Replacing current backend with CUDA backend#9
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saiccoumar merged 140 commits intomainfrom Apr 4, 2026
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* Add liblzfse dependency * Add comment --------- Co-authored-by: Brent Yi <yibrenth@gmail.com>
* make terms in actuated_indices unique * Simplify logic for combining jacobian along actuated indices * Add some comments * Remove sink joint * ruff * Add rest pose cost to bimanual example * benchmark: rerun IK benchmark with current PR * Add mimic scaling factor to analytical jacobian, and add mimic IK example * Update benchmark numbers --------- Co-authored-by: brentyi <yibrenth@gmail.com>
* Python 3.10 * Nits
…9#18) * Add hand + humanoid retargeting examples * Update readme + docs * fix import * Remove unzipped duplicate hand urdf
* Update arxiv pointers * Logo update * Add blurb for jaxls manifold optimization + jaxlie
* Generate docs * Add numerical jacobian example * Add manual jacobian docs * nits + ruff
* Add limitations section and JAX mention to README - Add limitations section covering soft constraints, JAX compilation overhead, and collision performance - Mention JAX in cross-platform support bullet point - Clarify nonlinear least-squares formulation and comparison gaps with specialized solvers 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Add limitations section to main documentation - Add limitations section to docs/source/index.rst matching README content - Add JAX mention to cross-platform support in documentation - Ensure consistency between README and documentation 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Clarify collision performance limitations - Update collision performance bullet to mention "other robot toolkits" instead of "specialized collision-aware IK solvers" - Add explicit mention that PyRoki is likely slower for collision-heavy scenarios - Apply changes to both README and documentation for consistency 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Add current implementation limitations section - Add subsection for joint types, collision geometry, and kinematic structure limitations - Frame as current implementation gaps that could potentially be addressed in future versions - Apply consistent writing style with existing limitations section - Update both README and documentation for consistency 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * chains -> trees --------- Co-authored-by: Claude <noreply@anthropic.com>
* Faster retargeting examples * ruff * cleanup
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