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feat(robot): add self-collision checks for non-adjacent links - #816

Merged

petercorke merged 6 commits into

petercorke:mainfrom

kVinsom:feat/723-self-collision

Oct 22, 2026

Merged

feat(robot): add self-collision checks for non-adjacent links#816
petercorke merged 6 commits into
petercorke:mainfrom
kVinsom:feat/723-self-collision

Commits on Oct 16, 2026
- feat(robot): add self-collision checks for non-adjacent links
  kVinsom
  committed
  73817dd
- fix: normalise joint vectors for external collision checks
  kVinsom
  committed
  6b07e6c
Commits on Oct 21, 2026
- chore: merge main into self-collision branch
  
  kVinsom
  and
  codex
  committed
  163f8ad
- fix(robot): respect collision neighbours and public scene updates
  
  kVinsom
  and
  codex
  committed
  953b16c
Commits on Oct 22, 2026
- Merge branch 'main' into feat/723-self-collision
  petercorke
  authored
  b23da5c
- Merge branch 'main' into feat/723-self-collision
  petercorke
  authored
  15cae90