All pull requests

Pull requests

• Optimize the existing swept-sphere collision kernel

  #733·vidurv-nvidia opened Oct 22, 2026·

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• Reject per-timestep goal poses (horizon > 1) with a clear error

  #731·luaiabuelsamen opened Oct 17, 2026·

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• Fix cspace scales being applied twice to joint limits

  #729·gonzalesMK opened Oct 12, 2026·

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• Fix forearm_link typo in UR10e self-collision ignore lists

  #727·ItamarIliuk opened Oct 2, 2026·

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• Fix self collision gradient scaling across batch and horizon

  #726·SproutSeeds opened Sep 26, 2026·

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• Fix prismatic joint velocity product written to angular components

  #724·bprzybocki opened Sep 13, 2026·

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• Preserve feasible queries in mixed-validity PRM batches

  #721·Flyshde opened Sep 2, 2026·

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• Require viser>=1 so the documented install resolves a working version

  #719·rakhimovv opened Sep 2, 2026·

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• Fixed Python GC latency issues caused by frequent calls to IK and inverse dynamics.

  #718·CarlDegio opened Aug 27, 2026·

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• fix(benchmark): keep Unitree G1 kinematics intact in IK benchmark

  #715·wantzjt opened Aug 20, 2026·

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• Fix failed IK seed replacement before graph planning

  #713·AlMa-1010 opened Aug 20, 2026·

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• Fix undefined warp shuffle masks in the LBFGS reduction

  #708·gpulost opened Jul 31, 2026·8 tasks done·

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• Query shared memory per SM from the device for RNEA launch configs

  #705·maxwbuckley opened Jul 23, 2026·

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• Vectorize self-collision pair extraction (~450x on Jetson AGX Orin)

  #704·adhamghazali opened Jul 21, 2026·

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• Add B-spline action seed fitting for graph-planned waypoints

  #703·AURORALLLL opened Jul 20, 2026·

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• Fix B-spline goal boundary constraints

  fix_is_valid
  #702·AURORALLLL opened Jul 19, 2026·3 tasks done·

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• Round instead of truncate voxel grid dims in SDF kernels

  #700·aleksantari opened Jul 15, 2026·

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• fix untrimmed interpolated trajectories in grasp results

  #693·LucioYipengLi opened Jul 8, 2026·

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• Fix reflected USD mesh transforms in scene parser

  #690·Titulus233 opened Jun 22, 2026·

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  6