2 Commits

Author	SHA1	Message	Date
lgv	2cfe354c07	feat(gen2): add MuJoCo collision recovery support ... (cherry picked from commit 78fd7d7a04)	2026-09-03 15:13:19 +08:00
lgv	0257ac85ca	feat(collision): add self-collision monitoring task ... Add Pinocchio and Coal based self-collision checking with collision-pair filtering and displacement-based sampling. Integrate a periodic safety task with warning and stop thresholds, plus the simplified collision URDF and runtime configuration.	2026-07-27 15:37:39 +08:00