OSQP fix after Drake (and OSQP) upgrade#383
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Two changes for interacting with OSQP with upgraded Drake:
linsys_solveras it did with v0.6.2. Given all of our examples so far have only ever used the default solver, this PR removeslinsys_solveras an available setting in our solver yaml files. To keep this as an available setting would require either customizing OSQP or Drake, neither of which felt worth it given we aren't intending to use the feature.adaptive_rho_intervalto be provided as anint(i.e. it now throws an error if this is not the case). Our code previously mixed upintanddoubleinconsistently in a couple places, which eventually gave adoubleto OSQP. This parameter now is appropriately defined as anintconsistently.The jack sampling C3 example did not run before (due to an OSQP error) and now does.
This change is