobi.com/license-center/for-online-courses/ I wonder if that changes anything?