Hongkai Dai

~~@RussTedrake Sorry I have problem to reproduce the error. The code runs fine on my machine, and `result.is_success() = True`. I am on the master revision 7ece1fbb62cabaad854da8bc0c8971756d68686b~~ My bad, I...

@grantgib Thanks a lot for finding this bug and deriving the math! May I ask if you have a test example that would fail with the current code on master...

Perfect timing, I just received an email from Mosek author saying that the performance of Mosek on semidefinite programming problem has improved significantly. I just sent him an email asking...

Right, in their blog post they mention that in Mosek 9 the computation time with multithread is almost the same as with the single thread. But on mosek 10 multithread...

Its twitter says the stable version is going to be released in mid-August https://twitter.com/mosektw?lang=en Given the large performance boost on Mosek 10 with multi-thread, I think it makes sense to...

Thanks! Yes, I think a developement branch makes sense. I can also test our optimization code on that dev branch.

I would like to work on this dev branch as soon as possible. In my research I encounter some problems that Mosek 9.3.20 cannot solve, while Mosek 10.0.16 can solve....

Sounds great, I filed PR https://github.com/RobotLocomotion/drake/pull/17490

Ah you are right. I forgot that the drake CI doesn't use TRI's mosek license. Is the CI using MIT's mosek license?

Thanks @jjhforrest for the answer, calling `model.scaling()` solves my problem. Much appreciated!