Alexandre Amice

add some HPolyhedron utility methods

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This change is [](https://reviewable.io/reviews/robotlocomotion/drake/17066)

Jupyter Kernel Dying when using AddSosConstraint

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Consider the following: ```python from pydrake.all import MathematicalProgram, Polynomial, Solve import pydrake.symbolic as sym import numpy as np prog = MathematicalProgram() x, u = prog.NewIndeterminates(1, "x"), prog.NewIndeterminates(1, "u") V_sym =...

This change is [](https://reviewable.io/reviews/RobotLocomotion/drake/21113)

IrisInConfigurationSpaceFromCliqueCover does not respect C-Space Obstacles visibility and margin

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### What happened? In IrisOptions, users are allowed to specify both a configuration space margin and configuration space obstacles. There are currently the following bugs in IrisInConfigurationSpaceFromCliqueCover: 1) Collision free...

Add the ability to specify which groups of variables are jointly relaxed in MakeSemidefiniteRelaxation. - - - This change is [](https://reviewable.io/reviews/RobotLocomotion/drake/21043)

This change is [](https://reviewable.io/reviews/RobotLocomotion/drake/21035)

This change is [](https://reviewable.io/reviews/RobotLocomotion/drake/21016)

Conversion between SymPy and pydrake.symbolic.Polynomial

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**Is your feature request related to a problem? Please describe.** This is a followup to #20076. It would be nice to have first class support to convert between SymPy Polynomials...

A trivial example that returns infeasible

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The following univariate example returns infeasible even though it should be a very simple problem. For the purposes of debugging, is it possible to have the domain of the SOS...

Prevent IrisInConfigurationSpaceFromCliqueCover from crashing the whole program if IrisInConfigurationSpace fails

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This change is [](https://reviewable.io/reviews/RobotLocomotion/drake/21376)