Hongkai Dai

@k2shah I am very sorry for the belated reply. I think the problem comes from numerical round-off error. As you point out, the check `assert(isOutsidePolytopeFace(&polytope, &f, &query_point));` fails. I think...

Assigned to @siyuanfeng-tri as the original author of InverseDynamicsController.

Here is the [callgrind result](https://www.dropbox.com/s/w49r4do0szyka18/callgrind.out.polynomial_evaluatepartial?dl=0) I see a lot of memory allocation and deallocation. cc @jwnimmer-tri

What I planned is like this 1. Create a new solver like AugmentedLagrangianSolver, which takes in a solver ID (like SNOPT/IPOPT/NLOPT). 2. Inside this solver, when calling Solve() with a...

@RussTedrake sorry for the giant PR. I will split this PR to smaller pieces, that I will first send a PR with `rational_forward_kinematics_internal`, and then send a PR with the...

@drake-jenkins-bot retest this please

For approach 1, one question is how to compute the binary variable values from `q`. We have two ideas 1. Compute the pose from that `q`, then in GlobalInverseKinematics, add...

@jwnimmer-tri according to https://www.mosek.com/downloads/10.0.16/, on our Ubuntu 20.04, we should not use 64bit X86, but 64bit ARM.

> I think the "18.04" on that page means "18.04 or newer" not "18.04 only". Got it, that makes sense.

Thanks Jeremy, I often just send an email to [email protected].