Change the OSC structure to make it fully compliant with the systems framework.#362

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Brian-Acosta wants to merge 7 commits intomainfrom

make_osc_context_friendly

Commits on Jun 13, 2024

Commits on Jun 14, 2024

Patch InverseDynamicsQP and fix Cassie related runtime errors which were not cuaght during Drake upgrade (#363)
Brian-Acosta
committed
addressed most of Ethan's peer review
Brian-Acosta
committed

Commits on Jul 2, 2024

Allocate id_qp_solution cache explicitly to avoid segfault if first solve fails
Brian-Acosta
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ix double declaration due to merge issue
Brian-Acosta
committed

Commits on Jul 5, 2024

minor bug fixes to work with running controller
yangwill
committed