Russ Tedrake

My issue in slack was with Sap, not TAMSI, and @amcastro-tri was able to reproduce and has been working on resolving it.

I think we might choose to revisit it later, e.g. for the multilayerperceptron case. But closing for now seems best.

it passes locally on mac and jammy... we're note sure why deepnote is different. maybe focal vs jammy is the difference?

Came up again here in #20620: https://drake-cdash.csail.mit.edu/test/1325106110 again in `drake/examples/hardware_sim/hardware_sim.cc`

To be clear, the normal preference for passing a context instead of just a state is to handle additional features like parameters. If this is not needed here (e.g. if...

I tried changing the problem to use ``` prog.SetSolverOption(osqp.solver_id(), "eps_abs", 1E-6) result = osqp.Solve(prog) ``` but it would also require a note of the form ``` NOTE: Use `AddQuadraticCost(... ,...

FYI -- I received another feature request for parsing the `mimic` tag today.

A few relevant links: - [mimic tag in urdf](http://wiki.ros.org/urdf/XML/joint) - [mimic in sdformat](https://github.com/gazebosim/sdformat/pull/1166) -- still just a PR - [AddCouplerConstraint](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html#a71b7c4d7b4af1c97bb6f7dae906d1088) in Drake

Amazing. @grantgib -- thanks for catching and reporting it! @hongkai-dai -- thanks for fixing it.

@jwnimmer-tri -- i believe you've been working on this. Might you want to take ownership of the issue?