Sadra Sadraddini

``` > ConvexSets MakeIrisObstacles(const CollisionChecker& collision_checker, std::optional reference_frame = std::nullopt); > > HPolyhedron IrisInConfigurationSpace(const CollisionChecker& collision_checker, const IrisOptions& options = IrisOptions()); ``` Looks good. I think passing `const Eigen::VectorXd& q_seed`...

> I can see how that works out for IrisInConfigurationSpace (it would require writing a bunch of functions, such at SamePointConstraint that takes CollisionChecker instead of a plant and a...

I understand the encapsulation concerns and I agree that the mathematical program inside GCS must be invisible. I want to make this point that the current API is blocking users...

Coming back to this after sometime. I have implemented a version of this for our internal use. But it never felt satisfying. How about the following proposal so that we...

Now that we have the notion of vertices in GcsTrajectoryOptimization, I have one other discussion point: Add edge between vertices: The use case for this is the following. I have...

Yes I'm closing this one. I'll open a separate issue for `AddEdges`.

Any update on this? I'm very excited to land this

> I prefer giving the user the option to specify which constraints to consider first (the user additional constraints or the collision geometry), rather than hard-coding to an order. I...

I'll be working on this. Have some other ideas.

I believe this is possible if your Toppra grid points are not dense enough. Have you tried with much tighter numbers for [CalcGridOptions](https://drake.mit.edu/doxygen_cxx/structdrake_1_1multibody_1_1_calc_grid_points_options.html)?