IrisZo: Better Handle Cases when the Center of the Ellipsoid is In-Collision#22737

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cohnt wants to merge 2 commits intoRobotLocomotion:masterfrom cohnt:iriszo-ellipsoid-center

Commits on Mar 11, 2025

Throw an error in IrisZo if the user provides an ellipsoid whose center is in collision (or violates one of the additional user-provided constraints).
cohnt
committed
IrisZo terminate early if the center of the ellipsoid is invalid.
cohnt
committed