Python bindings for methods of GcsTrajectoryOptimization::Subgraph for adding generic costs and constraints.

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Python bindings for methods of GcsTrajectoryOptimization::Subgraph for adding generic costs and constraints. #22156

Closed cohnt closed 1 week ago

cohnt commented 1 week ago

Towards #21981. Adds python bindings to the methods introduced in #22091.

This change is

xuchenhan-tri commented 1 week ago

Hi @cohnt, is this PR ready to be reviewed yet? (asking per https://drake.mit.edu/platform_reviewer_checklist.html)

cohnt commented 1 week ago

Yes, I need a feature reviewer. I asked in slack, but didn't get any responses yet.

xuchenhan-tri commented 1 week ago

I see @sadraddini lurking in this PR. Would you like to review it? If not, I'll kick this PR to Russ to review/delegate per platform reviewer checklist.

cohnt commented 1 week ago

Per Jeremey's comment in the Drake Developers Slack, since this is just adding python bindings, we can send this directly to platform review.

So +@xuchenhan-tri for review, please!