[WIP] Bug with hydro geometries in marginal contact

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Open amcastro-tri opened 2 weeks ago

amcastro-tri commented 2 weeks ago

Thus far this PR unit tests ProximityEngine and MbP.

The MbP unit tests are not passing. Somehow we do not get contact resutls when we are in marginal contact (and we should).

This change is