Hongkai Dai

> Thanks @hjsuh94 . That makes sense. > > @hongkai-dai -- it seems like OSQP has settings that we haven't exposed in drake yet? https://osqp.org/docs/interfaces/solver_settings.html#solver-settings > Do you think exposing...

Another option is to use IPOPT, which should also solve QP with high precision. BTW, I also added CLP into Drake. The upstream CLP solver supports QP. I haven't supported...

I filed a Drake PR https://github.com/RobotLocomotion/drake/pull/14886 to expose all OSQP parameters. I added `prog.SetSolverOption(OsqpSolver().solver_id(), "eps_abs", 1E-6)` before calling `Solve` in @hjsuh94 's colab notebook, now both the `ge` version and...

> (At the risk of being ignorant) Why not use 3-vector axis-angle / so(3)? I suppose you mean to take the axis `a` and the angle `θ`, and form a...

> Also, if you're optimizing against aθ, don't you really care about f⁻¹(aθ) = R? The function f⁻¹(aθ) = R is smooth and well-defined. But at some point we will...

Thanks Jeremy for the review. I will just reply your comments here, as reviewable doesn't work for me either > (1) Remove the redundant drake:: and multibody:: namespaces, throughout. Done....

@jwnimmer-tri the reviewable stops working again on this PR. How did you let the reviewable author know the issue before?

@sherm1 for point 2, if we want to compute the squared distance, it should be d²=(v⋅w)²/(w⋅w), that is still not what the code `dist = ccdVec3Dot(&out->v, &el->witness);` does (it computes...

To make sure we are on the same page, I think you are proposing these API ```cc ConvexSets MakeIrisObstacles(const CollisionChecker& collision_checker, std::optional reference_frame = std::nullopt); HPolyhedron IrisInConfigurationSpace(const CollisionChecker& collision_checker, const...

BTW, I would think both `MakeIrisObstacles` and `IrisInCOnfigurationSpace` would need `q_seed`? Currently `MakeIrisObstacles` documentation says https://github.com/RobotLocomotion/drake/blob/42d86973c41725ad4ef1848547374fa21263009f/geometry/optimization/iris.h#L133-L136, I think we also need a configuration to fix the geometry poses in `MakeIrisObstacles`.