Construct an IrisZo Parameterization for Mimic Joints #22733
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cohnt
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cohnt
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Mar 10, 2025
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Reviewable status: 2 unresolved discussions, LGTM missing from assignee sadraddini, needs platform reviewer assigned, needs at least two assigned reviewers, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits) (waiting on @cohnt)
-- commits line 1 at r1:
working... will set final commit message later
bindings/pydrake/planning/planning_py_iris_zo.cc line 114 at r1 (raw file):
py::arg("kin"), py::arg("q_star_val"), cls_doc.CreateWithRationalKinematicParameterization.doc) .def_static("CreateWithMimicJointsParameterization",
to the platform reviewer: does this need some sort of keep alive property?
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Closes #22639
+@sadraddini for feature review, please
This change is