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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Implements IRIS ZO #22168

Closed wernerpe closed 19 hours ago

wernerpe commented 1 week ago

+@cohnt for feature review

This change is Reviewable

cohnt commented 2 days ago

+@rpoyner-tri for platform review per the schedule.

FYI there was a bit of an issue with lsan complaining, but our current theory (per discussion with @calderpg-tri and @sammy-tri) is that this is an issue with lsan, and not our PR. Hence, we've disabled lsan with that test case. See this thread in Drake Developers for details.