[codex] Fix constraint violation logging

[nepfaff]

Summary

Fix W&B constraint violation logging so equality tolerances are assigned from each constraint row rather than from a zipped Lagrange-multiplier equality mask.

Root Cause

AugmentedLagrangianNonsmooth.is_equality() is ordered by Lagrange multiplier, while prog.GetAllConstraints() is ordered by constraint object. A two-sided inequality contributes two inequality multiplier entries, so zipping constraints with is_equality() can shift later equality constraints onto False mask entries. In that case endpoint equalities are checked with the stricter inequality tolerance.

Changes

• Iterate over constraints and constraint types only, tracking lag_idx separately for multiplier/residue indexing.
• Choose equality vs inequality tolerance from each constraint row's bounds (lb == ub).
• Add assertions to catch future metadata/order mismatches.
• Simplify constraint-type counter initialization.

Validation

• python3 -m py_compile robot_payload_id/optimization/nevergrad_augmented_lagrangian.py

Full Drake runtime reproduction was not run in this scratch environment because pydrake is not installed.